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Node guarding disable, if heartbeat is used.

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This commit is contained in:
Janez 2023-10-19 12:13:49 +02:00
parent 1866d33807
commit 74a756230d
3 changed files with 11 additions and 1 deletions
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1
CANopen.c
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@ -972,6 +972,7 @@ CO_NMT_reset_cmd_t CO_process(
#if CO_NODE_GUARDING_SLAVE > 0
CO_nodeGuardingSlave_process(CO->NGslave,
CO_NMT_getInternalState(CO->NMT),
(OD_producerHeartbeatTime > 0),
timeDifference_ms,
OD_guardTime,
OD_lifeTimeFactor);

8
stack/CO_Node_Guarding.c
View file

@ -99,11 +99,19 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
/******************************************************************************/
void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
CO_NMT_internalState_t NMTstate,
uint8_t slaveDisable,
uint16_t timeDifference_ms,
uint16_t guardTime,
uint8_t lifeTimeFactor)
{
if (slaveDisable) {
ngs->toggle = 0;
ngs->lifeTimer = 0;
CLEAR_CANrxNew(ngs->CANrxNew);
return;
}
/* was RTR just received */
if (IS_CANrxNew(ngs->CANrxNew)) {
ngs->lifeTimer = (uint32_t)guardTime * lifeTimeFactor;

3
stack/CO_Node_Guarding.h
View file

@ -119,6 +119,7 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
*
* @param ngs This object.
* @param NMTstate NMT operating state.
* @param slaveDisable If true, then Node guarding slave is disabled.
* @param timeDifference_ms Time difference from previous function call in
* milliseconds.
* @param guardTime OD entry from 0x100C -"Guard time"
@ -126,6 +127,7 @@ CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t *ngs,
*/
void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t *ngs,
CO_NMT_internalState_t NMTstate,
uint8_t slaveDisable,
uint16_t timeDifference_ms,
uint16_t guardTime,
uint8_t lifeTimeFactor);
@ -244,7 +246,6 @@ CO_ReturnError_t CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t *ngm,
* configures monitoring of the remote node.
*
* @param ngm Node Guarding master object.
* @param em Emergency object.
* @param index Index of the slot, which will be configured.
* 0 <= index < CO_NODE_GUARDING_MASTER.
* @param nodeId Node Id of the monitored node.