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Add CO_NMT_UNKNOWN state for Heartbeat consumer.

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This commit is contained in:
Janez 2020-03-18 21:15:33 +01:00
parent 794c0f903a
commit b8e821d0dd
4 changed files with 14 additions and 13 deletions
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16
301/CO_HBconsumer.c
View file

@ -119,7 +119,7 @@ CO_ReturnError_t CO_HBconsumer_init(
HBcons->monitoredNodes = monitoredNodes; HBcons->monitoredNodes = monitoredNodes;
HBcons->numberOfMonitoredNodes = numberOfMonitoredNodes; HBcons->numberOfMonitoredNodes = numberOfMonitoredNodes;
HBcons->allMonitoredActive = false; HBcons->allMonitoredActive = false;
HBcons->allMonitoredOperational = CO_NMT_INITIALIZING; HBcons->allMonitoredOperational = CO_NMT_UNKNOWN;
HBcons->NMTisPreOrOperationalPrev = false; HBcons->NMTisPreOrOperationalPrev = false;
HBcons->CANdevRx = CANdevRx; HBcons->CANdevRx = CANdevRx;
HBcons->CANdevRxIdxStart = CANdevRxIdxStart; HBcons->CANdevRxIdxStart = CANdevRxIdxStart;
@ -182,9 +182,9 @@ CO_ReturnError_t CO_HBconsumer_initEntry(
CO_HBconsNode_t * monitoredNode = &HBcons->monitoredNodes[idx]; CO_HBconsNode_t * monitoredNode = &HBcons->monitoredNodes[idx];
monitoredNode->nodeId = nodeId; monitoredNode->nodeId = nodeId;
monitoredNode->time_us = (int32_t)consumerTime_ms * 1000; monitoredNode->time_us = (int32_t)consumerTime_ms * 1000;
monitoredNode->NMTstate = CO_NMT_INITIALIZING; monitoredNode->NMTstate = CO_NMT_UNKNOWN;
#if CO_CONFIG_HB_CONS & CO_CONFIG_HB_CONS_CHANGE_CALLBACK #if CO_CONFIG_HB_CONS & CO_CONFIG_HB_CONS_CHANGE_CALLBACK
monitoredNode->NMTstatePrev = CO_NMT_INITIALIZING; monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
#endif #endif
CO_FLAG_CLEAR(monitoredNode->CANrxNew); CO_FLAG_CLEAR(monitoredNode->CANrxNew);
@ -382,7 +382,7 @@ void CO_HBconsumer_process(
#endif #endif
CO_errorReport(HBcons->em, CO_EM_HEARTBEAT_CONSUMER, CO_errorReport(HBcons->em, CO_EM_HEARTBEAT_CONSUMER,
CO_EMC_HEARTBEAT, i); CO_EMC_HEARTBEAT, i);
monitoredNode->NMTstate = CO_NMT_INITIALIZING; monitoredNode->NMTstate = CO_NMT_UNKNOWN;
monitoredNode->HBstate = CO_HBconsumer_TIMEOUT; monitoredNode->HBstate = CO_HBconsumer_TIMEOUT;
} }
@ -400,7 +400,7 @@ void CO_HBconsumer_process(
allMonitoredActiveCurrent = false; allMonitoredActiveCurrent = false;
} }
if (monitoredNode->NMTstate != CO_NMT_OPERATIONAL) { if (monitoredNode->NMTstate != CO_NMT_OPERATIONAL) {
allMonitoredOperationalCurrent = CO_NMT_INITIALIZING; allMonitoredOperationalCurrent = CO_NMT_UNKNOWN;
} }
#if CO_CONFIG_HB_CONS & CO_CONFIG_HB_CONS_CHANGE_CALLBACK #if CO_CONFIG_HB_CONS & CO_CONFIG_HB_CONS_CHANGE_CALLBACK
/* Verify, if NMT state of monitored node changed */ /* Verify, if NMT state of monitored node changed */
@ -419,9 +419,9 @@ void CO_HBconsumer_process(
else if (NMTisPreOrOperational || HBcons->NMTisPreOrOperationalPrev) { else if (NMTisPreOrOperational || HBcons->NMTisPreOrOperationalPrev) {
/* (pre)operational state changed, clear variables */ /* (pre)operational state changed, clear variables */
for(i=0; i<HBcons->numberOfMonitoredNodes; i++) { for(i=0; i<HBcons->numberOfMonitoredNodes; i++) {
monitoredNode->NMTstate = CO_NMT_INITIALIZING; monitoredNode->NMTstate = CO_NMT_UNKNOWN;
#if CO_CONFIG_HB_CONS & CO_CONFIG_HB_CONS_CHANGE_CALLBACK #if CO_CONFIG_HB_CONS & CO_CONFIG_HB_CONS_CHANGE_CALLBACK
monitoredNode->NMTstatePrev = CO_NMT_INITIALIZING; monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
#endif #endif
CO_FLAG_CLEAR(monitoredNode->CANrxNew); CO_FLAG_CLEAR(monitoredNode->CANrxNew);
if (monitoredNode->HBstate != CO_HBconsumer_UNCONFIGURED) { if (monitoredNode->HBstate != CO_HBconsumer_UNCONFIGURED) {
@ -430,7 +430,7 @@ void CO_HBconsumer_process(
monitoredNode++; monitoredNode++;
} }
allMonitoredActiveCurrent = false; allMonitoredActiveCurrent = false;
allMonitoredOperationalCurrent = CO_NMT_INITIALIZING; allMonitoredOperationalCurrent = CO_NMT_UNKNOWN;
} }
/* Clear emergencies when all monitored nodes becomes active. /* Clear emergencies when all monitored nodes becomes active.

1
301/CO_NMT_Heartbeat.h
View file

@ -93,6 +93,7 @@ extern "C" {
* Internal network state of the CANopen node * Internal network state of the CANopen node
*/ */
typedef enum{ typedef enum{
CO_NMT_UNKNOWN = -1, /**< Device state is unknown (for heartbeat consumer) */
CO_NMT_INITIALIZING = 0, /**< Device is initializing */ CO_NMT_INITIALIZING = 0, /**< Device is initializing */
CO_NMT_PRE_OPERATIONAL = 127, /**< Device is in pre-operational state */ CO_NMT_PRE_OPERATIONAL = 127, /**< Device is in pre-operational state */
CO_NMT_OPERATIONAL = 5, /**< Device is in operational state */ CO_NMT_OPERATIONAL = 5, /**< Device is in operational state */

2
socketCAN/CO_error_msgs.h
View file

@ -87,7 +87,7 @@ extern "C" {
#define DBG_NO_CAN_DEVICE "(%s) Can't find CAN device \"%s\"", __func__ #define DBG_NO_CAN_DEVICE "(%s) Can't find CAN device \"%s\"", __func__
#define DBG_OBJECT_DICTIONARY "(%s) Error in Object Dictionary \"%s\"", __func__ #define DBG_OBJECT_DICTIONARY "(%s) Error in Object Dictionary \"%s\"", __func__
#define DBG_CAN_OPEN "(%s) CANopen error in %s, err=%d", __func__ #define DBG_CAN_OPEN "(%s) CANopen error in %s, err=%d", __func__
#define DBG_CAN_OPEN_INFO "(%s) CANopen device, Node ID = %d(0x%02X), %s", __func__ #define DBG_CAN_OPEN_INFO "(%s) CANopen device, Node ID = 0x%02X, %s", __func__
#define DBG_COMMAND_LOCAL_INFO "(%s) Command interface on socket \"%s\" started", __func__ #define DBG_COMMAND_LOCAL_INFO "(%s) Command interface on socket \"%s\" started", __func__
#define DBG_COMMAND_TCP_INFO "(%s) Command interface on tcp port \"%hu\" started", __func__ #define DBG_COMMAND_TCP_INFO "(%s) Command interface on tcp port \"%hu\" started", __func__

8
socketCAN/CO_main_basic.c
View file

@ -263,7 +263,7 @@ int main (int argc, char *argv[]) {
} }
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, CO_ownNodeId, "starting"); log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "starting");
/* Allocate memory for CANopen objects */ /* Allocate memory for CANopen objects */
@ -308,7 +308,7 @@ int main (int argc, char *argv[]) {
while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) { while(reset != CO_RESET_APP && reset != CO_RESET_QUIT && CO_endProgram == 0) {
/* CANopen communication reset - initialize CANopen objects *******************/ /* CANopen communication reset - initialize CANopen objects *******************/
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, CO_ownNodeId, "communication reset"); log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "communication reset");
#if CO_CONFIG_309 > 0 #if CO_CONFIG_309 > 0
@ -439,7 +439,7 @@ int main (int argc, char *argv[]) {
reset = CO_RESET_NOT; reset = CO_RESET_NOT;
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, CO_ownNodeId, "running ..."); log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "running ...");
while(reset == CO_RESET_NOT && CO_endProgram == 0) { while(reset == CO_RESET_NOT && CO_endProgram == 0) {
@ -493,7 +493,7 @@ int main (int argc, char *argv[]) {
threadMainWait_close(); threadMainWait_close();
CO_delete((void *)CANdevice0Index); CO_delete((void *)CANdevice0Index);
log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, CO_ownNodeId, "finished"); log_printf(LOG_INFO, DBG_CAN_OPEN_INFO, CO_ownNodeId, "finished");
/* Flush all buffers (and reboot) */ /* Flush all buffers (and reboot) */
if(rebootEnable && reset == CO_RESET_APP) { if(rebootEnable && reset == CO_RESET_APP) {