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Restore CO_CONFIG_HB_CONS_CALLBACK_CHANGE option, same as #241

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This commit is contained in:
Janez 2020-10-26 19:05:26 +01:00
parent 5a7520d36d
commit ee1d8d0c81
6 changed files with 73 additions and 23 deletions
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57
301/CO_HBconsumer.c
View file

@ -31,6 +31,12 @@
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
/* Verify HB consumer configuration *******************************************/
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
&& (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
#error CO_CONFIG_HB_CONS_CALLBACK_CHANGE and CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously!
#endif
/*
* Read received message from CAN module.
*
@ -137,6 +143,7 @@ CO_ReturnError_t CO_HBconsumer_init(
HBcons->monitoredNodes[i].pFunctSignalPre = NULL;
#endif
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
HBcons->monitoredNodes[i].pFunctSignalNmtChanged = NULL;
HBcons->monitoredNodes[i].pFunctSignalHbStarted = NULL;
HBcons->monitoredNodes[i].pFunctSignalTimeout = NULL;
HBcons->monitoredNodes[i].pFunctSignalRemoteReset = NULL;
@ -185,7 +192,8 @@ CO_ReturnError_t CO_HBconsumer_initEntry(
monitoredNode->nodeId = nodeId;
monitoredNode->time_us = (int32_t)consumerTime_ms * 1000;
monitoredNode->NMTstate = CO_NMT_UNKNOWN;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
#endif
CO_FLAG_CLEAR(monitoredNode->CANrxNew);
@ -239,7 +247,7 @@ void CO_HBconsumer_initCallbackPre(
void CO_HBconsumer_initCallbackNmtChanged(
CO_HBconsumer_t *HBcons,
void *object,
void (*pFunctSignal)(uint8_t nodeId,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t NMTstate,
void *object))
{
@ -254,6 +262,25 @@ void CO_HBconsumer_initCallbackNmtChanged(
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
/******************************************************************************/
void CO_HBconsumer_initCallbackNmtChanged(
CO_HBconsumer_t *HBcons,
uint8_t idx,
void *object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t NMTstate,
void *object))
{
if (HBcons==NULL || idx>=HBcons->numberOfMonitoredNodes) {
return;
}
CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[idx];
monitoredNode->pFunctSignalNmtChanged = pFunctSignal;
monitoredNode->pFunctSignalObjectNmtChanged = object;
}
/******************************************************************************/
void CO_HBconsumer_initCallbackHeartbeatStarted(
CO_HBconsumer_t *HBcons,
@ -321,18 +348,16 @@ void CO_HBconsumer_process(
{
(void)timerNext_us; /* may be unused */
uint8_t i;
bool_t allMonitoredActiveCurrent = true;
uint8_t allMonitoredOperationalCurrent = CO_NMT_OPERATIONAL;
CO_HBconsNode_t *monitoredNode = &HBcons->monitoredNodes[0];
if (NMTisPreOrOperational && HBcons->NMTisPreOrOperationalPrev) {
for (i=0; i<HBcons->numberOfMonitoredNodes; i++) {
for (uint8_t i=0; i<HBcons->numberOfMonitoredNodes; i++) {
uint32_t timeDifference_us_copy = timeDifference_us;
CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[i];
if (monitoredNode->HBstate == CO_HBconsumer_UNCONFIGURED) {
/* continue, if node is not monitored */
monitoredNode++;
continue;
}
/* Verify if received message is heartbeat or bootup */
@ -409,32 +434,40 @@ void CO_HBconsumer_process(
if (monitoredNode->NMTstate != CO_NMT_OPERATIONAL) {
allMonitoredOperationalCurrent = CO_NMT_UNKNOWN;
}
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
/* Verify, if NMT state of monitored node changed */
if(monitoredNode->NMTstate != monitoredNode->NMTstatePrev) {
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
if (HBcons->pFunctSignalNmtChanged != NULL) {
HBcons->pFunctSignalNmtChanged(
monitoredNode->nodeId, monitoredNode->NMTstate,
monitoredNode->nodeId, i, monitoredNode->NMTstate,
HBcons->pFunctSignalObjectNmtChanged);
#else
if (monitoredNode->pFunctSignalNmtChanged != NULL) {
monitoredNode->pFunctSignalNmtChanged(
monitoredNode->nodeId, i, monitoredNode->NMTstate,
monitoredNode->pFunctSignalObjectNmtChanged);
#endif
}
monitoredNode->NMTstatePrev = monitoredNode->NMTstate;
}
#endif
monitoredNode++;
}
}
else if (NMTisPreOrOperational || HBcons->NMTisPreOrOperationalPrev) {
/* (pre)operational state changed, clear variables */
for(i=0; i<HBcons->numberOfMonitoredNodes; i++) {
for(uint8_t i=0; i<HBcons->numberOfMonitoredNodes; i++) {
CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[i];
monitoredNode->NMTstate = CO_NMT_UNKNOWN;
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
#endif
CO_FLAG_CLEAR(monitoredNode->CANrxNew);
if (monitoredNode->HBstate != CO_HBconsumer_UNCONFIGURED) {
monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
}
monitoredNode++;
}
allMonitoredActiveCurrent = false;
allMonitoredOperationalCurrent = CO_NMT_UNKNOWN;

25
301/CO_HBconsumer.h
View file

@ -91,11 +91,20 @@ typedef struct {
/** From CO_HBconsumer_initCallbackPre() or NULL */
void *functSignalObjectPre;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) || defined CO_DOXYGEN
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) \
|| ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) \
|| defined CO_DOXYGEN
/** Previous value of the remote node (Heartbeat payload) */
CO_NMT_internalState_t NMTstatePrev;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
/** Callback for remote NMT changed event.
* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t state,
void *object);
/** Pointer to object */
void *pFunctSignalObjectNmtChanged;
/** Callback for heartbeat state change to active event.
* From CO_HBconsumer_initCallbackHeartbeatStarted() or NULL. */
void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void *object);
@ -138,7 +147,7 @@ typedef struct{
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) || defined CO_DOXYGEN
/** Callback for remote NMT changed event.
* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
void (*pFunctSignalNmtChanged)(uint8_t nodeId,
void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t state,
void *object);
/** Pointer to object */
@ -214,7 +223,9 @@ void CO_HBconsumer_initCallbackPre(
void (*pFunctSignal)(void *object));
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) || defined CO_DOXYGEN
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) \
|| ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) \
|| defined CO_DOXYGEN
/**
* Initialize Heartbeat consumer NMT changed callback function.
*
@ -222,14 +233,19 @@ void CO_HBconsumer_initCallbackPre(
* state from the remote node changes.
*
* @param HBcons This object.
* @param idx index of the node in HBcons object (only when
* CO_CONFIG_HB_CONS_CALLBACK_MULTI is enabled)
* @param object Pointer to object, which will be passed to pFunctSignal().
* Can be NULL.
* @param pFunctSignal Pointer to the callback function. Not called if NULL.
*/
void CO_HBconsumer_initCallbackNmtChanged(
CO_HBconsumer_t *HBcons,
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
uint8_t idx,
#endif
void *object,
void (*pFunctSignal)(uint8_t nodeId,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t state,
void *object));
#endif
@ -253,7 +269,6 @@ void CO_HBconsumer_initCallbackHeartbeatStarted(
void *object,
void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
/**
* Initialize Heartbeat consumer timeout callback function.
*

7
301/CO_config.h
View file

@ -135,16 +135,19 @@ extern "C" {
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_HBconsumer_process().
* - CO_CONFIG_HB_CONS_ENABLE - Enable heartbeat consumer.
* - CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom callback after NMT
* - CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom common callback after NMT
* state of the monitored node changes. Callback is configured by
* CO_HBconsumer_initCallbackNmtChanged().
* - CO_CONFIG_HB_CONS_CALLBACK_MULTI - Enable multiple custom callbacks, which
* can be configured for each monitored node. Callback are configured by
* can be configured individually for each monitored node. Callbacks are
* configured by CO_HBconsumer_initCallbackNmtChanged(),
* CO_HBconsumer_initCallbackHeartbeatStarted(),
* CO_HBconsumer_initCallbackTimeout() and
* CO_HBconsumer_initCallbackRemoteReset() functions.
* - CO_CONFIG_HB_CONS_QUERY_FUNCT - Enable functions for query HB state or
* NMT state of the specific monitored node.
* Note that CO_CONFIG_HB_CONS_CALLBACK_CHANGE and
* CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE)

1
example/CO_driver_target.h
View file

@ -53,7 +53,6 @@ extern "C" {
#ifndef CO_CONFIG_HB_CONS
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | \
CO_CONFIG_HB_CONS_CALLBACK_CHANGE | \
CO_CONFIG_HB_CONS_CALLBACK_MULTI | \
CO_CONFIG_HB_CONS_QUERY_FUNCT | \
CO_CONFIG_FLAG_CALLBACK_PRE | \

2
socketCAN/CO_error_msgs.h
View file

@ -70,7 +70,7 @@ extern "C" {
/* mainline */
#define DBG_EMERGENCY_RX "CANopen Emergency message from node 0x%02X: errorCode=0x%04X, errorRegister=0x%02X, errorBit=0x%02X, infoCode=0x%08X"
#define DBG_NMT_CHANGE "CANopen NMT state changed to: \"%s\" (%d)"
#define DBG_HB_CONS_NMT_CHANGE "CANopen Remote node ID = 0x%02X: NMT state changed to: \"%s\" (%d)"
#define DBG_HB_CONS_NMT_CHANGE "CANopen Remote node ID = 0x%02X (index = %d): NMT state changed to: \"%s\" (%d)"
#define DBG_ARGUMENT_UNKNOWN "(%s) Unknown %s argument: \"%s\"", __func__
#define DBG_NOT_TCP_PORT "(%s) -c argument \"%s\" is not a valid tcp port", __func__
#define DBG_WRONG_NODE_ID "(%s) Wrong node ID \"%d\"", __func__

4
socketCAN/CO_main_basic.c
View file

@ -186,13 +186,13 @@ static void NmtChangedCallback(CO_NMT_internalState_t state)
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
/* callback for monitoring Heartbeat remote NMT state change */
static void HeartbeatNmtChangedCallback(uint8_t nodeId,
static void HeartbeatNmtChangedCallback(uint8_t nodeId, uint8_t idx,
CO_NMT_internalState_t state,
void *object)
{
(void)object;
log_printf(LOG_NOTICE, DBG_HB_CONS_NMT_CHANGE,
nodeId, NmtState2Str(state), state);
nodeId, idx, NmtState2Str(state), state);
}
#endif