8c09a433ef
Fix all documentation and comments according to CiA proposals: https://www.can-cia.org/services/publications/can-community-news/05-2025 CANopenNode was using "CAN message" in many places, but actually such term is incorrect. No code or variable names was changed.
290 lines
11 KiB
C
290 lines
11 KiB
C
/*
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* CANopen NMT and Heartbeat producer object.
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*
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* @file CO_NMT_Heartbeat.c
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* @ingroup CO_NMT_Heartbeat
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* @author Janez Paternoster
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* @copyright 2004 - 2020 Janez Paternoster
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*
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* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not use this
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* file except in compliance with the License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software distributed under the License is
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* distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and limitations under the License.
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*/
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#include "301/CO_NMT_Heartbeat.h"
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/*
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* Read received frame from CAN module.
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*
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* Function will be called (by CAN receive interrupt) every time, when CAN frame with correct identifier
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* will be received. For more information and description of parameters see file CO_driver.h.
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*/
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static void
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CO_NMT_receive(void* object, void* msg) {
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uint8_t DLC = CO_CANrxMsg_readDLC(msg);
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const uint8_t* data = CO_CANrxMsg_readData(msg);
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CO_NMT_command_t command = (CO_NMT_command_t)data[0];
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uint8_t nodeId = data[1];
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CO_NMT_t* NMT = (CO_NMT_t*)object;
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if ((DLC == 2U) && ((nodeId == 0U) || (nodeId == NMT->nodeId))) {
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NMT->internalCommand = command;
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#if ((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
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/* Optional signal to RTOS, which can resume task, which handles NMT. */
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if (NMT->pFunctSignalPre != NULL) {
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NMT->pFunctSignalPre(NMT->functSignalObjectPre);
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}
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#endif
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}
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}
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/*
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* Custom function for writing OD object "Producer heartbeat time"
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*
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* For more information see file CO_ODinterface.h, OD_IO_t.
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*/
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static ODR_t
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OD_write_1017(OD_stream_t* stream, const void* buf, OD_size_t count, OD_size_t* countWritten) {
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if ((stream == NULL) || (stream->subIndex != 0U) || (buf == NULL) || (count != sizeof(uint16_t))
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|| (countWritten == NULL)) {
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return ODR_DEV_INCOMPAT;
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}
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CO_NMT_t* NMT = (CO_NMT_t*)stream->object;
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/* update object, send Heartbeat immediately */
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NMT->HBproducerTime_us = (uint32_t)CO_getUint16(buf) * 1000U;
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NMT->HBproducerTimer = 0;
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/* write value to the original location in the Object Dictionary */
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return OD_writeOriginal(stream, buf, count, countWritten);
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}
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CO_ReturnError_t
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CO_NMT_init(CO_NMT_t* NMT, OD_entry_t* OD_1017_ProducerHbTime, CO_EM_t* em, uint8_t nodeId, uint16_t NMTcontrol,
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uint16_t firstHBTime_ms, CO_CANmodule_t* NMT_CANdevRx, uint16_t NMT_rxIdx, uint16_t CANidRxNMT,
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#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
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CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT,
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#endif
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CO_CANmodule_t* HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB, uint32_t* errInfo) {
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CO_ReturnError_t ret = CO_ERROR_NO;
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/* verify arguments */
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if ((NMT == NULL) || (OD_1017_ProducerHbTime == NULL) || (em == NULL) || (NMT_CANdevRx == NULL)
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|| (HB_CANdevTx == NULL)
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#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0
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|| (NMT_CANdevTx == NULL)
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#endif
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) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* clear the object */
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(void)memset(NMT, 0, sizeof(CO_NMT_t));
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/* Configure object variables */
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NMT->operatingState = CO_NMT_INITIALIZING;
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NMT->operatingStatePrev = CO_NMT_INITIALIZING;
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NMT->nodeId = nodeId;
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NMT->NMTcontrol = NMTcontrol;
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NMT->em = em;
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NMT->HBproducerTimer = (uint32_t)firstHBTime_ms * 1000U;
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/* get and verify required "Producer heartbeat time" from Object Dict. */
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uint16_t HBprodTime_ms;
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ODR_t odRet = OD_get_u16(OD_1017_ProducerHbTime, 0, &HBprodTime_ms, true);
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if (odRet != ODR_OK) {
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if (errInfo != NULL) {
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*errInfo = OD_getIndex(OD_1017_ProducerHbTime);
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}
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return CO_ERROR_OD_PARAMETERS;
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}
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NMT->HBproducerTime_us = (uint32_t)HBprodTime_ms * 1000U;
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NMT->OD_1017_extension.object = NMT;
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NMT->OD_1017_extension.read = OD_readOriginal;
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NMT->OD_1017_extension.write = OD_write_1017;
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odRet = OD_extension_init(OD_1017_ProducerHbTime, &NMT->OD_1017_extension);
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if (odRet != ODR_OK) {
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if (errInfo != NULL) {
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*errInfo = OD_getIndex(OD_1017_ProducerHbTime);
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}
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return CO_ERROR_OD_PARAMETERS;
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}
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if (NMT->HBproducerTimer > NMT->HBproducerTime_us) {
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NMT->HBproducerTimer = NMT->HBproducerTime_us;
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}
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/* configure NMT CAN reception */
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ret = CO_CANrxBufferInit(NMT_CANdevRx, NMT_rxIdx, CANidRxNMT, 0x7FF, false, (void*)NMT, CO_NMT_receive);
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if (ret != CO_ERROR_NO) {
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return ret;
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}
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#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0
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/* configure NMT CAN transmission */
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NMT->NMT_CANdevTx = NMT_CANdevTx;
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NMT->NMT_TXbuff = CO_CANtxBufferInit(NMT_CANdevTx, NMT_txIdx, CANidTxNMT, false, 2, false);
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if (NMT->NMT_TXbuff == NULL) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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#endif
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/* configure HB CAN transmission */
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NMT->HB_CANdevTx = HB_CANdevTx;
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NMT->HB_TXbuff = CO_CANtxBufferInit(HB_CANdevTx, HB_txIdx, CANidTxHB, false, 1, false);
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if (NMT->HB_TXbuff == NULL) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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return ret;
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}
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#if ((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0
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void
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CO_NMT_initCallbackPre(CO_NMT_t* NMT, void* object, void (*pFunctSignal)(void* object)) {
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if (NMT != NULL) {
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NMT->pFunctSignalPre = pFunctSignal;
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NMT->functSignalObjectPre = object;
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}
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}
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#endif
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#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0
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void
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CO_NMT_initCallbackChanged(CO_NMT_t* NMT, void (*pFunctNMT)(CO_NMT_internalState_t state)) {
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if (NMT != NULL) {
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NMT->pFunctNMT = pFunctNMT;
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if (NMT->pFunctNMT != NULL) {
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NMT->pFunctNMT(NMT->operatingState);
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}
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}
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}
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#endif
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CO_NMT_reset_cmd_t
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CO_NMT_process(CO_NMT_t* NMT, CO_NMT_internalState_t* NMTstate, uint32_t timeDifference_us, uint32_t* timerNext_us) {
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(void)timerNext_us; /* may be unused */
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CO_NMT_internalState_t NMTstateCpy = NMT->operatingState;
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CO_NMT_reset_cmd_t resetCommand = CO_RESET_NOT;
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bool_t NNTinit = NMTstateCpy == CO_NMT_INITIALIZING;
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NMT->HBproducerTimer = (NMT->HBproducerTimer > timeDifference_us) ? (NMT->HBproducerTimer - timeDifference_us) : 0U;
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/* Send heartbeat producer message if:
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* - First start, send bootup message or
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* - HB producer enabled and: Timer expired or NMT->operatingState changed */
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if (NNTinit
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|| ((NMT->HBproducerTime_us != 0U)
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&& ((NMT->HBproducerTimer == 0U) || (NMTstateCpy != NMT->operatingStatePrev)))) {
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NMT->HB_TXbuff->data[0] = (uint8_t)NMTstateCpy;
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(void)CO_CANsend(NMT->HB_CANdevTx, NMT->HB_TXbuff);
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if (NMTstateCpy == CO_NMT_INITIALIZING) {
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/* NMT slave self starting */
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NMTstateCpy = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_STARTUP_TO_OPERATIONAL) != 0U)
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? CO_NMT_OPERATIONAL
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: CO_NMT_PRE_OPERATIONAL;
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} else {
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/* Start timer from the beginning. If OS is slow, time sliding may occur. However,
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* heartbeat is not for synchronization, it is for health report. In case of
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* initializing, timer is set in the CO_NMT_init() function with pre-defined value. */
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NMT->HBproducerTimer = NMT->HBproducerTime_us;
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}
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}
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NMT->operatingStatePrev = NMTstateCpy;
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/* process internal NMT commands, received from CO_NMT_receive() or CO_NMT_sendCommand() */
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if (NMT->internalCommand != CO_NMT_NO_COMMAND) {
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switch (NMT->internalCommand) {
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case CO_NMT_ENTER_OPERATIONAL: NMTstateCpy = CO_NMT_OPERATIONAL; break;
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case CO_NMT_ENTER_STOPPED: NMTstateCpy = CO_NMT_STOPPED; break;
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case CO_NMT_ENTER_PRE_OPERATIONAL: NMTstateCpy = CO_NMT_PRE_OPERATIONAL; break;
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case CO_NMT_RESET_NODE: resetCommand = CO_RESET_APP; break;
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case CO_NMT_RESET_COMMUNICATION: resetCommand = CO_RESET_COMM; break;
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case CO_NMT_NO_COMMAND:
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default:
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/* done */
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break;
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}
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NMT->internalCommand = CO_NMT_NO_COMMAND;
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}
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/* verify NMT transitions based on error register */
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bool_t ErrOnBusOffHB = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_ON_BUSOFF_HB) != 0U);
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bool_t ErrBusOff = CO_isError(NMT->em, CO_EM_CAN_TX_BUS_OFF);
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bool_t ErrHbCons = CO_isError(NMT->em, CO_EM_HEARTBEAT_CONSUMER);
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bool_t ErrHbConsRemote = CO_isError(NMT->em, CO_EM_HB_CONSUMER_REMOTE_RESET);
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bool_t busOff_HB = ErrOnBusOffHB && (ErrBusOff || ErrHbCons || ErrHbConsRemote);
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bool_t ErrNMTErrReg = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_ON_ERR_REG) != 0U);
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bool_t ErrNMTcontrol = ((CO_getErrorRegister(NMT->em) & (uint8_t)NMT->NMTcontrol) != 0U);
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bool_t errRegMasked = ErrNMTErrReg && ErrNMTcontrol;
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if ((NMTstateCpy == CO_NMT_OPERATIONAL) && (busOff_HB || errRegMasked)) {
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NMTstateCpy = (((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_TO_STOPPED) != 0U) ? CO_NMT_STOPPED
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: CO_NMT_PRE_OPERATIONAL;
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} else if ((((uint16_t)NMT->NMTcontrol & (uint16_t)CO_NMT_ERR_FREE_TO_OPERATIONAL) != 0U)
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&& (NMTstateCpy == CO_NMT_PRE_OPERATIONAL) && (!busOff_HB && !errRegMasked)) {
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NMTstateCpy = CO_NMT_OPERATIONAL;
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} else { /* MISRA C 2004 14.10 */
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}
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#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0
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/* Notify operating state change */
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if ((NMT->operatingStatePrev != NMTstateCpy) || NNTinit) {
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if (NMT->pFunctNMT != NULL) {
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NMT->pFunctNMT(NMTstateCpy);
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}
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}
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#endif
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#if ((CO_CONFIG_NMT)&CO_CONFIG_FLAG_TIMERNEXT) != 0
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/* Calculate, when next Heartbeat needs to be send */
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if ((NMT->HBproducerTime_us != 0U) && (timerNext_us != NULL)) {
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if (NMT->operatingStatePrev != NMTstateCpy) {
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*timerNext_us = 0;
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} else if (*timerNext_us > NMT->HBproducerTimer) {
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*timerNext_us = NMT->HBproducerTimer;
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} else { /* MISRA C 2004 14.10 */
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}
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}
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#endif
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NMT->operatingState = NMTstateCpy;
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if (NMTstate != NULL) {
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*NMTstate = NMTstateCpy;
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}
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return resetCommand;
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}
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#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0
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CO_ReturnError_t
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CO_NMT_sendCommand(CO_NMT_t* NMT, CO_NMT_command_t command, uint8_t nodeID) {
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/* verify arguments */
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if (NMT == NULL) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* Apply NMT command also to this node, if set so. */
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if ((nodeID == 0U) || (nodeID == NMT->nodeId)) {
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NMT->internalCommand = command;
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}
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/* Send NMT master message. */
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NMT->NMT_TXbuff->data[0] = (uint8_t)command;
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NMT->NMT_TXbuff->data[1] = nodeID;
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return CO_CANsend(NMT->NMT_CANdevTx, NMT->NMT_TXbuff);
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}
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#endif
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