223 lines
8.3 KiB
C
223 lines
8.3 KiB
C
/**
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* CANopen Synchronisation protocol.
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*
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* @file CO_SYNC.h
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* @ingroup CO_SYNC
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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 CANopenNode, an opensource CANopen Stack.
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* Project home page is <https://github.com/CANopenNode/CANopenNode>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* 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
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* distributed under the License is distributed on an "AS IS" BASIS,
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* 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
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* limitations under the License.
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*/
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#ifndef CO_SYNC_H
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#define CO_SYNC_H
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#include "301/CO_driver.h"
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/* default configuration, see CO_config.h */
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#ifndef CO_CONFIG_SYNC
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#define CO_CONFIG_SYNC (CO_CONFIG_SYNC_ENABLE | CO_CONFIG_SYNC_PRODUCER)
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#endif
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#if ((CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE) || defined CO_DOXYGEN
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @defgroup CO_SYNC SYNC
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* @ingroup CO_CANopen_301
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* @{
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*
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* CANopen Synchronisation protocol.
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*
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* For CAN identifier see #CO_Default_CAN_ID_t
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*
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* SYNC message is used for synchronization of the nodes on network. One node
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* can be SYNC producer, others can be SYNC consumers. Synchronous TPDOs are
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* transmitted after the CANopen SYNC message. Synchronous received PDOs are
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* accepted(copied to OD) immediatelly after the reception of the next SYNC
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* message.
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*
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* ####Contents of SYNC message
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* By default SYNC message has no data. If _Synchronous counter overflow value_
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* from Object dictionary (index 0x1019) is different than 0, SYNC message has
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* one data byte: _counter_ incremented by 1 with every SYNC transmission.
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*
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* ####SYNC in CANopenNode
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* According to CANopen, synchronous RPDOs must be processed after reception of
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* the next sync messsage. For that reason, there is a double receive buffer
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* for each synchronous RPDO. At the moment, when SYNC is received or
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* transmitted, internal variable CANrxToggle toggles. That variable is then
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* used by synchronous RPDO to determine, which of the two buffers is used for
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* RPDO reception and which for RPDO processing.
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*/
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/**
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* SYNC producer and consumer object.
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*/
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typedef struct{
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CO_EM_t *em; /**< From CO_SYNC_init() */
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CO_NMT_internalState_t *operatingState; /**< From CO_SYNC_init() */
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/** True, if device is SYNC producer. Calculated from _COB ID SYNC Message_
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variable from Object dictionary (index 0x1005). */
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bool_t isProducer;
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/** COB_ID of SYNC message. Calculated from _COB ID SYNC Message_
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variable from Object dictionary (index 0x1005). */
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uint16_t COB_ID;
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/** Sync period time in [microseconds]. Calculated from _Communication cycle period_
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variable from Object dictionary (index 0x1006). */
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uint32_t periodTime;
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/** Sync period timeout time in [microseconds].
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(periodTimeoutTime = periodTime * 1,5) */
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uint32_t periodTimeoutTime;
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/** Value from _Synchronous counter overflow value_ variable from Object
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dictionary (index 0x1019) */
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uint8_t counterOverflowValue;
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/** True, if current time is inside synchronous window.
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In this case synchronous PDO may be sent. */
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bool_t curentSyncTimeIsInsideWindow;
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/** Indicates, if new SYNC message received from CAN bus */
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volatile void *CANrxNew;
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/** Variable toggles, if new SYNC message received from CAN bus */
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bool_t CANrxToggle;
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/** Counter of the SYNC message if counterOverflowValue is different than zero */
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uint8_t counter;
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/** Timer for the SYNC message in [microseconds].
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Set to zero after received or transmitted SYNC message */
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uint32_t timer;
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/** Set to nonzero value, if SYNC with wrong data length is received from CAN */
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uint16_t receiveError;
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#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
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/** From CO_SYNC_initCallbackPre() or NULL */
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void (*pFunctSignalPre)(void *object);
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/** From CO_SYNC_initCallbackPre() or NULL */
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void *functSignalObjectPre;
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#endif
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CO_CANmodule_t *CANdevRx; /**< From CO_SYNC_init() */
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uint16_t CANdevRxIdx; /**< From CO_SYNC_init() */
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CO_CANmodule_t *CANdevTx; /**< From CO_SYNC_init() */
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CO_CANtx_t *CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
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uint16_t CANdevTxIdx; /**< From CO_SYNC_init() */
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}CO_SYNC_t;
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/** Return value for #CO_SYNC_process */
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typedef enum {
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CO_SYNC_NONE = 0, /**< SYNC not received */
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CO_SYNC_RECEIVED = 1, /**< SYNC received */
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CO_SYNC_OUTSIDE_WINDOW = 2 /**< SYNC received outside SYNC window */
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} CO_SYNC_status_t;
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/**
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* Initialize SYNC object.
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*
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* Function must be called in the communication reset section.
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*
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* @param SYNC This object will be initialized.
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* @param em Emergency object.
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* @param SDO SDO server object.
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* @param operatingState Pointer to variable indicating CANopen device NMT internal state.
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* @param COB_ID_SYNCMessage From Object dictionary (index 0x1005).
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* @param communicationCyclePeriod From Object dictionary (index 0x1006).
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* @param synchronousCounterOverflowValue From Object dictionary (index 0x1019).
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* @param CANdevRx CAN device for SYNC reception.
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* @param CANdevRxIdx Index of receive buffer in the above CAN device.
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* @param CANdevTx CAN device for SYNC transmission.
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* @param CANdevTxIdx Index of transmit buffer in the above CAN device.
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*
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* @return #CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.
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*/
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CO_ReturnError_t CO_SYNC_init(
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CO_SYNC_t *SYNC,
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CO_EM_t *em,
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CO_SDO_t *SDO,
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CO_NMT_internalState_t *operatingState,
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uint32_t COB_ID_SYNCMessage,
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uint32_t communicationCyclePeriod,
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uint8_t synchronousCounterOverflowValue,
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CO_CANmodule_t *CANdevRx,
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uint16_t CANdevRxIdx,
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CO_CANmodule_t *CANdevTx,
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uint16_t CANdevTxIdx);
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#if ((CO_CONFIG_SYNC) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
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/**
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* Initialize SYNC callback function.
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*
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* Function initializes optional callback function, which should immediately
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* start processing of CO_SYNC_process() function.
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* Callback is called after SYNC message is received from the CAN bus.
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*
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* @param SYNC This object.
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* @param object Pointer to object, which will be passed to pFunctSignalPre(). Can be NULL
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* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
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*/
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void CO_SYNC_initCallbackPre(
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CO_SYNC_t *SYNC,
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void *object,
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void (*pFunctSignalPre)(void *object));
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#endif
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/**
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* Send SYNC message.
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*
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* This function prepares and sends a SYNC object. The application should only
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* call this if direct control of SYNC transmission is needed, otherwise use
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* CO_SYNC_process().
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*
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*
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* @param SYNC SYNC object.
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*
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* @return Same as CO_CANsend().
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*/
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CO_ReturnError_t CO_SYNCsend(CO_SYNC_t *SYNC);
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/**
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* Process SYNC communication.
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*
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* Function must be called cyclically.
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*
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* @param SYNC This object.
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* @param timeDifference_us Time difference from previous function call in [microseconds].
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* @param ObjDict_synchronousWindowLength _Synchronous window length_ variable from
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* Object dictionary (index 0x1007).
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* @param [out] timerNext_us info to OS - see CO_process_SYNC_PDO().
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*
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* @return #CO_SYNC_status_t: CO_SYNC_NONE, CO_SYNC_RECEIVED or CO_SYNC_OUTSIDE_WINDOW.
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*/
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CO_SYNC_status_t CO_SYNC_process(
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CO_SYNC_t *SYNC,
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uint32_t timeDifference_us,
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uint32_t ObjDict_synchronousWindowLength,
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uint32_t *timerNext_us);
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/** @} */ /* CO_SYNC */
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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#endif /* (CO_CONFIG_SYNC) & CO_CONFIG_SYNC_ENABLE */
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#endif /* CO_SYNC_H */
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