127 lines
3.9 KiB
C
127 lines
3.9 KiB
C
/**
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* CANopen Global fail-safe command protocol.
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*
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* @file CO_GFC.c
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* @ingroup CO_GFC
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* @author Robert Grüning
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* @copyright 2020 - 2020 Robert Grüning
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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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#include "304/CO_GFC.h"
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER
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static void CO_GFC_receive(void *object, void *msg)
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{
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CO_GFC_t *GFC;
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uint8_t DLC = CO_CANrxMsg_readDLC(msg);
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GFC = (CO_GFC_t *)
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object; /* this is the correct pointer type of the first argument */
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if ((*GFC->valid == 0x01) && (DLC == 0)) {
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER
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/* Optional signal to RTOS, which can resume task, which handles SRDO.
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*/
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if (GFC->pFunctSignalSafe != NULL) {
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GFC->pFunctSignalSafe(GFC->functSignalObjectSafe);
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}
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#endif
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}
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}
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void CO_GFC_initCallbackEnterSafeState(CO_GFC_t *GFC,
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void *object,
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void (*pFunctSignalSafe)(void *object))
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{
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if (GFC != NULL) {
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GFC->functSignalObjectSafe = object;
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GFC->pFunctSignalSafe = pFunctSignalSafe;
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}
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}
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#endif
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CO_ReturnError_t CO_GFC_init(CO_GFC_t *GFC,
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uint8_t *valid,
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CO_CANmodule_t *GFC_CANdevRx,
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uint16_t GFC_rxIdx,
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uint16_t CANidRxGFC,
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CO_CANmodule_t *GFC_CANdevTx,
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uint16_t GFC_txIdx,
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uint16_t CANidTxGFC)
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{
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if (GFC == NULL || valid == NULL || GFC_CANdevRx == NULL ||
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GFC_CANdevTx == NULL) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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GFC->valid = valid;
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER
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GFC->CANdevTx = GFC_CANdevTx;
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#endif
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER
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GFC->functSignalObjectSafe = NULL;
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GFC->pFunctSignalSafe = NULL;
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#endif
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER
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GFC->CANtxBuff = CO_CANtxBufferInit(
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GFC->CANdevTx, /* CAN device */
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GFC_txIdx, /* index of specific buffer inside CAN module */
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CANidTxGFC, /* CAN identifier */
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0, /* rtr */
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0, /* number of data bytes */
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0); /* synchronous message flag bit */
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if (GFC->CANtxBuff == NULL) {
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return CO_ERROR_TX_UNCONFIGURED;
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}
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#else
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(void)GFC_txIdx; /* unused */
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(void)CANidTxGFC; /* unused */
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#endif
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_CONSUMER
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const CO_ReturnError_t r = CO_CANrxBufferInit(
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GFC_CANdevRx, /* CAN device */
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GFC_rxIdx, /* rx buffer index */
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CANidRxGFC, /* CAN identifier */
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0x7FF, /* mask */
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0, /* rtr */
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(void *)GFC, /* object passed to receive function */
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CO_GFC_receive); /* this function will process received message */
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if (r != CO_ERROR_NO) {
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return r;
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}
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#else
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(void)GFC_rxIdx; /* unused */
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(void)CANidRxGFC; /* unused */
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#endif
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return CO_ERROR_NO;
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}
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#if (CO_CONFIG_GFC) & CO_CONFIG_GFC_PRODUCER
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CO_ReturnError_t CO_GFCsend(CO_GFC_t *GFC)
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{
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if (*GFC->valid == 0x01)
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return CO_CANsend(GFC->CANdevTx, GFC->CANtxBuff);
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return CO_ERROR_NO;
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}
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#endif
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