114 lines
3.5 KiB
C
114 lines
3.5 KiB
C
/**
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* Helper functions for implementing CANopen tasks in Linux using epoll.
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*
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* @file Linux_tasks.h
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* @author Janez Paternoster
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* @copyright 2015 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 <http://canopennode.sourceforge.net>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CO_LINUX_TASKS_H
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#define CO_LINUX_TASKS_H
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/**
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* Initialize mainline task.
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*
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* taskMain is non-realtime task for CANopenNode processing. It is nonblocking
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* and is executing cyclically in 50 ms intervals or less if necessary.
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* It uses Linux epoll, timerfd for interval and pipe for task triggering.
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* This task processes CO_process() function from CANopen.c file.
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*
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* @param fdEpoll File descriptor for Linux epoll API.
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* @param maxTime Pointer to variable, where longest interval will be written
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* [in milliseconds]. If NULL, calculations won't be made.
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*/
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void taskMain_init(int fdEpoll, uint16_t *maxTime);
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/**
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* Cleanup mainline task.
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*/
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void taskMain_close(void);
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/**
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* Process mainline task.
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*
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* Function must be called after epoll.
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*
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* @param fd Available file descriptor from epoll().
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* @param reset return value from CO_process() function.
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* @param timer1ms variable, which must increment each millisecond.
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*
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* @return True, if fd was matched.
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*/
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bool_t taskMain_process(int fd, CO_NMT_reset_cmd_t *reset, uint16_t timer1ms);
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/**
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* Signal function, which triggers mainline task.
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*
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* It is used from some CANopenNode objects as callback.
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*/
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void taskMain_cbSignal(void);
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/**
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* Initialize realtime task.
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*
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* CANrx_taskTmr is realtime task for CANopenNode processing. It is nonblocking
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* and is executing on CAN message receive or periodically in 1ms (or something)
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* intervals. Inside interval is processed CANopen SYNC message, RPDOs(inputs)
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* and TPDOs(outputs). Between inputs and outputs can also be executed some
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* realtime application code.
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* CANrx_taskTmr uses Linux epoll, CAN socket form CO_driver.c and timerfd for
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* interval.
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*
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*
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* @param fdEpoll File descriptor for Linux epoll API.
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* @param intervalns Interval of periodic timer in nanoseconds.
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* @param maxTime Pointer to variable, where longest interval will be written
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* [in milliseconds]. If NULL, calculations won't be made.
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*/
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void CANrx_taskTmr_init(int fdEpoll, long intervalns, uint16_t *maxTime);
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/**
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* Cleanup realtime task.
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*/
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void CANrx_taskTmr_close(void);
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/**
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* Process realtime task.
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*
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* Function must be called after epoll.
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*
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* @param fd Available file descriptor from epoll().
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*
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* @return True, if fd was matched.
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*/
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bool_t CANrx_taskTmr_process(int fd);
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/**
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* Disable CAN receive thread temporary.
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*
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* Function is called at SYNC message on CAN bus.
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* It disables CAN receive thread until RPDOs are processed.
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*/
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void CANrx_lockCbSync(bool_t syncReceived);
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#endif
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