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CANopenNode/301/CO_config.h
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CANopen Safety (SRDO according to DIN EN 50325-5:2016) (#196) 
* CANopen Safety (SRDO according to DIN EN 50325-5:2016)

* GFC code and docs

* clang-format on GFC

Co-authored-by: rg1 <r.gruening@miunske.com>
2020-06-22 10:14:14 +02:00

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/**
* Configuration macros for CANopenNode.
*
* @file CO_config.h
* @ingroup CO_driver
* @author Janez Paternoster
* @copyright 2020 Janez Paternoster
*
* This file is part of CANopenNode, an opensource CANopen Stack.
* Project home page is <https://github.com/CANopenNode/CANopenNode>.
* For more information on CANopen see <http://www.can-cia.org/>.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CO_CONFIG_FLAGS_H
#define CO_CONFIG_FLAGS_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup CO_STACK_CONFIG Stack configuration
* @ingroup CO_driver
*
* Stack configuration macros specify, which parts of the stack will be enabled.
*
* Default values for stack configuration macros are set in CO_driver.h file.
* They can be overridden by CO_driver_target.h file. If specified so, they can
* further be overridden by CO_driver_custom.h file.
*
* Stack configuration macro is specified as bits, where each bit
* enables/disables some part of the configurable CANopenNode object. Flags are
* used for enabling or checking specific bit. Multiple flags can be ORed
* together.
*
* Configuration macros may be in relation with @ref CO_NO_OBJ macros from
* CANopen.h file. Former enables/disables stack functionalities, latter
* enables/disables objects in object dictionary. Note that some objects in
* object dictionary may need some configuration macros to be enabled.
* @{
*/
/**
* Enable custom callback after CAN receive
*
* Flag enables optional callback functions, which are part of some CANopenNode
* objects. Callbacks can optionally be registered by application, which
* configures threads in operating system. Callbacks are called after something
* has been preprocessed by higher priority thread and must be further
* processed by lower priority thread. For example when CAN message is received
* and preprocessed, callback should wake up mainline processing function.
* See also @ref CO_process() function.
*
* If callback functions are used, they must be initialized separately, after
* the object initialization.
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_CALLBACK_PRE 0x1000
/**
* Enable calculation of timerNext_us variable.
*
* Calculation of the timerNext_us variable is useful for smooth operation on
* operating system. See also @ref CO_process() function.
*
* This flag is common to multiple configuration macros.
*/
#define CO_CONFIG_FLAG_TIMERNEXT 0x2000
/**
* Configuration of NMT_Heartbeat object
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received NMT CAN message.
* Callback is configured by CO_NMT_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_NMT_process().
* - CO_CONFIG_NMT_CALLBACK_CHANGE - Enable custom callback after NMT
* state changes. Callback is configured by
* CO_NMT_initCallbackChanged().
* - CO_CONFIG_NMT_MASTER - Enable simple NMT master
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_NMT (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_NMT_CALLBACK_CHANGE | CO_CONFIG_NMT_MASTER0)
#endif
#define CO_CONFIG_NMT_CALLBACK_CHANGE 0x01
#define CO_CONFIG_NMT_MASTER 0x02
/**
* Configuration of SDO server object
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received SDO CAN message.
* Callback is configured by CO_SDO_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_SDO_process().
* - CO_CONFIG_SDO_SEGMENTED - Enable SDO server segmented transfer.
* - CO_CONFIG_SDO_BLOCK - Enable SDO server block transfer. If set, then
* CO_CONFIG_SDO_SEGMENTED must also be set.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SDO (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_SDO_SEGMENTED | CO_CONFIG_SDO_BLOCK)
#endif
/* TODO with new OD */
#define CO_CONFIG_SDO_SEGMENTED 0x01
#define CO_CONFIG_SDO_BLOCK 0x02
/**
* Size of the internal data buffer for the SDO server.
*
* Size must be at least equal to size of largest variable in
* @ref CO_SDO_objectDictionary. If data type is domain, data length is not
* limited to SDO buffer size. If block transfer is implemented, value should be
* set to 889.
*
* Value can be in range from 7 to 889 bytes.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SDO_BUFFER_SIZE 32
#endif
/**
* Configuration of Emergency object
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* emergency condition by CO_errorReport() or CO_errorReset() call.
* Callback is configured by CO_EM_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_EM_process().
* - CO_CONFIG_EM_CONSUMER - Enable emergency consumer.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_EM (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_EM_CONSUMER)
#endif
#define CO_CONFIG_EM_CONSUMER 0x01
/**
* Configuration of Heartbeat Consumer
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received heartbeat CAN message.
* Callback is configured by CO_HBconsumer_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_HBconsumer_process().
* - CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom 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
* 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.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_HB_CONS (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_HB_CONS_CALLBACK_CHANGE | CO_CONFIG_HB_CONS_CALLBACK_MULTI | CO_CONFIG_HB_CONS_QUERY_FUNCT)
#endif
#define CO_CONFIG_HB_CONS_CALLBACK_CHANGE 0x01
#define CO_CONFIG_HB_CONS_CALLBACK_MULTI 0x02
#define CO_CONFIG_HB_CONS_QUERY_FUNCT 0x04
/**
* Configuration of GFC
*
* Possible flags, can be ORed:
* - CO_CONFIG_GFC_CONSUMER - Enable the GFC consumer
* - CO_CONFIG_GFC_PRODUCER - Enable the GFC producer
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_GFC (CO_CONFIG_GFC_CONSUMER | CO_CONFIG_GFC_PRODUCER)
#endif
#define CO_CONFIG_GFC_CONSUMER 0x01
#define CO_CONFIG_GFC_PRODUCER 0x02
/**
* Configuration of SRDO
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received RSRDO CAN message.
* Callback is configured by CO_SRDO_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_SRDO_process() (Tx SRDO only).
* - CO_CONFIG_RSRDO_CALLS_EXTENSION - Enable calling configured extension
* callbacks when received RSRDO CAN message modifies OD entries.
* - CO_CONFIG_TRSRDO_CALLS_EXTENSION - Enable calling configured extension
* callbacks before TSRDO CAN message is sent.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SRDO (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_SRDO_CHECK_TX | CO_CONFIG_RSRDO_CALLS_EXTENSION | CO_CONFIG_TSRDO_CALLS_EXTENSION)
#endif
#define CO_CONFIG_SRDO_CHECK_TX 0x01
#define CO_CONFIG_RSRDO_CALLS_EXTENSION 0x02
#define CO_CONFIG_TSRDO_CALLS_EXTENSION 0x04
/**
* SRDO Tx time delay
*
* minimum time between the first and second SRDO (Tx) message
* in us
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0
#endif
/**
* Configuration of PDO
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received RPDO CAN message.
* Callback is configured by CO_RPDO_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_TPDO_process().
* - CO_CONFIG_PDO_SYNC_ENABLE - Enable SYNC object inside PDO objects.
* - CO_CONFIG_RPDO_CALLS_EXTENSION - Enable calling configured extension
* callbacks when received RPDO CAN message modifies OD entries.
* - CO_CONFIG_TPDO_CALLS_EXTENSION - Enable calling configured extension
* callbacks before TPDO CAN message is sent.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_PDO (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_RPDO_CALLS_EXTENSION | CO_CONFIG_TPDO_CALLS_EXTENSION)
#endif
#define CO_CONFIG_PDO_SYNC_ENABLE 0x01
#define CO_CONFIG_RPDO_CALLS_EXTENSION 0x02
#define CO_CONFIG_TPDO_CALLS_EXTENSION 0x04
/**
* Configuration of SYNC
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received SYNC CAN message.
* Callback is configured by CO_SYNC_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_SYNC_process().
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SYNC (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT)
#endif
/**
* Configuration of SDO client object
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received SDO CAN message.
* Callback is configured by CO_SDOclient_initCallbackPre().
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_SDOclientDownloadInitiate(), CO_SDOclientDownload(),
* CO_SDOclientUploadInitiate(), CO_SDOclientUpload().
* - CO_CONFIG_SDO_CLI_SEGMENTED - Enable SDO client segmented transfer.
* - CO_CONFIG_SDO_CLI_BLOCK - Enable SDO client block transfer. If set, then
* CO_CONFIG_SDO_CLI_SEGMENTED must also be set.
* - CO_CONFIG_SDO_CLI_LOCAL - Enable local transfer, if Node-ID of the SDO
* server is the same as node-ID of the SDO client. (SDO client is the same
* device as SDO server.) Transfer data directly without communication on CAN.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SDO_CLI (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_SDO_CLI_SEGMENTED | CO_CONFIG_SDO_CLI_BLOCK | CO_CONFIG_SDO_CLI_LOCAL)
#endif
#define CO_CONFIG_SDO_CLI_SEGMENTED 0x01
#define CO_CONFIG_SDO_CLI_BLOCK 0x02
#define CO_CONFIG_SDO_CLI_LOCAL 0x04
/**
* Size of the internal data buffer for the SDO client.
*
* Circular buffer is used for SDO communication. it can be read or written
* between successive SDO calls. So size of the buffer can be lower than size of
* the actual size of data transferred. If only segmented transfer is used, then
* buffer size can be as low as 7 bytes, if data are read/written each cycle. If
* block transfer is used, buffer size should be set to at least 889 bytes, so
* maximum blksize can be used. In that case data should be read/written proper
* time between cycles.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_SDO_CLI_BUFFER_SIZE 32
#endif
/**
* Configuration of TIME
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received TIME CAN message.
* Callback is configured by CO_TIME_initCallbackPre().
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_TIME (CO_CONFIG_FLAG_CALLBACK_PRE)
#endif
/**
* Configuration of LEDs object
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable
* inside CO_NMT_process().
* - CO_CONFIG_LEDS_ENABLE - Enable calculation of the CANopen LED indicators.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_LEDS (CO_CONFIG_FLAG_TIMERNEXT | CO_CONFIG_LEDS_ENABLE)
#endif
#define CO_CONFIG_LEDS_ENABLE 0x01
/**
* Configuration of LSS objects
*
* Possible flags, can be ORed:
* - #CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing
* received CAN message.
* Callback is configured by CO_LSSmaster_initCallbackPre().
* - CO_CONFIG_LSS_SLAVE - Enable LSS slave
* - CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND - Send LSS fastscan respond
* directly from CO_LSSslave_receive() function.
* - CO_CONFIG_LSS_MASTER - Enable LSS master
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_LSS (CO_CONFIG_FLAG_CALLBACK_PRE | CO_CONFIG_LSS_SLAVE | CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND | CO_CONFIG_LSS_MASTER )
#endif
#define CO_CONFIG_LSS_SLAVE 0x01
#define CO_CONFIG_LSS_SLAVE_FASTSCAN_DIRECT_RESPOND 0x02
#define CO_CONFIG_LSS_MASTER 0x10
/**
* Configuration of gateway object usage.
*
* Gateway object is covered by standard CiA 309 - CANopen access from other
* networks. It enables usage of the NMT master, SDO client and LSS master as a
* gateway device.
*
* Possible flags, can be ORed:
* - CO_CONFIG_GTW_MULTI_NET - Enable multiple network interfaces in gateway
* device. This functionality is currently not implemented.
* - CO_CONFIG_GTW_ASCII - Enable gateway device with ASCII mapping (CiA 309-3)
* - CO_CONFIG_GTW_ASCII_SDO - Enable SDO client
* - CO_CONFIG_GTW_ASCII_NMT - Enable NMT master
* - CO_CONFIG_GTW_ASCII_LSS - Enable LSS master
* - CO_CONFIG_GTW_ASCII_LOG - Enable non-standard message log read
* - CO_CONFIG_GTW_ASCII_ERROR_DESC - Print error description as additional
* comments in gateway-ascii device for SDO and gateway errors.
* - CO_CONFIG_GTW_ASCII_PRINT_HELP - use non-standard command "help" to print
* help usage.
* - CO_CONFIG_GTW_ASCII_PRINT_LEDS - Display "red" and "green" CANopen status
* LED diodes on terminal.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_GTW (CO_CONFIG_GTW_MULTI_NET | CO_CONFIG_GTW_ASCII | CO_CONFIG_GTW_ASCII_SDO | CO_CONFIG_GTW_ASCII_NMT | CO_CONFIG_GTW_ASCII_LSS | CO_CONFIG_GTW_ASCII_LOG | CO_CONFIG_GTW_ASCII_ERROR_DESC | CO_CONFIG_GTW_ASCII_PRINT_HELP | CO_CONFIG_GTW_ASCII_PRINT_LEDS)
#endif
#define CO_CONFIG_GTW_MULTI_NET 0x01
#define CO_CONFIG_GTW_ASCII 0x02
#define CO_CONFIG_GTW_ASCII_SDO 0x04
#define CO_CONFIG_GTW_ASCII_NMT 0x08
#define CO_CONFIG_GTW_ASCII_LSS 0x10
#define CO_CONFIG_GTW_ASCII_LOG 0x20
#define CO_CONFIG_GTW_ASCII_ERROR_DESC 0x40
#define CO_CONFIG_GTW_ASCII_PRINT_HELP 0x80
#define CO_CONFIG_GTW_ASCII_PRINT_LEDS 0x100
/**
* Number of loops of #CO_SDOclientDownload() in case of block download
*
* If SDO clint has block download in progress and OS has buffer for CAN tx
* messages, then #CO_SDOclientDownload() functionion can be called multiple
* times within own loop (up to 127). This can speed-up SDO block transfer.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_GTW_BLOCK_DL_LOOP 1
#endif
/**
* Size of command buffer in ASCII gateway object.
*
* If large amount of data is transferred (block transfer), then this should be
* increased to 1000 or more. Buffer may be refilled between the block transfer.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_GTWA_COMM_BUF_SIZE 200
#endif
/**
* Size of message log buffer in ASCII gateway object.
*/
#ifdef CO_DOXYGEN
#define CO_CONFIG_GTWA_LOG_BUF_SIZE 2000
#endif
/** @} */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* CO_CONFIG_FLAGS_H */
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