191 lines
7.7 KiB
C
191 lines
7.7 KiB
C
/**
|
|
* CANopen trace interface.
|
|
*
|
|
* @file CO_trace.h
|
|
* @ingroup CO_trace
|
|
* @author Janez Paternoster
|
|
* @copyright 2016 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/>.
|
|
*
|
|
* CANopenNode is free and open source software: you can redistribute
|
|
* it and/or modify it under the terms of the GNU General Public License
|
|
* as published by the Free Software Foundation, either version 2 of the
|
|
* License, or (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*
|
|
* Following clarification and special exception to the GNU General Public
|
|
* License is included to the distribution terms of CANopenNode:
|
|
*
|
|
* Linking this library statically or dynamically with other modules is
|
|
* making a combined work based on this library. Thus, the terms and
|
|
* conditions of the GNU General Public License cover the whole combination.
|
|
*
|
|
* As a special exception, the copyright holders of this library give
|
|
* you permission to link this library with independent modules to
|
|
* produce an executable, regardless of the license terms of these
|
|
* independent modules, and to copy and distribute the resulting
|
|
* executable under terms of your choice, provided that you also meet,
|
|
* for each linked independent module, the terms and conditions of the
|
|
* license of that module. An independent module is a module which is
|
|
* not derived from or based on this library. If you modify this
|
|
* library, you may extend this exception to your version of the
|
|
* library, but you are not obliged to do so. If you do not wish
|
|
* to do so, delete this exception statement from your version.
|
|
*/
|
|
|
|
|
|
#ifndef CO_TRACE_H
|
|
#define CO_TRACE_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
#include "CO_driver.h"
|
|
#include "CO_SDO.h"
|
|
|
|
|
|
/**
|
|
* @defgroup CO_trace Trace
|
|
* @ingroup CO_CANopen
|
|
* @{
|
|
*
|
|
* CANopen trace for recording variables over time.
|
|
*
|
|
* In embedded systems there is often a need to monitor some variables over time.
|
|
* Results are then displayed on graph, similar as in oscilloscope.
|
|
*
|
|
* CANopen trace is a configurable object, accessible via CANopen Object
|
|
* Dictionary, which records chosen variable over time. It generates a curve,
|
|
* which can be read via SDO and can then be displayed in a graph.
|
|
*
|
|
* CO_trace_process() runs in 1 ms intervals and monitors one variable. If it
|
|
* changes, it makes a record with timestamp into circular buffer. When trace is
|
|
* accessed by CANopen SDO object, it reads latest points from the the circular
|
|
* buffer, prints a SVG curve into string and sends it as a SDO response. If a
|
|
* SDO request was received from the same device, then no traffic occupies CAN
|
|
* network.
|
|
*/
|
|
|
|
|
|
/**
|
|
* Start index of traceConfig and Trace objects in Object Dictionary.
|
|
*/
|
|
#ifndef OD_INDEX_TRACE_CONFIG
|
|
#define OD_INDEX_TRACE_CONFIG 0x2301
|
|
#define OD_INDEX_TRACE 0x2401
|
|
#endif
|
|
|
|
|
|
/**
|
|
* structure for reading variables and printing points for specific data type.
|
|
*/
|
|
typedef struct {
|
|
/** Function pointer for getting the value from OD variable. **/
|
|
int32_t (*pGetValue) (void *OD_variable);
|
|
/** Function pointer for printing the start point to trace.plot */
|
|
uint32_t (*printPointStart)(char *s, uint32_t size, uint32_t timeStamp, int32_t value);
|
|
/** Function pointer for printing the point to trace.plot */
|
|
uint32_t (*printPoint)(char *s, uint32_t size, uint32_t timeStamp, int32_t value);
|
|
/** Function pointer for printing the end point to trace.plot */
|
|
uint32_t (*printPointEnd)(char *s, uint32_t size, uint32_t timeStamp, int32_t value);
|
|
} CO_trace_dataType_t;
|
|
|
|
|
|
/**
|
|
* Trace object.
|
|
*/
|
|
typedef struct {
|
|
bool_t enabled; /**< True, if trace is enabled. */
|
|
CO_SDO_t *SDO; /**< From CO_trace_init(). */
|
|
uint32_t *timeBuffer; /**< From CO_trace_init(). */
|
|
int32_t *valueBuffer; /**< From CO_trace_init(). */
|
|
uint32_t bufferSize; /**< From CO_trace_init(). */
|
|
volatile uint32_t writePtr; /**< Location in buffer, which will be next written. */
|
|
volatile uint32_t readPtr; /**< Location in buffer, which will be next read. */
|
|
uint32_t lastTimeStamp; /**< Last time stamp. If zero, then last point contains last timestamp. */
|
|
void *OD_variable; /**< Pointer to variable, which is monitored */
|
|
const CO_trace_dataType_t *dt; /**< Data type specific function pointers. **/
|
|
int32_t valuePrev; /**< Previous value of value. */
|
|
uint32_t *map; /**< From CO_trace_init(). */
|
|
uint8_t *format; /**< From CO_trace_init(). */
|
|
int32_t *value; /**< From CO_trace_init(). */
|
|
int32_t *minValue; /**< From CO_trace_init(). */
|
|
int32_t *maxValue; /**< From CO_trace_init(). */
|
|
uint32_t *triggerTime; /**< From CO_trace_init(). */
|
|
uint8_t *trigger; /**< From CO_trace_init(). */
|
|
int32_t *threshold; /**< From CO_trace_init(). */
|
|
} CO_trace_t;
|
|
|
|
|
|
/**
|
|
* Initialize trace object.
|
|
*
|
|
* Function must be called in the communication reset section.
|
|
*
|
|
* @param trace This object will be initialized.
|
|
* @param SDO SDO server object.
|
|
* @param enabled Is trace enabled.
|
|
* @param timeBuffer Memory block for storing time records.
|
|
* @param valueBuffer Memory block for storing value records.
|
|
* @param bufferSize Size of the above buffers.
|
|
* @param map Map to variable in Object Dictionary, which will be monitored. Same structure as in PDO.
|
|
* @param Format Format of the plot. If first bit is 1, above variable is unsigned. For more info see Object Dictionary.
|
|
* @param trigger If different than zero, trigger time is recorded, when variable goes through threshold.
|
|
* @param threshold Used with trigger.
|
|
* @param value Pointer to variable, which will show last value of the variable.
|
|
* @param minValue Pointer to variable, which will show minimum value of the variable.
|
|
* @param maxValue Pointer to variable, which will show maximum value of the variable.
|
|
* @param triggerTime Pointer to variable, which will show last trigger time of the variable.
|
|
* @param idx_OD_traceConfig Index in Object Dictionary.
|
|
* @param idx_OD_trace Index in Object Dictionary.
|
|
*
|
|
* @return 0 on success, -1 on error.
|
|
*/
|
|
void CO_trace_init(
|
|
CO_trace_t *trace,
|
|
CO_SDO_t *SDO,
|
|
uint8_t enabled,
|
|
uint32_t *timeBuffer,
|
|
int32_t *valueBuffer,
|
|
uint32_t bufferSize,
|
|
uint32_t *map,
|
|
uint8_t *format,
|
|
uint8_t *trigger,
|
|
int32_t *threshold,
|
|
int32_t *value,
|
|
int32_t *minValue,
|
|
int32_t *maxValue,
|
|
uint32_t *triggerTime,
|
|
uint16_t idx_OD_traceConfig,
|
|
uint16_t idx_OD_trace);
|
|
|
|
|
|
/**
|
|
* Process trace object.
|
|
*
|
|
* Function must be called cyclically in 1ms intervals.
|
|
*
|
|
* @param trace This object.
|
|
* @param timestamp Timestamp (usually in millisecond resolution).
|
|
*
|
|
* @return 0 on success, -1 on error.
|
|
*/
|
|
void CO_trace_process(CO_trace_t *trace, uint32_t timestamp);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif /*__cplusplus*/
|
|
|
|
/** @} */
|
|
#endif
|