f56c96db3c
- Minor changes in most files - add CANopenNode.png - update doxyfile - move doc/LSSusage.md and doc/gettingStarted.md into CANopenDemo repository - update README.md
137 lines
4.3 KiB
C
137 lines
4.3 KiB
C
/**
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* CANopen Global fail-safe command protocol.
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*
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* @file CO_GFC.h
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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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#ifndef CO_GFC_H
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#define CO_GFC_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_GFC
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#define CO_CONFIG_GFC (0)
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#endif
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#if ((CO_CONFIG_GFC) & CO_CONFIG_GFC_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_GFC GFC
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* Global fail-safe command protocol.
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*
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* @ingroup CO_CANopen_304
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* @{
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* Very simple consumer/producer protocol.
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* A net can have multiple GFC producer and multiple GFC consumer.
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* On a safety-relevant the producer can send a GFC message (ID 0, DLC 0).
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* The consumer can use this message to start the transition to a safe state.
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* The GFC is optional for the security protocol and is not monitored (timed).
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*/
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/**
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* GFC object.
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*/
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typedef struct {
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uint8_t *valid; /**< From CO_GFC_init() */
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#if ((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) || defined CO_DOXYGEN
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CO_CANmodule_t *CANdevTx; /**< From CO_GFC_init() */
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CO_CANtx_t *CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
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#endif
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#if ((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) || defined CO_DOXYGEN
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/** From CO_GFC_initCallbackEnterSafeState() or NULL */
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void (*pFunctSignalSafe)(void *object);
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/** From CO_GFC_initCallbackEnterSafeState() or NULL */
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void *functSignalObjectSafe;
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#endif
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} CO_GFC_t;
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/**
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* Initialize GFC 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 GFC This object will be initialized.
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* @param valid pointer to the valid flag in OD (0x1300)
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* @param GFC_CANdevRx CAN device used for SRDO reception.
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* @param GFC_rxIdx Index of receive buffer in the above CAN device.
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* @param CANidRxGFC GFC CAN ID for reception
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* @param GFC_CANdevTx AN device used for SRDO transmission.
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* @param GFC_txIdx Index of transmit buffer in the above CAN device.
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* @param CANidTxGFC GFC CAN ID for transmission
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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_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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#if ((CO_CONFIG_GFC)&CO_CONFIG_GFC_CONSUMER) || defined CO_DOXYGEN
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/**
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* Initialize GFC callback function.
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*
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* Function initializes optional callback function, that is called when GFC is
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* received. Callback is called from receive function (interrupt).
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*
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* @param GFC This object.
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* @param object Pointer to object, which will be passed to pFunctSignalSafe().
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* Can be NULL
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* @param pFunctSignalSafe Pointer to the callback function. Not called if NULL.
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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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#endif
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#if ((CO_CONFIG_GFC)&CO_CONFIG_GFC_PRODUCER) || defined CO_DOXYGEN
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/**
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* Send GFC message.
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*
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* It should be called by application, for example after a safety-relevant
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* change.
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*
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* @param GFC GFC 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_GFCsend(CO_GFC_t *GFC);
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#endif
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/** @} */ /* CO_GFC */
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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#endif /* (CO_CONFIG_GFC) & CO_CONFIG_GFC_ENABLE */
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#endif /* CO_GFC_H */
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