184 lines
7.5 KiB
C
184 lines
7.5 KiB
C
/**
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* CANopen SYNC object protocol.
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*
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* @file CO_SYNC.h
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* @ingroup CO_SYNC
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* @author Janez Paternoster
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* @copyright 2004 - 2013 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 <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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* CANopenNode is free and open source software: you can redistribute
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* it and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation, either version 2 of the
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* License, or (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 General Public License for more details.
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*
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* You should have received a copy of the GNU 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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* Following clarification and special exception to the GNU General Public
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* License is included to the distribution terms of CANopenNode:
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*
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* Linking this library statically or dynamically with other modules is
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* making a combined work based on this library. Thus, the terms and
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* conditions of the GNU General Public License cover the whole combination.
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*
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* As a special exception, the copyright holders of this library give
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* you permission to link this library with independent modules to
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* produce an executable, regardless of the license terms of these
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* independent modules, and to copy and distribute the resulting
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* executable under terms of your choice, provided that you also meet,
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* for each linked independent module, the terms and conditions of the
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* license of that module. An independent module is a module which is
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* not derived from or based on this library. If you modify this
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* library, you may extend this exception to your version of the
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* library, but you are not obliged to do so. If you do not wish
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* to do so, delete this exception statement from your version.
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*/
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#ifndef CO_SYNC_H
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#define CO_SYNC_H
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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_SYNC SYNC
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* @ingroup CO_CANopen
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* @{
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*
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* CANopen SYNC object protocol.
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*
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* For CAN identifier see #CO_Default_CAN_ID_t
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*
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* SYNC message is used for synchronization of the nodes on network. One node
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* can be SYNC producer, others can be SYNC consumers. Synchronous TPDOs are
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* transmitted after the CANopen SYNC message. Synchronous received PDOs are
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* accepted(copied to OD) immediatelly after the reception of the next SYNC
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* message.
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*
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* ####Contents of SYNC message
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* By default SYNC message has no data. If _Synchronous counter overflow value_
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* from Object dictionary (index 0x1019) is different than 0, SYNC message has
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* one data byte: _counter_ incremented by 1 with every SYNC transmission.
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*
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* ####SYNC in CANopenNode
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* According to CANopen, synchronous RPDOs must be processed after reception of
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* the next sync messsage. For that reason, there is a double receive buffer
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* for each synchronous RPDO. At the moment, when SYNC is received or
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* transmitted, internal variable CANrxToggle toggles. That variable is then
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* used by synchronous RPDO to determine, which of the two buffers is used for
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* RPDO reception and which for RPDO processing.
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*/
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/**
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* SYNC producer and consumer object.
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*/
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typedef struct{
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CO_EM_t *em; /**< From CO_SYNC_init() */
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uint8_t *operatingState; /**< From CO_SYNC_init() */
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/** True, if device is SYNC producer. Calculated from _COB ID SYNC Message_
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variable from Object dictionary (index 0x1005). */
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bool_t isProducer;
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/** COB_ID of SYNC message. Calculated from _COB ID SYNC Message_
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variable from Object dictionary (index 0x1005). */
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uint16_t COB_ID;
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/** Sync period time in [microseconds]. Calculated from _Communication cycle period_
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variable from Object dictionary (index 0x1006). */
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uint32_t periodTime;
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/** Sync period timeout time in [microseconds].
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(periodTimeoutTime = periodTime * 1,5) */
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uint32_t periodTimeoutTime;
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/** Value from _Synchronous counter overflow value_ variable from Object
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dictionary (index 0x1019) */
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uint8_t counterOverflowValue;
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/** True, if current time is inside synchronous window.
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In this case synchronous PDO may be sent. */
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bool_t curentSyncTimeIsInsideWindow;
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/** Variable indicates, if new SYNC message received from CAN bus */
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bool_t CANrxNew;
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/** Variable toggles, if new SYNC message received from CAN bus */
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bool_t CANrxToggle;
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/** Counter of the SYNC message if counterOverflowValue is different than zero */
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uint8_t counter;
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/** Timer for the SYNC message in [microseconds].
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Set to zero after received or transmitted SYNC message */
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uint32_t timer;
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/** Set to nonzero value, if SYNC with wrong data length is received from CAN */
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uint16_t receiveError;
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CO_CANmodule_t *CANdevRx; /**< From CO_SYNC_init() */
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uint16_t CANdevRxIdx; /**< From CO_SYNC_init() */
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CO_CANmodule_t *CANdevTx; /**< From CO_SYNC_init() */
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CO_CANtx_t *CANtxBuff; /**< CAN transmit buffer inside CANdevTx */
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uint16_t CANdevTxIdx; /**< From CO_SYNC_init() */
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}CO_SYNC_t;
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/**
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* Initialize SYNC 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 SYNC This object will be initialized.
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* @param em Emergency object.
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* @param SDO SDO server object.
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* @param operatingState Pointer to variable indicating CANopen device NMT internal state.
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* @param COB_ID_SYNCMessage From Object dictionary (index 0x1005).
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* @param communicationCyclePeriod From Object dictionary (index 0x1006).
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* @param synchronousCounterOverflowValue From Object dictionary (index 0x1019).
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* @param CANdevRx CAN device for SYNC reception.
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* @param CANdevRxIdx Index of receive buffer in the above CAN device.
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* @param CANdevTx CAN device for SYNC transmission.
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* @param CANdevTxIdx Index of transmit buffer in the above CAN device.
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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_SYNC_init(
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CO_SYNC_t *SYNC,
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CO_EM_t *em,
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CO_SDO_t *SDO,
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uint8_t *operatingState,
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uint32_t COB_ID_SYNCMessage,
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uint32_t communicationCyclePeriod,
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uint8_t synchronousCounterOverflowValue,
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CO_CANmodule_t *CANdevRx,
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uint16_t CANdevRxIdx,
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CO_CANmodule_t *CANdevTx,
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uint16_t CANdevTxIdx);
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/**
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* Process SYNC communication.
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*
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* Function must be called cyclically.
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*
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* @param SYNC This object.
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* @param timeDifference_us Time difference from previous function call in [microseconds].
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* @param ObjDict_synchronousWindowLength _Synchronous window length_ variable from
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* Object dictionary (index 0x1007).
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*
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* @return 0: No special meaning.
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* @return 1: New SYNC message recently received or was just transmitted.
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* @return 2: SYNC time was just passed out of window.
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*/
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uint8_t CO_SYNC_process(
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CO_SYNC_t *SYNC,
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uint32_t timeDifference_us,
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uint32_t ObjDict_synchronousWindowLength);
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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/** @} */
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#endif
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