575 lines
21 KiB
C
575 lines
21 KiB
C
/*
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* CANopen Heartbeat consumer object.
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*
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* @file CO_HBconsumer.c
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* @ingroup CO_HBconsumer
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* @author Janez Paternoster
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* @copyright 2021 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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* 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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#include "301/CO_HBconsumer.h"
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE
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/* Verify HB consumer configuration *******************************************/
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
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&& (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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#error CO_CONFIG_HB_CONS_CALLBACK_CHANGE and CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously!
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#endif
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#if CO_CONFIG_HB_CONS_SIZE < 1 || CO_CONFIG_HB_CONS_SIZE > 127
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#error CO_CONFIG_HB_CONS_SIZE is not correct
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#endif
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/*
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* Read received message from CAN module.
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*
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* Function will be called (by CAN receive interrupt) every time, when CAN
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* message with correct identifier will be received. For more information and
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* description of parameters see file CO_driver.h.
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*/
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static void CO_HBcons_receive(void *object, void *msg) {
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CO_HBconsNode_t *HBconsNode = object;
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uint8_t DLC = CO_CANrxMsg_readDLC(msg);
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uint8_t *data = CO_CANrxMsg_readData(msg);
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if (DLC == 1) {
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/* copy data and set 'new message' flag. */
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HBconsNode->NMTstate = (CO_NMT_internalState_t)data[0];
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CO_FLAG_SET(HBconsNode->CANrxNew);
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE
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/* Optional signal to RTOS, which can resume task, which handles HBcons. */
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if (HBconsNode->pFunctSignalPre != NULL) {
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HBconsNode->pFunctSignalPre(HBconsNode->functSignalObjectPre);
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}
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#endif
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}
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}
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/*
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* Initialize one Heartbeat consumer entry
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*
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* This function is called from the @ref CO_HBconsumer_init() or when writing
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* to OD entry 1016.
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*
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* @param HBcons This object.
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* @param idx index of the node in HBcons object
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* @param nodeId see OD 0x1016 description
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* @param consumerTime_ms in milliseconds. see OD 0x1016 description
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* @return
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*/
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static CO_ReturnError_t CO_HBconsumer_initEntry(CO_HBconsumer_t *HBcons,
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uint8_t idx,
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uint8_t nodeId,
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uint16_t consumerTime_ms);
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC
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/*
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* Custom function for writing OD object "Consumer heartbeat time"
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*
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* For more information see file CO_ODinterface.h, OD_IO_t.
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*/
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static OD_size_t OD_write_1016(OD_stream_t *stream, uint8_t subIndex,
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const void *buf, OD_size_t count,
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ODR_t *returnCode)
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{
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CO_HBconsumer_t *HBcons = stream->object;
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if (stream == NULL || buf == NULL
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|| subIndex < 1 || subIndex > HBcons->numberOfMonitoredNodes
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|| count != sizeof(uint32_t) || returnCode == NULL
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) {
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if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT;
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return 0;
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}
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uint32_t val = CO_getUint32(buf);
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uint8_t nodeId = (val >> 16) & 0xFF;
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uint16_t time = val & 0xFFFF;
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CO_ReturnError_t ret = CO_HBconsumer_initEntry(HBcons, subIndex - 1,
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nodeId, time);
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if (ret != CO_ERROR_NO) {
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*returnCode = ODR_PAR_INCOMPAT;
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return 0;
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}
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/* write value to the original location in the Object Dictionary */
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*returnCode = ODR_OK;
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return OD_writeOriginal(stream, subIndex, buf, count, returnCode);
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}
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#endif
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/******************************************************************************/
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CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t *HBcons,
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CO_EM_t *em,
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OD_entry_t *OD_1016_HBcons,
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CO_CANmodule_t *CANdevRx,
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uint16_t CANdevRxIdxStart,
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uint32_t *errInfo)
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{
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ODR_t odRet;
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/* verify arguments */
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if (HBcons == NULL || em == NULL || OD_1016_HBcons == NULL
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|| CANdevRx == NULL
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) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* Configure object variables */
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memset(HBcons, 0, sizeof(CO_HBconsumer_t));
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HBcons->em = em;
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HBcons->CANdevRx = CANdevRx;
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HBcons->CANdevRxIdxStart = CANdevRxIdxStart;
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/* get actual number of monitored nodes */
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HBcons->numberOfMonitoredNodes =
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OD_1016_HBcons->subEntriesCount < CO_CONFIG_HB_CONS_SIZE ?
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OD_1016_HBcons->subEntriesCount : CO_CONFIG_HB_CONS_SIZE;
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for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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uint32_t val;
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odRet = OD_get_u32(OD_1016_HBcons, i + 1, &val, true);
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if (odRet != ODR_OK) {
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if (errInfo != NULL) *errInfo = OD_getIndex(OD_1016_HBcons);
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return CO_ERROR_OD_PARAMETERS;
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}
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uint8_t nodeId = (val >> 16) & 0xFF;
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uint16_t time = val & 0xFFFF;
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CO_ReturnError_t ret = CO_HBconsumer_initEntry(HBcons, i, nodeId, time);
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if (ret != CO_ERROR_NO) {
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if (errInfo != NULL) *errInfo = OD_getIndex(OD_1016_HBcons);
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/* don't break a program, if only value of a parameter is wrong */
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if (ret != CO_ERROR_OD_PARAMETERS)
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return ret;
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}
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}
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/* configure extension for OD */
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC
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HBcons->OD_1016_extension.object = HBcons;
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HBcons->OD_1016_extension.read = OD_readOriginal;
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HBcons->OD_1016_extension.write = OD_write_1016;
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odRet = OD_extension_init(OD_1016_HBcons, &HBcons->OD_1016_extension);
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if (odRet != ODR_OK) {
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if (errInfo != NULL) *errInfo = OD_getIndex(OD_1016_HBcons);
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return CO_ERROR_OD_PARAMETERS;
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}
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#endif
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return CO_ERROR_NO;
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}
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/******************************************************************************/
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static CO_ReturnError_t CO_HBconsumer_initEntry(CO_HBconsumer_t *HBcons,
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uint8_t idx,
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uint8_t nodeId,
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uint16_t consumerTime_ms)
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{
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CO_ReturnError_t ret = CO_ERROR_NO;
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/* verify arguments */
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if (HBcons == NULL || idx >= HBcons->numberOfMonitoredNodes) {
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return CO_ERROR_ILLEGAL_ARGUMENT;
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}
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/* verify for duplicate entries */
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if(consumerTime_ms != 0 && nodeId != 0) {
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for (uint8_t i = 0; i < HBcons->numberOfMonitoredNodes; i++) {
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CO_HBconsNode_t node = HBcons->monitoredNodes[i];
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if(idx != i && node.time_us != 0 && node.nodeId == nodeId) {
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ret = CO_ERROR_OD_PARAMETERS;
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}
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}
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}
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/* Configure one monitored node */
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if (ret == CO_ERROR_NO) {
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uint16_t COB_ID;
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CO_HBconsNode_t * monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->nodeId = nodeId;
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monitoredNode->time_us = (int32_t)consumerTime_ms * 1000;
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monitoredNode->NMTstate = CO_NMT_UNKNOWN;
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
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|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
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#endif
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CO_FLAG_CLEAR(monitoredNode->CANrxNew);
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/* is channel used */
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if (monitoredNode->nodeId != 0 && monitoredNode->time_us != 0) {
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COB_ID = monitoredNode->nodeId + CO_CAN_ID_HEARTBEAT;
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monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
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}
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else {
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COB_ID = 0;
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monitoredNode->time_us = 0;
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monitoredNode->HBstate = CO_HBconsumer_UNCONFIGURED;
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}
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/* configure Heartbeat consumer CAN reception */
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if (monitoredNode->HBstate != CO_HBconsumer_UNCONFIGURED) {
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ret = CO_CANrxBufferInit(HBcons->CANdevRx,
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HBcons->CANdevRxIdxStart + idx,
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COB_ID,
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0x7FF,
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0,
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(void*)&HBcons->monitoredNodes[idx],
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CO_HBcons_receive);
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}
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}
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return ret;
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}
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE
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/******************************************************************************/
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void CO_HBconsumer_initCallbackPre(
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CO_HBconsumer_t *HBcons,
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void *object,
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void (*pFunctSignal)(void *object))
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{
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if (HBcons != NULL) {
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uint8_t i;
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for(i=0; i<HBcons->numberOfMonitoredNodes; i++) {
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HBcons->monitoredNodes[i].pFunctSignalPre = pFunctSignal;
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HBcons->monitoredNodes[i].functSignalObjectPre = object;
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}
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}
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}
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#endif
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
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/******************************************************************************/
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void CO_HBconsumer_initCallbackNmtChanged(
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CO_HBconsumer_t *HBcons,
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uint8_t idx,
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void *object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
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CO_NMT_internalState_t NMTstate,
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void *object))
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{
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(void) idx;
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if (HBcons==NULL) {
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return;
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}
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HBcons->pFunctSignalNmtChanged = pFunctSignal;
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HBcons->pFunctSignalObjectNmtChanged = object;
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}
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#endif
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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/******************************************************************************/
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void CO_HBconsumer_initCallbackNmtChanged(
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CO_HBconsumer_t *HBcons,
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uint8_t idx,
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void *object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
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CO_NMT_internalState_t NMTstate,
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void *object))
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{
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if (HBcons==NULL || idx>=HBcons->numberOfMonitoredNodes) {
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return;
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}
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CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalNmtChanged = pFunctSignal;
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monitoredNode->pFunctSignalObjectNmtChanged = object;
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}
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/******************************************************************************/
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void CO_HBconsumer_initCallbackHeartbeatStarted(
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CO_HBconsumer_t *HBcons,
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uint8_t idx,
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void *object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object))
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{
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CO_HBconsNode_t *monitoredNode;
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if (HBcons==NULL || idx>=HBcons->numberOfMonitoredNodes) {
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return;
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}
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monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalHbStarted = pFunctSignal;
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monitoredNode->functSignalObjectHbStarted = object;
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}
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/******************************************************************************/
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void CO_HBconsumer_initCallbackTimeout(
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CO_HBconsumer_t *HBcons,
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uint8_t idx,
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void *object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object))
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{
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CO_HBconsNode_t *monitoredNode;
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if (HBcons==NULL || idx>=HBcons->numberOfMonitoredNodes) {
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return;
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}
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monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalTimeout = pFunctSignal;
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monitoredNode->functSignalObjectTimeout = object;
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}
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/******************************************************************************/
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void CO_HBconsumer_initCallbackRemoteReset(
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CO_HBconsumer_t *HBcons,
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uint8_t idx,
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void *object,
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void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object))
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{
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CO_HBconsNode_t *monitoredNode;
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if (HBcons==NULL || idx>=HBcons->numberOfMonitoredNodes) {
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return;
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}
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monitoredNode = &HBcons->monitoredNodes[idx];
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monitoredNode->pFunctSignalRemoteReset = pFunctSignal;
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monitoredNode->functSignalObjectRemoteReset = object;
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}
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#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI */
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/******************************************************************************/
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void CO_HBconsumer_process(
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CO_HBconsumer_t *HBcons,
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bool_t NMTisPreOrOperational,
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uint32_t timeDifference_us,
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uint32_t *timerNext_us)
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{
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(void)timerNext_us; /* may be unused */
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bool_t allMonitoredActiveCurrent = true;
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bool_t allMonitoredOperationalCurrent = true;
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if (NMTisPreOrOperational && HBcons->NMTisPreOrOperationalPrev) {
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for (uint8_t i=0; i<HBcons->numberOfMonitoredNodes; i++) {
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uint32_t timeDifference_us_copy = timeDifference_us;
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CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[i];
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if (monitoredNode->HBstate == CO_HBconsumer_UNCONFIGURED) {
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/* continue, if node is not monitored */
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continue;
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}
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/* Verify if received message is heartbeat or bootup */
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if (CO_FLAG_READ(monitoredNode->CANrxNew)) {
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if (monitoredNode->NMTstate == CO_NMT_INITIALIZING) {
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/* bootup message*/
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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if (monitoredNode->pFunctSignalRemoteReset != NULL) {
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monitoredNode->pFunctSignalRemoteReset(
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monitoredNode->nodeId, i,
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monitoredNode->functSignalObjectRemoteReset);
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}
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#endif
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if (monitoredNode->HBstate == CO_HBconsumer_ACTIVE) {
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CO_errorReport(HBcons->em,
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CO_EM_HB_CONSUMER_REMOTE_RESET,
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CO_EMC_HEARTBEAT, i);
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}
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monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
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}
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else {
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/* heartbeat message */
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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if (monitoredNode->HBstate != CO_HBconsumer_ACTIVE &&
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monitoredNode->pFunctSignalHbStarted != NULL) {
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monitoredNode->pFunctSignalHbStarted(
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monitoredNode->nodeId, i,
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monitoredNode->functSignalObjectHbStarted);
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}
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#endif
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monitoredNode->HBstate = CO_HBconsumer_ACTIVE;
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/* reset timer */
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monitoredNode->timeoutTimer = 0;
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timeDifference_us_copy = 0;
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}
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CO_FLAG_CLEAR(monitoredNode->CANrxNew);
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}
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/* Verify timeout */
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if (monitoredNode->HBstate == CO_HBconsumer_ACTIVE) {
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monitoredNode->timeoutTimer += timeDifference_us_copy;
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if (monitoredNode->timeoutTimer >= monitoredNode->time_us) {
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/* timeout expired */
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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if (monitoredNode->pFunctSignalTimeout!=NULL) {
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monitoredNode->pFunctSignalTimeout(
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monitoredNode->nodeId, i,
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monitoredNode->functSignalObjectTimeout);
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}
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#endif
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CO_errorReport(HBcons->em, CO_EM_HEARTBEAT_CONSUMER,
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CO_EMC_HEARTBEAT, i);
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monitoredNode->NMTstate = CO_NMT_UNKNOWN;
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monitoredNode->HBstate = CO_HBconsumer_TIMEOUT;
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}
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_TIMERNEXT
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else if (timerNext_us != NULL) {
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/* Calculate timerNext_us for next timeout checking. */
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uint32_t diff = monitoredNode->time_us
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- monitoredNode->timeoutTimer;
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if (*timerNext_us > diff) {
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*timerNext_us = diff;
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}
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}
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#endif
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}
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if(monitoredNode->HBstate != CO_HBconsumer_ACTIVE) {
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allMonitoredActiveCurrent = false;
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}
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if (monitoredNode->NMTstate != CO_NMT_OPERATIONAL) {
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allMonitoredOperationalCurrent = false;
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}
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
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|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
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/* Verify, if NMT state of monitored node changed */
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if(monitoredNode->NMTstate != monitoredNode->NMTstatePrev) {
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#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE
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if (HBcons->pFunctSignalNmtChanged != NULL) {
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HBcons->pFunctSignalNmtChanged(
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monitoredNode->nodeId, i, monitoredNode->NMTstate,
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HBcons->pFunctSignalObjectNmtChanged);
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#else
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if (monitoredNode->pFunctSignalNmtChanged != NULL) {
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monitoredNode->pFunctSignalNmtChanged(
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monitoredNode->nodeId, i, monitoredNode->NMTstate,
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monitoredNode->pFunctSignalObjectNmtChanged);
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#endif
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}
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monitoredNode->NMTstatePrev = monitoredNode->NMTstate;
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}
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#endif
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}
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}
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else if (NMTisPreOrOperational || HBcons->NMTisPreOrOperationalPrev) {
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/* (pre)operational state changed, clear variables */
|
|
for(uint8_t i=0; i<HBcons->numberOfMonitoredNodes; i++) {
|
|
CO_HBconsNode_t * const monitoredNode = &HBcons->monitoredNodes[i];
|
|
monitoredNode->NMTstate = CO_NMT_UNKNOWN;
|
|
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE \
|
|
|| (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI
|
|
monitoredNode->NMTstatePrev = CO_NMT_UNKNOWN;
|
|
#endif
|
|
CO_FLAG_CLEAR(monitoredNode->CANrxNew);
|
|
if (monitoredNode->HBstate != CO_HBconsumer_UNCONFIGURED) {
|
|
monitoredNode->HBstate = CO_HBconsumer_UNKNOWN;
|
|
}
|
|
}
|
|
allMonitoredActiveCurrent = false;
|
|
allMonitoredOperationalCurrent = false;
|
|
}
|
|
|
|
/* Clear emergencies when all monitored nodes becomes active.
|
|
* We only have one emergency index for all monitored nodes! */
|
|
if (!HBcons->allMonitoredActive && allMonitoredActiveCurrent) {
|
|
CO_errorReset(HBcons->em, CO_EM_HEARTBEAT_CONSUMER, 0);
|
|
CO_errorReset(HBcons->em, CO_EM_HB_CONSUMER_REMOTE_RESET, 0);
|
|
}
|
|
|
|
HBcons->allMonitoredActive = allMonitoredActiveCurrent;
|
|
HBcons->allMonitoredOperational = allMonitoredOperationalCurrent;
|
|
HBcons->NMTisPreOrOperationalPrev = NMTisPreOrOperational;
|
|
}
|
|
|
|
|
|
#if (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT
|
|
/******************************************************************************/
|
|
int8_t CO_HBconsumer_getIdxByNodeId(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t nodeId)
|
|
{
|
|
uint8_t i;
|
|
CO_HBconsNode_t *monitoredNode;
|
|
|
|
if (HBcons == NULL) {
|
|
return -1;
|
|
}
|
|
|
|
/* linear search for the node */
|
|
monitoredNode = &HBcons->monitoredNodes[0];
|
|
for(i=0; i<HBcons->numberOfMonitoredNodes; i++){
|
|
if (monitoredNode->nodeId == nodeId) {
|
|
return i;
|
|
}
|
|
monitoredNode ++;
|
|
}
|
|
/* not found */
|
|
return -1;
|
|
}
|
|
|
|
|
|
/******************************************************************************/
|
|
CO_HBconsumer_state_t CO_HBconsumer_getState(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx)
|
|
{
|
|
CO_HBconsNode_t *monitoredNode;
|
|
|
|
if (HBcons==NULL || idx>=HBcons->numberOfMonitoredNodes) {
|
|
return CO_HBconsumer_UNCONFIGURED;
|
|
}
|
|
|
|
monitoredNode = &HBcons->monitoredNodes[idx];
|
|
return monitoredNode->HBstate;
|
|
}
|
|
|
|
/******************************************************************************/
|
|
int8_t CO_HBconsumer_getNmtState(
|
|
CO_HBconsumer_t *HBcons,
|
|
uint8_t idx,
|
|
CO_NMT_internalState_t *nmtState)
|
|
{
|
|
CO_HBconsNode_t *monitoredNode;
|
|
|
|
if (HBcons==NULL || nmtState==NULL || idx>=HBcons->numberOfMonitoredNodes) {
|
|
return -1;
|
|
}
|
|
*nmtState = CO_NMT_INITIALIZING;
|
|
|
|
monitoredNode = &HBcons->monitoredNodes[idx];
|
|
|
|
if (monitoredNode->HBstate == CO_HBconsumer_ACTIVE) {
|
|
*nmtState = monitoredNode->NMTstate;
|
|
return 0;
|
|
}
|
|
return -1;
|
|
}
|
|
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT */
|
|
|
|
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE */
|