236 lines
7.7 KiB
C
236 lines
7.7 KiB
C
/*
|
|
* CANopen TIME object.
|
|
*
|
|
* @file CO_TIME.c
|
|
* @ingroup CO_TIME
|
|
* @author Julien PEYREGNE
|
|
* @copyright 2019 - 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.
|
|
*/
|
|
|
|
#include <string.h>
|
|
|
|
#include "301/CO_TIME.h"
|
|
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE
|
|
|
|
/*
|
|
* Read received message from CAN module.
|
|
*
|
|
* Function will be called (by CAN receive interrupt) every time, when CAN
|
|
* message with correct identifier will be received.
|
|
*/
|
|
static void CO_TIME_receive(void *object, void *msg) {
|
|
CO_TIME_t *TIME = object;
|
|
uint8_t DLC = CO_CANrxMsg_readDLC(msg);
|
|
uint8_t *data = CO_CANrxMsg_readData(msg);
|
|
|
|
if (DLC == CO_TIME_MSG_LENGTH) {
|
|
memcpy(TIME->timeStamp, data, sizeof(TIME->timeStamp));
|
|
CO_FLAG_SET(TIME->CANrxNew);
|
|
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
|
|
/* Optional signal to RTOS, which can resume task, which handles TIME.*/
|
|
if (TIME->pFunctSignalPre != NULL) {
|
|
TIME->pFunctSignalPre(TIME->functSignalObjectPre);
|
|
}
|
|
#endif
|
|
}
|
|
}
|
|
|
|
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC
|
|
/*
|
|
* Custom function for writing OD object "COB-ID time stamp"
|
|
*
|
|
* For more information see file CO_ODinterface.h, OD_IO_t.
|
|
*/
|
|
static OD_size_t OD_write_1012(OD_stream_t *stream, uint8_t subIndex,
|
|
const void *buf, OD_size_t count,
|
|
ODR_t *returnCode)
|
|
{
|
|
/* "count" is already verified in *_init() function */
|
|
if (stream == NULL || subIndex != 0 || buf == NULL || returnCode == NULL) {
|
|
if (returnCode != NULL) *returnCode = ODR_DEV_INCOMPAT;
|
|
return 0;
|
|
}
|
|
|
|
CO_TIME_t *TIME = stream->object;
|
|
*returnCode = ODR_OK;
|
|
|
|
/* update object */
|
|
uint32_t cobIdTimeStamp = CO_getUint32(buf);
|
|
TIME->isConsumer = (cobIdTimeStamp & 0x80000000L) != 0;
|
|
TIME->isProducer = (cobIdTimeStamp & 0x40000000L) != 0;
|
|
|
|
/* write value to the original location in the Object Dictionary */
|
|
return OD_writeOriginal(stream, subIndex, buf, count, returnCode);
|
|
}
|
|
#endif
|
|
|
|
|
|
CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
|
|
OD_entry_t *OD_1012_cobIdTimeStamp,
|
|
CO_CANmodule_t *CANdevRx,
|
|
uint16_t CANdevRxIdx,
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
|
|
CO_CANmodule_t *CANdevTx,
|
|
uint16_t CANdevTxIdx,
|
|
#endif
|
|
uint32_t *errInfo)
|
|
{
|
|
/* verify arguments */
|
|
if (TIME == NULL || OD_1012_cobIdTimeStamp == NULL || CANdevRx == NULL
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
|
|
|| CANdevTx == NULL
|
|
#endif
|
|
) {
|
|
return CO_ERROR_ILLEGAL_ARGUMENT;
|
|
}
|
|
|
|
memset(TIME, 0, sizeof(CO_TIME_t));
|
|
|
|
/* get parameters from object dictionary and configure extension */
|
|
uint32_t cobIdTimeStamp;
|
|
ODR_t odRet = OD_get_u32(OD_1012_cobIdTimeStamp, 0, &cobIdTimeStamp, true);
|
|
if (odRet != ODR_OK) {
|
|
if (errInfo != NULL) *errInfo = OD_getIndex(OD_1012_cobIdTimeStamp);
|
|
return CO_ERROR_OD_PARAMETERS;
|
|
}
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC
|
|
TIME->OD_1012_extension.object = TIME;
|
|
TIME->OD_1012_extension.read = OD_readOriginal;
|
|
TIME->OD_1012_extension.write = OD_write_1012;
|
|
OD_extension_init(OD_1012_cobIdTimeStamp, &TIME->OD_1012_extension);
|
|
#endif
|
|
|
|
/* Configure object variables */
|
|
uint16_t cobId = cobIdTimeStamp & 0x7FF;
|
|
TIME->isConsumer = (cobIdTimeStamp & 0x80000000L) != 0;
|
|
TIME->isProducer = (cobIdTimeStamp & 0x40000000L) != 0;
|
|
CO_FLAG_CLEAR(TIME->CANrxNew);
|
|
|
|
/* configure TIME consumer message reception */
|
|
if (TIME->isConsumer) {
|
|
CO_ReturnError_t ret = CO_CANrxBufferInit(
|
|
CANdevRx, /* CAN device */
|
|
CANdevRxIdx, /* rx buffer index */
|
|
cobId, /* CAN identifier */
|
|
0x7FF, /* mask */
|
|
0, /* rtr */
|
|
(void*)TIME, /* object passed to receive function */
|
|
CO_TIME_receive);/*this function will process received message*/
|
|
if (ret != CO_ERROR_NO)
|
|
return ret;
|
|
}
|
|
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
|
|
/* configure TIME producer message transmission */
|
|
TIME->CANdevTx = CANdevTx;
|
|
TIME->CANtxBuff = CO_CANtxBufferInit(
|
|
CANdevTx, /* CAN device */
|
|
CANdevTxIdx, /* index of specific buffer inside CAN module */
|
|
cobId, /* CAN identifier */
|
|
0, /* rtr */
|
|
CO_TIME_MSG_LENGTH, /* number of data bytes */
|
|
0); /* synchronous message flag bit */
|
|
|
|
if (TIME->CANtxBuff == NULL) {
|
|
return CO_ERROR_ILLEGAL_ARGUMENT;
|
|
}
|
|
#endif
|
|
|
|
return CO_ERROR_NO;
|
|
}
|
|
|
|
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE
|
|
void CO_TIME_initCallbackPre(CO_TIME_t *TIME,
|
|
void *object,
|
|
void (*pFunctSignalPre)(void *object))
|
|
{
|
|
if (TIME != NULL) {
|
|
TIME->functSignalObjectPre = object;
|
|
TIME->pFunctSignalPre = pFunctSignalPre;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
|
|
bool_t CO_TIME_process(CO_TIME_t *TIME,
|
|
bool_t NMTisPreOrOperational,
|
|
uint32_t timeDifference_us)
|
|
{
|
|
bool_t timestampReceived = false;
|
|
|
|
/* Was TIME stamp message just received */
|
|
if (NMTisPreOrOperational && TIME->isConsumer) {
|
|
if(CO_FLAG_READ(TIME->CANrxNew)) {
|
|
uint32_t ms_swapped = CO_getUint32(&TIME->timeStamp[0]);
|
|
uint16_t days_swapped = CO_getUint16(&TIME->timeStamp[4]);
|
|
TIME->ms = CO_SWAP_32(ms_swapped) & 0x0FFFFFFF;
|
|
TIME->days = CO_SWAP_16(days_swapped);
|
|
TIME->residual_us = 0;
|
|
timestampReceived = true;
|
|
|
|
CO_FLAG_CLEAR(TIME->CANrxNew);
|
|
}
|
|
}
|
|
else {
|
|
CO_FLAG_CLEAR(TIME->CANrxNew);
|
|
}
|
|
|
|
/* Update time */
|
|
uint32_t ms = 0;
|
|
if (!timestampReceived && timeDifference_us > 0) {
|
|
uint32_t us = timeDifference_us + TIME->residual_us;
|
|
ms = us / 1000;
|
|
TIME->residual_us = us % 1000;
|
|
TIME->ms += ms;
|
|
if (TIME->ms >= (1000*60*60*24)) {
|
|
TIME->ms -= (1000*60*60*24);
|
|
TIME->days += 1;
|
|
}
|
|
}
|
|
|
|
#if (CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER
|
|
if (NMTisPreOrOperational && TIME->isProducer
|
|
&& TIME->producerInterval_ms > 0
|
|
) {
|
|
if (TIME->producerTimer_ms >= TIME->producerInterval_ms) {
|
|
TIME->producerTimer_ms -= TIME->producerInterval_ms;
|
|
|
|
uint32_t ms_swapped = CO_SWAP_32(TIME->ms);
|
|
uint16_t days_swapped = CO_SWAP_16(TIME->days);
|
|
CO_setUint32(&TIME->CANtxBuff->data[0], ms_swapped);
|
|
CO_setUint16(&TIME->CANtxBuff->data[4], days_swapped);
|
|
CO_CANsend(TIME->CANdevTx, TIME->CANtxBuff);
|
|
}
|
|
else {
|
|
TIME->producerTimer_ms += ms;
|
|
}
|
|
}
|
|
else {
|
|
TIME->producerTimer_ms = TIME->producerInterval_ms;
|
|
}
|
|
#endif
|
|
|
|
return timestampReceived;
|
|
}
|
|
|
|
#endif /* (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE */
|