143 lines
4.9 KiB
C
143 lines
4.9 KiB
C
/**
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* CANopen TimeStamp object protocol.
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*
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* @file CO_TimeStamp.c
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* @ingroup CO_TimeStamp
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* @author Julien PEYREGNE
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* @copyright
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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_TS_H
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#define CO_TS_H
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#include "CO_OD.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_TS TS
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* @ingroup CO_CANopen
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* @{
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*
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* CANopen TimeStamp 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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* TS message is used for time synchronization of the nodes on network. One node
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* should be TS producer, others can be TS consumers.
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*/
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#define EMCY_MSG_LENGTH 6U
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/**
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* TS producer and consumer object.
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*/
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typedef struct{
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CO_EM_t *em; /**< From CO_TS_init() */
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uint8_t *operatingState; /**< From CO_TS_init() */
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uint16_t COB_ID; /**< From CO_TS_init() */
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/** TS period time in [milliseconds]. Set to TS period to enable
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timeout detection */
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uint32_t periodTime;
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/** TS period timeout time in [milliseconds].
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(periodTimeoutTime = periodTime * 1,5) */
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uint32_t periodTimeoutTime;
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/** Variable indicates, if new TS message received from CAN bus */
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bool_t CANrxNew;
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/** Timer for the TS message in [microseconds].
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Set to zero after received or transmitted TS message */
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uint32_t timer;
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/** Set to nonzero value, if TS 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_TS_init() */
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uint16_t CANdevRxIdx; /**< From CO_TS_init() */
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TIME_OF_DAY Time;
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}CO_TS_t;
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/**
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* Initialize TS 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 TS 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_TSMessage Should be intialized with CO_CAN_ID_TIME_STAMP
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* @param TSCyclePeriod Set to TS period to enable timeout detection (1,5x period) or 0.
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* @param CANdevRx CAN device for TS reception.
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* @param CANdevRxIdx Index of receive 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_TS_init(
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CO_TS_t *TS,
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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_TSMessage,
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uint32_t TSCyclePeriod,
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CO_CANmodule_t *CANdevRx,
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uint16_t CANdevRxIdx);
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/**
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* Process Timestamp communication.
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*
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* Function must be called cyclically.
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*
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* @param TS This object.
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* @param timeDifference_ms Time difference from previous function call in [milliseconds].
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*
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* @return 0: No special meaning.
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* @return 1: New TS message recently received.
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*/
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uint8_t CO_TS_process(
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CO_TS_t *TS,
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uint32_t timeDifference_ms);
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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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