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CANopenNode/CANopen.h

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/**
* Main CANopenNode file.
*
* @file CANopen.h
* @ingroup CO_CANopen
* @author Janez Paternoster
* @author Uwe Kindler
* @copyright 2010 - 2023 Janez Paternoster
*
* This file is part of <https://github.com/CANopenNode/CANopenNode>, a CANopen Stack.
*
* 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.
*/
#ifndef CANopen_H
#define CANopen_H
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_NMT_Heartbeat.h"
#include "301/CO_HBconsumer.h"
#include "301/CO_Node_Guarding.h"
#include "301/CO_Emergency.h"
#include "301/CO_SDOserver.h"
#include "301/CO_SDOclient.h"
#include "301/CO_SYNC.h"
#include "301/CO_PDO.h"
#include "301/CO_TIME.h"
#include "303/CO_LEDs.h"
#include "304/CO_GFC.h"
#include "304/CO_SRDO.h"
#include "305/CO_LSSslave.h"
#include "305/CO_LSSmaster.h"
#include "309/CO_gateway_ascii.h"
#include "extra/CO_trace.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @defgroup CO_CANopen CANopen
* @{
*
* CANopenNode is free and open source CANopen communication protocol stack.
*
* CANopen is the internationally standardized (EN 50325-4) (CiA DS-301)
* CAN-based higher-layer protocol for embedded control system. For more
* information on CANopen see http://www.can-cia.org/
*
* CANopenNode homepage is https://github.com/CANopenNode/CANopenNode
*
* CANopen.h file combines all CANopenNode source files. @ref CO_STACK_CONFIG
* is first defined in "CO_config.h" file. Number of different CANopenNode
* objects used is configured with @ref CO_config_t structure or is read
* directly from "OD.h" file, if single object dictionary definition is used.
* "OD.h" and "OD.c" files defines CANopen Object Dictionary and are generated
* by external tool.
*
* 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
*
* https://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.
* @}
*/
/**
* @defgroup CO_CANopen_301 CANopen_301
* @{
*
* CANopen application layer and communication profile (CiA 301 v4.2.0)
*
* Definitions of data types, encoding rules, object dictionary objects and
* CANopen communication services and protocols.
* @}
*/
/**
* @defgroup CO_CANopen_303 CANopen_303
* @{
*
* CANopen recommendation for indicator specification (CiA 303-3 v1.4.0)
*
* Description of communication related indicators - green and red LED diodes.
* @}
*/
/**
* @defgroup CO_CANopen_304 CANopen_304
* @{
*
* CANopen Safety (EN 50325­-5:2010 (formerly CiA 304))
*
* Standard defines the usage of Safety Related Data Objects (SRDO) and the GFC.
* This is an additional protocol (to SDO, PDO) to exchange data. The meaning of
* "security" here refers not to security (crypto) but to data consistency.
* @}
*/
/**
* @defgroup CO_CANopen_305 CANopen_305
* @{
*
* CANopen layer setting services (LSS) and protocols (CiA 305 DSP v3.0.0)
*
* Inquire or change three parameters on a CANopen device with LSS slave
* capability by a CANopen device with LSS master capability via the CAN
* network: the settings of Node-ID of the CANopen device, bit timing
* parameters of the physical layer (bit rate) or LSS address compliant to the
* identity object (1018h).
* @}
*/
/**
* @defgroup CO_CANopen_309 CANopen_309
* @{
*
* CANopen access from other networks (CiA 309)
*
* Standard defines the services and protocols to interface CANopen networks to
* other networks. Standard is organized as follows:
* - Part 1: General principles and services
* - Part 2: Modbus/TCP mapping
* - Part 3: ASCII mapping
* - Part 4: Amendment 7 to Fieldbus Integration into PROFINET IO
* @}
*/
/**
* @defgroup CO_CANopen_storage CANopen_storage
* @{
*
* CANopen Object Dictionary and other data storage.
* @}
*/
/**
* @defgroup CO_CANopen_extra CANopen_extra
* @{
*
* Additional non-standard objects related to CANopenNode.
* @}
*/
/**
* @addtogroup CO_CANopen
* @{
*/
/**
* If macro is defined externally, then configuration with multiple object
* dictionaries will be possible. If macro is not defined, default "OD.h" file
* with necessary definitions, such as OD_CNT_xxx, will be used, and also memory
* consumption and startup time will be lower.
*/
#ifdef CO_DOXYGEN
#define CO_MULTIPLE_OD
#endif
/**
* If macro is defined externally, then global variables for CANopen objects
* will be used instead of heap. This is possible only if CO_MULTIPLE_OD is not
* defined.
*/
#ifdef CO_DOXYGEN
#define CO_USE_GLOBALS
#endif
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
/**
* CANopen configuration, used with @ref CO_new()
*
* This structure is used only, if @ref CO_MULTIPLE_OD is enabled. Otherwise
* parameters are retrieved from default "OD.h" file.
*/
typedef struct {
/** Number of NMT objects, 0 or 1: NMT slave (CANrx) + Heartbeat producer
* (CANtx) + optional NMT master (CANtx), configurable by
* @ref CO_CONFIG_NMT. Start indexes inside CANrx and CANtx are always 0.
* There must be one NMT object in the device. */
uint8_t CNT_NMT;
OD_entry_t* ENTRY_H1017; /**< OD entry for @ref CO_NMT_init() */
/** Number of Heartbeat consumer objects, 0 or 1 */
uint8_t CNT_HB_CONS;
/** Number of internal consumers (CANrx), used inside Heartbeat consumer
* object, 1 to 127. */
uint8_t CNT_ARR_1016;
OD_entry_t* ENTRY_H1016; /**< OD entry for @ref CO_HBconsumer_init()*/
/** OD entry for @ref CO_nodeGuardingSlave_init() */
OD_entry_t* ENTRY_H100C;
/** OD entry for @ref CO_nodeGuardingSlave_init() */
OD_entry_t* ENTRY_H100D;
/** Number of Emergency objects, 0 or 1: optional producer (CANtx) +
* optional consumer (CANrx), configurable by @ref CO_CONFIG_EM.
* There must be one Emergency object in the device. */
uint8_t CNT_EM;
const OD_entry_t* ENTRY_H1001; /**< OD entry for @ref CO_EM_init() */
OD_entry_t* ENTRY_H1014; /**< OD entry for @ref CO_EM_init() */
OD_entry_t* ENTRY_H1015; /**< OD entry for @ref CO_EM_init() */
/** Size of the fifo buffer, which is used for intermediate storage of
* emergency messages. Fifo is used by emergency producer and by error
* history (OD object 0x1003). Size is usually equal to size of array in
* OD object 0x1003. If later is not used, CNT_ARR_1003 must also be set to
* value greater than 0, or emergency producer will not work. */
uint8_t CNT_ARR_1003;
OD_entry_t* ENTRY_H1003; /**< OD entry for @ref CO_EM_init() */
/** Number of SDO server objects, from 0 to 128 (CANrx + CANtx). There must
* be at least one SDO server object in the device. */
uint8_t CNT_SDO_SRV;
OD_entry_t* ENTRY_H1200; /**< OD entry for @ref CO_SDOserver_init()*/
/** Number of SDO client objects, from 0 to 128 (CANrx + CANtx). */
uint8_t CNT_SDO_CLI;
OD_entry_t* ENTRY_H1280; /**< OD entry for @ref CO_SDOclient_init()*/
/** Number of TIME objects, 0 or 1: consumer (CANrx) + optional producer
* (CANtx), configurable by @ref CO_CONFIG_TIME. */
uint8_t CNT_TIME;
OD_entry_t* ENTRY_H1012; /**< OD entry for @ref CO_TIME_init() */
/** Number of SYNC objects, 0 or 1: consumer (CANrx) + optional producer
* (CANtx), configurable by @ref CO_CONFIG_SYNC. */
uint8_t CNT_SYNC;
OD_entry_t* ENTRY_H1005; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1006; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1007; /**< OD entry for @ref CO_SYNC_init() */
OD_entry_t* ENTRY_H1019; /**< OD entry for @ref CO_SYNC_init() */
/** Number of RPDO objects, from 0 to 512 consumers (CANrx) */
uint16_t CNT_RPDO;
OD_entry_t* ENTRY_H1400; /**< OD entry for @ref CO_RPDO_init() */
OD_entry_t* ENTRY_H1600; /**< OD entry for @ref CO_RPDO_init() */
/** Number of TPDO objects, from 0 to 512 producers (CANtx) */
uint16_t CNT_TPDO;
OD_entry_t* ENTRY_H1800; /**< OD entry for @ref CO_TPDO_init() */
OD_entry_t* ENTRY_H1A00; /**< OD entry for @ref CO_TPDO_init() */
/** Number of LEDs objects, 0 or 1. */
uint8_t CNT_LEDS;
/** Number of GFC objects, 0 or 1 (CANrx + CANtx). */
uint8_t CNT_GFC;
OD_entry_t* ENTRY_H1300; /**< OD entry for @ref CO_GFC_init() */
/** Number of SRDO objects, from 0 to 64 (2*CANrx + 2*CANtx). */
uint8_t CNT_SRDO;
OD_entry_t* ENTRY_H1301; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H1381; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H13FE; /**< OD entry for @ref CO_SRDO_init() */
OD_entry_t* ENTRY_H13FF; /**< OD entry for @ref CO_SRDO_init() */
/** Number of LSSslave objects, 0 or 1 (CANrx + CANtx). */
uint8_t CNT_LSS_SLV;
/** Number of LSSmaster objects, 0 or 1 (CANrx + CANtx). */
uint8_t CNT_LSS_MST;
/** Number of gateway ascii objects, 0 or 1. */
uint8_t CNT_GTWA;
/** Number of trace objects, 0 or more. */
uint16_t CNT_TRACE;
} CO_config_t;
#else
typedef void CO_config_t;
#endif /* CO_MULTIPLE_OD */
/**
* CANopen object - collection of all CANopenNode objects
*/
typedef struct {
bool_t nodeIdUnconfigured; /**< True in un-configured LSS slave */
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
CO_config_t* config; /**< Remember the configuration parameters */
#endif
/** One CAN module object, initialised by @ref CO_CANmodule_init() */
CO_CANmodule_t* CANmodule;
CO_CANrx_t* CANrx; /**< CAN receive message objects */
CO_CANtx_t* CANtx; /**< CAN transmit message objects */
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t CNT_ALL_RX_MSGS; /**< Number of all CAN receive message objects. */
uint16_t CNT_ALL_TX_MSGS; /**< Number of all CAN transmit message objects.*/
#endif
/** NMT and heartbeat object, initialised by @ref CO_NMT_init() */
CO_NMT_t* NMT;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_NMT_SLV; /**< Start index in CANrx. */
uint16_t TX_IDX_NMT_MST; /**< Start index in CANtx. */
uint16_t TX_IDX_HB_PROD; /**< Start index in CANtx. */
#endif
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
/** Heartbeat consumer object, initialised by @ref CO_HBconsumer_init() */
CO_HBconsumer_t* HBcons;
/** Object for monitored nodes, initialised by @ref CO_HBconsumer_init() */
CO_HBconsNode_t* HBconsMonitoredNodes;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_HB_CONS; /**< Start index in CANrx. */
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
/** Node guarding slave object, initialised by @ref CO_nodeGuardingSlave_init() */
CO_nodeGuardingSlave_t* NGslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_NG_SLV; /**< Start index in CANrx. */
uint16_t TX_IDX_NG_SLV; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
/** Node guarding master object, initialised by @ref CO_nodeGuardingMaster_init() */
CO_nodeGuardingMaster_t* NGmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_NG_MST; /**< Start index in CANrx. */
uint16_t TX_IDX_NG_MST; /**< Start index in CANtx. */
#endif
#endif
/** Emergency object, initialised by @ref CO_EM_init() */
CO_EM_t* em;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_EM_CONS; /**< Start index in CANrx. */
uint16_t TX_IDX_EM_PROD; /**< Start index in CANtx. */
#endif
#if (((CO_CONFIG_EM) & (CO_CONFIG_EM_PRODUCER | CO_CONFIG_EM_HISTORY)) != 0) || defined CO_DOXYGEN
/** FIFO for emergency object, initialised by @ref CO_EM_init() */
CO_EM_fifo_t* em_fifo;
#endif
/** SDO server objects, initialised by @ref CO_SDOserver_init() */
CO_SDOserver_t* SDOserver;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SDO_SRV; /**< Start index in CANrx. */
uint16_t TX_IDX_SDO_SRV; /**< Start index in CANtx. */
#endif
#if (((CO_CONFIG_SDO_CLI)&CO_CONFIG_SDO_CLI_ENABLE) != 0) || defined CO_DOXYGEN
/** SDO client objects, initialised by @ref CO_SDOclient_init() */
CO_SDOclient_t* SDOclient;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SDO_CLI; /**< Start index in CANrx. */
uint16_t TX_IDX_SDO_CLI; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_TIME)&CO_CONFIG_TIME_ENABLE) != 0) || defined CO_DOXYGEN
/** TIME object, initialised by @ref CO_TIME_init() */
CO_TIME_t* TIME;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_TIME; /**< Start index in CANrx. */
uint16_t TX_IDX_TIME; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/** SYNC object, initialised by @ref CO_SYNC_init() */
CO_SYNC_t* SYNC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SYNC; /**< Start index in CANrx. */
uint16_t TX_IDX_SYNC; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/** RPDO objects, initialised by @ref CO_RPDO_init() */
CO_RPDO_t* RPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_RPDO; /**< Start index in CANrx. */
#endif
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/** TPDO objects, initialised by @ref CO_TPDO_init() */
CO_TPDO_t* TPDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t TX_IDX_TPDO; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_LEDS)&CO_CONFIG_LEDS_ENABLE) != 0) || defined CO_DOXYGEN
/** LEDs object, initialised by @ref CO_LEDs_init() */
CO_LEDs_t* LEDs;
#endif
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || defined CO_DOXYGEN
/** GFC object, initialised by @ref CO_GFC_init() */
CO_GFC_t* GFC;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_GFC; /**< Start index in CANrx. */
uint16_t TX_IDX_GFC; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
/** SRDO guard object, initialised by @ref CO_SRDO_init_start(), single
* SRDOGuard object is included inside all SRDO objects */
CO_SRDOGuard_t* SRDOGuard;
/** SRDO objects, initialised by @ref CO_SRDO_init() */
CO_SRDO_t* SRDO;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_SRDO; /**< Start index in CANrx. */
uint16_t TX_IDX_SRDO; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
/** LSS slave object, initialised by @ref CO_LSSslave_init(). */
CO_LSSslave_t* LSSslave;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_LSS_SLV; /**< Start index in CANrx. */
uint16_t TX_IDX_LSS_SLV; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_MASTER) != 0) || defined CO_DOXYGEN
/** LSS master object, initialised by @ref CO_LSSmaster_init(). */
CO_LSSmaster_t* LSSmaster;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
uint16_t RX_IDX_LSS_MST; /**< Start index in CANrx. */
uint16_t TX_IDX_LSS_MST; /**< Start index in CANtx. */
#endif
#endif
#if (((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) != 0) || defined CO_DOXYGEN
/** Gateway-ascii object, initialised by @ref CO_GTWA_init(). */
CO_GTWA_t* gtwa;
#if defined CO_MULTIPLE_OD || defined CO_DOXYGEN
#endif
#endif
#if ((CO_CONFIG_TRACE)&CO_CONFIG_TRACE_ENABLE) || defined CO_DOXYGEN
/** Trace object, initialised by @ref CO_trace_init(). */
CO_trace_t* trace;
#endif
} CO_t;
/**
* Create new CANopen object
*
* If CO_USE_GLOBALS is defined, then function uses global static variables for
* all the CANopenNode objects. Otherwise it allocates all objects from heap.
*
* @remark
* With some microcontrollers it is necessary to specify Heap size within
* linker configuration, if heap is used.
*
* @param config Configuration structure, used if @ref CO_MULTIPLE_OD is
* defined. It must stay in memory permanently. If CO_MULTIPLE_OD is not
* defined, config should be NULL and parameters are retrieved from default
* "OD.h" file.
* @param [out] heapMemoryUsed Information about heap memory used. Ignored if
* NULL.
*
* @return Successfully allocated and configured CO_t object or NULL.
*/
CO_t* CO_new(CO_config_t* config, uint32_t* heapMemoryUsed);
/**
* Delete CANopen object and free memory. Must be called at program exit.
*
* @param co CANopen object.
*/
void CO_delete(CO_t* co);
/**
* Test if LSS slave is enabled
*
* @param co CANopen object.
*
* @return True if enabled
*/
bool_t CO_isLSSslaveEnabled(CO_t* co);
/**
* Initialize CAN driver
*
* Function must be called in the communication reset section.
*
* @param co CANopen object.
* @param CANptr Pointer to the user-defined CAN base structure, passed to
* CO_CANmodule_init().
* @param bitRate CAN bit rate.
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_CANinit(CO_t* co, void* CANptr, uint16_t bitRate);
#if (((CO_CONFIG_LSS)&CO_CONFIG_LSS_SLAVE) != 0) || defined CO_DOXYGEN
/**
* Initialize CANopen LSS slave
*
* Function must be called before CO_CANopenInit.
*
* See @ref CO_LSSslave_init() for description of parameters.
*
* @param co CANopen object.
* @param lssAddress LSS slave address, from OD object 0x1018
* @param [in,out] pendingNodeID Pending node ID or 0xFF (unconfigured)
* @param [in,out] pendingBitRate Pending bit rate of the CAN interface
*
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_LSSinit(CO_t* co, CO_LSS_address_t* lssAddress, uint8_t* pendingNodeID, uint16_t* pendingBitRate);
#endif
/**
* Initialize CANopenNode except PDO objects.
*
* Function must be called in the communication reset section.
*
* @param co CANopen object.
* @param em Emergency object, which is used inside different CANopen objects,
* usually for error reporting. If NULL, then 'co->em' will be used.
* if NULL and 'co->CNT_EM' is 0, then function returns with error.
* @param NMT If 'co->CNT_NMT' is 0, this object must be specified, If
* 'co->CNT_NMT' is 1,then it is ignored and can be NULL. NMT object is used for
* retrieving NMT internal state inside CO_process().
* @param od CANopen Object dictionary
* @param OD_statusBits Argument passed to @ref CO_EM_init(). May be NULL.
* @param NMTcontrol Argument passed to @ref CO_NMT_init().
* @param firstHBTime_ms Argument passed to @ref CO_NMT_init().
* @param SDOserverTimeoutTime_ms Argument passed to @ref CO_SDOserver_init().
* @param SDOclientTimeoutTime_ms Default timeout in milliseconds for SDO
* client, 500 typically. SDO client is configured from CO_GTWA_init().
* @param SDOclientBlockTransfer If true, block transfer will be set in SDO
* client by default. SDO client is configured from by CO_GTWA_init().
* @param nodeId CANopen Node ID (1 ... 127) or 0xFF(unconfigured). In the
* CANopen initialization it is the same as pendingBitRate from CO_LSSinit().
* If it is unconfigured, then some CANopen objects will not be initialized nor
* processed.
* @param [out] errInfo Additional information in case of error, may be NULL.
* errInfo can also be set in noncritical errors, where function returns
* CO_ERROR_NO. For example, if OD parameter contains wrong value.
*
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_CANopenInit(CO_t* co, CO_NMT_t* NMT, CO_EM_t* em, OD_t* od, OD_entry_t* OD_statusBits,
uint16_t NMTcontrol, uint16_t firstHBTime_ms, uint16_t SDOserverTimeoutTime_ms,
uint16_t SDOclientTimeoutTime_ms, bool_t SDOclientBlockTransfer, uint8_t nodeId,
uint32_t* errInfo);
/**
* Initialize CANopenNode PDO objects.
*
* Function must be called in the end of communication reset section after all
* CANopen and application initialization, otherwise some OD variables wont be
* mapped into PDO correctly.
*
* @param co CANopen object.
* @param em Emergency object, which is used inside PDO objects for error
* reporting.
* @param od CANopen Object dictionary
* @param nodeId CANopen Node ID (1 ... 127) or 0xFF(unconfigured). If
* unconfigured, then PDO will not be initialized nor processed.
* @param [out] errInfo Additional information in case of error, may be NULL.
*
* @return CO_ERROR_NO in case of success.
*/
CO_ReturnError_t CO_CANopenInitPDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo);
/**
* Initialize Safety related Data Objects.
*
* Function must be called in the end of communication reset section after all
* CANopen and application initialization, otherwise some OD variables wont be
* mapped into SRDO correctly.
*
* @param co CANopen object.
* @param em Emergency object, which is used inside PDO objects for error
* reporting.
* @param od CANopen Object dictionary
* @param nodeId CANopen Node ID (1 ... 127) or 0xFF(unconfigured). If
* unconfigured, then PDO will not be initialized nor processed.
* @param [out] errInfo Additional information in case of error, may be NULL.
*
* @return CO_ERROR_NO in case of success.
*/
#if (((CO_CONFIG_GFC)&CO_CONFIG_GFC_ENABLE) != 0) || (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0)
CO_ReturnError_t CO_CANopenInitSRDO(CO_t* co, CO_EM_t* em, OD_t* od, uint8_t nodeId, uint32_t* errInfo);
#endif
/**
* Process CANopen objects.
*
* Function must be called cyclically. It processes all "asynchronous" CANopen
* objects.
*
* @param co CANopen object.
* @param enableGateway If true, gateway to external world will be enabled.
* @param timeDifference_us Time difference from previous function call in
* microseconds.
* @param [out] timerNext_us info to OS - maximum delay time after this function
* should be called next time in [microseconds]. Value can be used for OS
* sleep time. Initial value must be set to maximum interval time.
* Output will be equal or lower to initial value. Calculation is based
* on various timers which expire in known time. Parameter should be
* used in combination with callbacks configured with
* CO_***_initCallbackPre() functions. Those callbacks should also
* trigger calling of CO_process() function. Parameter is ignored if
* NULL. See also @ref CO_CONFIG_FLAG_CALLBACK_PRE configuration macro.
*
* @return Node or communication reset request, from @ref CO_NMT_process().
*/
CO_NMT_reset_cmd_t CO_process(CO_t* co, bool_t enableGateway, uint32_t timeDifference_us, uint32_t* timerNext_us);
#if (((CO_CONFIG_SYNC)&CO_CONFIG_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen SYNC objects.
*
* Function must be called cyclically. For time critical applications it may be
* called from real time thread with constant interval (1ms typically). It
* processes SYNC CANopen objects.
*
* @param co CANopen object.
* @param timeDifference_us Time difference from previous function call in
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*
* @return True, if CANopen SYNC message was just received or transmitted.
*/
bool_t CO_process_SYNC(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen RPDO objects.
*
* Function must be called cyclically. For time critical applications it may be
* called from real time thread with constant interval (1ms typically). It
* processes receive PDO CANopen objects.
*
* @param co CANopen object.
* @param syncWas True, if CANopen SYNC message was just received or
* transmitted.
* @param timeDifference_us Time difference from previous function call in
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_process_RPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen TPDO objects.
*
* Function must be called cyclically. For time critical applications it may be
* called from real time thread with constant interval (1ms typically). It
* processes transmit PDO CANopen objects.
*
* @param co CANopen object.
* @param syncWas True, if CANopen SYNC message was just received or
* transmitted.
* @param timeDifference_us Time difference from previous function call in
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*/
void CO_process_TPDO(CO_t* co, bool_t syncWas, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
/**
* Process CANopen SRDO objects.
*
* Function must be called cyclically. For time critical applications it may be
* called from real time thread with constant interval (1ms typically). It
* processes SRDO CANopen objects.
*
* @param co CANopen object.
* @param timeDifference_us Time difference from previous function call in
* microseconds.
* @param [out] timerNext_us info to OS - see CO_process().
*
* @return @CO_SRDO_state_t lowest state of the SRDO objects.
*/
CO_SRDO_state_t CO_process_SRDO(CO_t* co, uint32_t timeDifference_us, uint32_t* timerNext_us);
#endif
/** @} */ /* CO_CANopen */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* CANopen_H */
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