f56c96db3c
- Minor changes in most files - add CANopenNode.png - update doxyfile - move doc/LSSusage.md and doc/gettingStarted.md into CANopenDemo repository - update README.md
367 lines
14 KiB
C
367 lines
14 KiB
C
/**
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* CANopen Heartbeat consumer protocol.
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*
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* @file CO_HBconsumer.h
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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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#ifndef CO_HB_CONS_H
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#define CO_HB_CONS_H
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#include "301/CO_driver.h"
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#include "301/CO_ODinterface.h"
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#include "301/CO_NMT_Heartbeat.h"
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#include "301/CO_Emergency.h"
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/* default configuration, see CO_config.h */
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#ifndef CO_CONFIG_HB_CONS
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#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE | \
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CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
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CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | \
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CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
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#endif
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#ifndef CO_CONFIG_HB_CONS_SIZE
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#define CO_CONFIG_HB_CONS_SIZE 8
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#endif
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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) || defined CO_DOXYGEN
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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_HBconsumer Heartbeat consumer
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* CANopen Heartbeat consumer protocol.
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*
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* @ingroup CO_CANopen_301
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* @{
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* Heartbeat consumer monitors Heartbeat messages from remote nodes. If any
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* monitored node don't send his Heartbeat in specified time, Heartbeat consumer
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* sends emergency message. If all monitored nodes are operational, then
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* variable _allMonitoredOperational_ inside CO_HBconsumer_t is set to true.
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* Monitoring starts after the reception of the first HeartBeat (not bootup).
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*
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* Heartbeat set up is done by writing to the OD registers 0x1016.
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* To setup heartbeat consumer by application, use
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* @code ODR_t odRet = OD_set_u32(entry, subIndex, val, false); @endcode
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*
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* @see @ref CO_NMT_Heartbeat
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*/
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/**
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* Heartbeat state of a node
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*/
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typedef enum {
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CO_HBconsumer_UNCONFIGURED = 0x00U, /**< Consumer entry inactive */
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CO_HBconsumer_UNKNOWN = 0x01U, /**< Consumer enabled, but no heartbeat received yet */
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CO_HBconsumer_ACTIVE = 0x02U, /**< Heartbeat received within set time */
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CO_HBconsumer_TIMEOUT = 0x03U, /**< No heatbeat received for set time */
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} CO_HBconsumer_state_t;
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/**
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* One monitored node inside CO_HBconsumer_t.
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*/
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typedef struct {
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/** Node Id of the monitored node */
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uint8_t nodeId;
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/** NMT state of the remote node (Heartbeat payload) */
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CO_NMT_internalState_t NMTstate;
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/** Current heartbeat monitoring state of the remote node */
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CO_HBconsumer_state_t HBstate;
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/** Time since last heartbeat received */
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uint32_t timeoutTimer;
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/** Consumer heartbeat time from OD */
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uint32_t time_us;
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/** Indication if new Heartbeat message received from the CAN bus */
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volatile void *CANrxNew;
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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
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/** From CO_HBconsumer_initCallbackPre() or NULL */
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void (*pFunctSignalPre)(void *object);
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/** From CO_HBconsumer_initCallbackPre() or NULL */
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void *functSignalObjectPre;
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#endif
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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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|| defined CO_DOXYGEN
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/** Previous value of the remote node (Heartbeat payload) */
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CO_NMT_internalState_t NMTstatePrev;
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#endif
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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
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/** Callback for remote NMT changed event.
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* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
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void (*pFunctSignalNmtChanged)(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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/** Pointer to object */
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void *pFunctSignalObjectNmtChanged;
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/** Callback for heartbeat state change to active event.
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* From CO_HBconsumer_initCallbackHeartbeatStarted() or NULL. */
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void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void *object);
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/** Pointer to object */
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void *functSignalObjectHbStarted;
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/** Callback for consumer timeout event.
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* From CO_HBconsumer_initCallbackTimeout() or NULL. */
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void (*pFunctSignalTimeout)(uint8_t nodeId, uint8_t idx, void *object);
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/** Pointer to object */
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void *functSignalObjectTimeout;
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/** Callback for remote reset event.
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* From CO_HBconsumer_initCallbackRemoteReset() or NULL. */
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void (*pFunctSignalRemoteReset)(uint8_t nodeId, uint8_t idx, void *object);
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/** Pointer to object */
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void *functSignalObjectRemoteReset;
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#endif
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} CO_HBconsNode_t;
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/**
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* Heartbeat consumer object.
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*
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* Object is initilaized by CO_HBconsumer_init(). It contains an array of
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* CO_HBconsNode_t objects.
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*/
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typedef struct {
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/** From CO_HBconsumer_init() */
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CO_EM_t *em;
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/** Array of monitored nodes, maximum size CO_CONFIG_HB_CONS_SIZE */
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CO_HBconsNode_t monitoredNodes[CO_CONFIG_HB_CONS_SIZE];
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/** Actual number of monitored nodes,
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* MIN(CO_CONFIG_HB_CONS_SIZE or number-of-array-elements-in-OD-0x1016) */
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uint8_t numberOfMonitoredNodes;
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/** True, if all monitored nodes are active or no node is monitored. Can be
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* read by the application */
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bool_t allMonitoredActive;
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/** True, if all monitored nodes are NMT operational or no node is
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* monitored. Can be read by the application */
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bool_t allMonitoredOperational;
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/** previous state of the variable */
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bool_t NMTisPreOrOperationalPrev;
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/** From CO_HBconsumer_init() */
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CO_CANmodule_t *CANdevRx;
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/** From CO_HBconsumer_init() */
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uint16_t CANdevRxIdxStart;
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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_OD_DYNAMIC) || defined CO_DOXYGEN
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/** Extension for OD object */
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OD_extension_t OD_1016_extension;
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#endif
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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) || defined CO_DOXYGEN
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/** Callback for remote NMT changed event.
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* From CO_HBconsumer_initCallbackNmtChanged() or NULL. */
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void (*pFunctSignalNmtChanged)(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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/** Pointer to object */
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void *pFunctSignalObjectNmtChanged;
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#endif
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} CO_HBconsumer_t;
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/**
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* Initialize Heartbeat consumer 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 HBcons This object will be initialized.
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* @param em Emergency object.
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* @param OD_1016_HBcons OD entry for 0x1016 - "Consumer heartbeat time", entry
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* is required, IO extension will be applied.
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* @param CANdevRx CAN device for Heartbeat reception.
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* @param CANdevRxIdxStart Starting index of receive buffer in the above CAN
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* device. Number of used indexes is equal to CO_CONFIG_HB_CONS_SIZE.
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* @param [out] errInfo Additional information in case of error, may be NULL.
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*
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* @return @ref CO_ReturnError_t CO_ERROR_NO in case of success.
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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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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
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/**
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* Initialize Heartbeat consumer callback function.
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*
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* Function initializes optional callback function, which should immediately
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* start processing of CO_HBconsumer_process() function.
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* Callback is called after HBconsumer message is received from the CAN bus.
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*
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* @param HBcons This object.
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* @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
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* @param pFunctSignal Pointer to the callback function. Not called if NULL.
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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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#endif
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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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|| defined CO_DOXYGEN
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/**
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* Initialize Heartbeat consumer NMT changed callback function.
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*
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* Function initializes optional callback function, which is called when NMT
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* state from the remote node changes.
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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 (only when
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* CO_CONFIG_HB_CONS_CALLBACK_MULTI is enabled)
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* @param object Pointer to object, which will be passed to pFunctSignal().
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* Can be NULL.
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* @param pFunctSignal Pointer to the callback function. Not called if NULL.
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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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#endif
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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
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/**
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* Initialize Heartbeat consumer started callback function.
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*
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* Function initializes optional callback function, which is called for the
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* first received heartbeat after activating hb consumer or timeout.
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* Function may wake up external task, which handles this event.
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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 object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
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* @param pFunctSignal Pointer to the callback function. Not called if NULL.
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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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* Initialize Heartbeat consumer timeout callback function.
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*
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* Function initializes optional callback function, which is called when the node
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* state changes from active to timeout. Function may wake up external task,
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* which handles this event.
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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 object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
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* @param pFunctSignal Pointer to the callback function. Not called if NULL.
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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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* Initialize Heartbeat consumer remote reset detected callback function.
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*
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* Function initializes optional callback function, which is called when a bootup
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* message is received from the remote node. Function may wake up external task,
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* which handles this event.
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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 object Pointer to object, which will be passed to pFunctSignal(). Can be NULL
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* @param pFunctSignal Pointer to the callback function. Not called if NULL.
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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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#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI */
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/**
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* Process Heartbeat consumer object.
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*
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* Function must be called cyclically.
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*
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* @param HBcons This object.
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* @param NMTisPreOrOperational True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL.
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* @param timeDifference_us Time difference from previous function call in [microseconds].
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* @param [out] timerNext_us info to OS - see CO_process().
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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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#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT) || defined CO_DOXYGEN
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/**
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* Get the heartbeat producer object index by node ID
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*
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* @param HBcons This object.
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* @param nodeId producer node ID
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* @return index. -1 if not found
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*/
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int8_t CO_HBconsumer_getIdxByNodeId(
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CO_HBconsumer_t *HBcons,
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uint8_t nodeId);
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/**
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* Get the current state of a heartbeat producer by the index in OD 0x1016
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*
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* @param HBcons This object.
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* @param idx object sub index
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* @return #CO_HBconsumer_state_t
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*/
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CO_HBconsumer_state_t CO_HBconsumer_getState(
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CO_HBconsumer_t *HBcons,
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uint8_t idx);
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/**
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* Get the current NMT state of a heartbeat producer by the index in OD 0x1016
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*
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* NMT state is only available when heartbeat is enabled for this index!
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*
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* @param HBcons This object.
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* @param idx object sub index
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* @param [out] nmtState of this index
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* @retval 0 NMT state has been received and is valid
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* @retval -1 not valid
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*/
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int8_t CO_HBconsumer_getNmtState(
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CO_HBconsumer_t *HBcons,
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uint8_t idx,
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CO_NMT_internalState_t *nmtState);
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#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT */
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/** @} */ /* CO_HBconsumer */
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE */
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#endif /* CO_HB_CONS_H */
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