220 lines
7.3 KiB
C
220 lines
7.3 KiB
C
/**
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* CANopen Time-stamp protocol.
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*
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* @file CO_TIME.h
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* @ingroup CO_TIME
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* @author Julien PEYREGNE
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* @copyright 2019 - 2020 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_TIME_H
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#define CO_TIME_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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/* default configuration, see CO_config.h */
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#ifndef CO_CONFIG_TIME
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#define CO_CONFIG_TIME (CO_CONFIG_TIME_ENABLE | \
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CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | \
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CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
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#endif
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#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE) != 0) || 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_TIME TIME
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* CANopen Time-stamp protocol.
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*
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* @ingroup CO_CANopen_301
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* @{
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* For CAN identifier see @ref CO_Default_CAN_ID_t
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*
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* TIME message is used for time synchronization of the nodes on the network.
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* One node should be TIME producer, others can be TIME consumers. This is
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* configured by COB_ID_TIME object 0x1012:
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*
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* - bit 31 should be set for a consumer
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* - bit 30 should be set for a producer
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* - bits 0..10 is CAN-ID, 0x100 by default
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*
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* Current time can be read from @p CO_TIME_t->ms (milliseconds after midnight)
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* and @p CO_TIME_t->days (number of days since January 1, 1984). Those values
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* are updated on each @ref CO_TIME_process() call, either from internal timer
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* or from received time stamp message.
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*
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* Current time can be set with @ref CO_TIME_set() function, which is necessary
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* at least once, if time producer. If configured, time stamp message is
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* send from @ref CO_TIME_process() in intervals specified by @ref CO_TIME_set()
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*/
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/** Length of the TIME message */
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#define CO_TIME_MSG_LENGTH 6U
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/**
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* TIME producer and consumer object.
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*/
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typedef struct {
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/** Received timestamp data */
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uint8_t timeStamp[CO_TIME_MSG_LENGTH];
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/** Milliseconds after midnight */
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uint32_t ms;
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/** Number of days since January 1, 1984 */
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uint16_t days;
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/** Residual microseconds calculated inside CO_TIME_process() */
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uint16_t residual_us;
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/** True, if device is TIME consumer. Calculated from _COB ID TIME Message_
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variable from Object dictionary (index 0x1012). */
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bool_t isConsumer;
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/** True, if device is TIME producer. Calculated from _COB ID TIME Message_
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variable from Object dictionary (index 0x1012). */
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bool_t isProducer;
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/** Variable indicates, if new TIME message received from CAN bus */
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volatile void *CANrxNew;
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#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
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/** Interval for time producer in milli seconds */
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uint32_t producerInterval_ms;
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/** Sync producer timer */
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uint32_t producerTimer_ms;
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/** From CO_TIME_init() */
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CO_CANmodule_t *CANdevTx;
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/** CAN transmit buffer */
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CO_CANtx_t *CANtxBuff;
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#endif
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#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
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/** From CO_TIME_initCallbackPre() or NULL */
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void (*pFunctSignalPre)(void *object);
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/** From CO_TIME_initCallbackPre() or NULL */
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void *functSignalObjectPre;
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#endif
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#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
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/** Extension for OD object */
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OD_extension_t OD_1012_extension;
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#endif
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} CO_TIME_t;
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/**
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* Initialize TIME 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 TIME This object will be initialized.
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* @param OD_1012_cobIdTimeStamp OD entry for 0x1012 - "COB-ID time stamp",
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* entry is required.
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* @param CANdevRx CAN device for TIME reception.
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* @param CANdevRxIdx Index of receive buffer in the above CAN device.
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* @param CANdevTx CAN device for TIME transmission.
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* @param CANdevTxIdx Index of transmit buffer in the above CAN device.
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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 #CO_ReturnError_t CO_ERROR_NO on success.
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*/
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CO_ReturnError_t CO_TIME_init(CO_TIME_t *TIME,
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OD_entry_t *OD_1012_cobIdTimeStamp,
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CO_CANmodule_t *CANdevRx,
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uint16_t CANdevRxIdx,
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#if (((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0) || defined CO_DOXYGEN
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CO_CANmodule_t *CANdevTx,
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uint16_t CANdevTxIdx,
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#endif
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uint32_t *errInfo);
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#if (((CO_CONFIG_TIME) & CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
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/**
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* Initialize TIME 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_TIME_process() function.
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* Callback is called after TIME message is received from the CAN bus.
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*
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* @param TIME This object.
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* @param object Pointer to object, which will be passed to pFunctSignalPre().
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* @param pFunctSignalPre Pointer to the callback function. Not called if NULL.
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*/
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void CO_TIME_initCallbackPre(CO_TIME_t *TIME,
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void *object,
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void (*pFunctSignalPre)(void *object));
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#endif
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/**
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* Set current time
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*
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* @param TIME This object.
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* @param ms Milliseconds after midnight
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* @param days Number of days since January 1, 1984
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* @param producerInterval_ms Interval time for time producer in milliseconds
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*/
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static inline void CO_TIME_set(CO_TIME_t *TIME,
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uint32_t ms,
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uint16_t days,
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uint32_t producerInterval_ms)
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{
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(void)producerInterval_ms; /* may be unused */
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if (TIME != NULL) {
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TIME->residual_us = 0;
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TIME->ms = ms;
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TIME->days = days;
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#if ((CO_CONFIG_TIME) & CO_CONFIG_TIME_PRODUCER) != 0
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TIME->producerTimer_ms = TIME->producerInterval_ms =producerInterval_ms;
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#endif
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}
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}
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/**
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* Process TIME object.
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*
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* Function must be called cyclically. It updates internal time from received
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* time stamp message or from timeDifference_us. It also sends produces
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* timestamp message, if producer and producerInterval_ms is set.
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*
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* @param TIME This object.
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* @param timeDifference_us Time difference from previous function call in
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* [microseconds].
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* @param NMTisPreOrOperational True if this node is NMT_PRE_OPERATIONAL or
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* NMT_OPERATIONAL state.
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*
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* @return True if new TIME stamp message recently received (consumer).
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*/
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bool_t CO_TIME_process(CO_TIME_t *TIME,
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bool_t NMTisPreOrOperational,
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uint32_t timeDifference_us);
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/** @} */ /* CO_TIME */
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#ifdef __cplusplus
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}
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#endif /*__cplusplus*/
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#endif /* (CO_CONFIG_TIME) & CO_CONFIG_TIME_ENABLE */
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#endif /* CO_TIME_H */
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