/** * CANopen Network management and Heartbeat producer protocol. * * @file CO_NMT_Heartbeat.h * @ingroup CO_NMT_Heartbeat * @author Janez Paternoster * @copyright 2004 - 2020 Janez Paternoster * * This file is part of CANopenNode, an opensource CANopen Stack. * Project home page is . * For more information on CANopen see . * * 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 CO_NMT_HEARTBEAT_H #define CO_NMT_HEARTBEAT_H #include "301/CO_driver.h" #include "301/CO_SDOserver.h" #include "301/CO_Emergency.h" /* default configuration, see CO_config.h */ #ifndef CO_CONFIG_NMT #define CO_CONFIG_NMT (0) #endif #ifdef __cplusplus extern "C" { #endif /** * @defgroup CO_NMT_Heartbeat NMT and Heartbeat * @ingroup CO_CANopen_301 * @{ * * CANopen Network management and Heartbeat producer protocol. * * CANopen device can be in one of the #CO_NMT_internalState_t * - Initializing. It is active before CANopen is initialized. * - Pre-operational. All CANopen objects are active, except PDOs. * - Operational. Process data objects (PDOs) are active too. * - Stopped. Only Heartbeat producer and NMT consumer are active. * * NMT master can change the internal state of the devices by sending * #CO_NMT_command_t. * * ###NMT message contents: * * Byte | Description * -----|----------------------------------------------------------- * 0 | #CO_NMT_command_t * 1 | Node ID. If zero, command addresses all nodes. * * ###Heartbeat message contents: * * Byte | Description * -----|----------------------------------------------------------- * 0 | #CO_NMT_internalState_t * * @see #CO_Default_CAN_ID_t */ /** * Internal network state of the CANopen node */ typedef enum{ CO_NMT_UNKNOWN = -1, /**< Device state is unknown (for heartbeat consumer) */ CO_NMT_INITIALIZING = 0, /**< Device is initializing */ CO_NMT_PRE_OPERATIONAL = 127, /**< Device is in pre-operational state */ CO_NMT_OPERATIONAL = 5, /**< Device is in operational state */ CO_NMT_STOPPED = 4 /**< Device is stopped */ }CO_NMT_internalState_t; /** * Commands from NMT master. */ typedef enum{ CO_NMT_ENTER_OPERATIONAL = 1, /**< Start device */ CO_NMT_ENTER_STOPPED = 2, /**< Stop device */ CO_NMT_ENTER_PRE_OPERATIONAL = 128, /**< Put device into pre-operational */ CO_NMT_RESET_NODE = 129, /**< Reset device */ CO_NMT_RESET_COMMUNICATION = 130 /**< Reset CANopen communication on device */ }CO_NMT_command_t; /** * Return code for CO_NMT_process() that tells application code what to * reset. */ typedef enum{ CO_RESET_NOT = 0,/**< Normal return, no action */ CO_RESET_COMM = 1,/**< Application must provide communication reset. */ CO_RESET_APP = 2,/**< Application must provide complete device reset */ CO_RESET_QUIT = 3 /**< Application must quit, no reset of microcontroller (command is not requested by the stack.) */ }CO_NMT_reset_cmd_t; /** * NMT consumer and Heartbeat producer object, initialized by CO_NMT_init() */ typedef struct{ CO_NMT_internalState_t operatingState; /**< Current NMT operating state. */ CO_NMT_internalState_t operatingStatePrev; /**< Previous NMT operating state. */ uint8_t resetCommand; /**< If different than zero, device will reset */ uint8_t nodeId; /**< CANopen Node ID of this device */ uint32_t HBproducerTimer;/**< Internal timer for HB producer */ uint32_t firstHBTime; /**< From CO_NMT_init() */ CO_EMpr_t *emPr; /**< From CO_NMT_init() */ #if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN CO_CANmodule_t *NMT_CANdevTx; /**< From CO_NMT_init() */ CO_CANtx_t *NMT_TXbuff; /**< CAN transmit buffer for NMT master message */ #endif CO_CANmodule_t *HB_CANdevTx; /**< From CO_NMT_init() */ CO_CANtx_t *HB_TXbuff; /**< CAN transmit buffer for heartbeat message */ #if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN /** From CO_NMT_initCallbackPre() or NULL */ void (*pFunctSignalPre)(void *object); /** From CO_NMT_initCallbackPre() or NULL */ void *functSignalObjectPre; #endif #if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN void (*pFunctNMT)(CO_NMT_internalState_t state); /**< From CO_NMT_initCallbackChanged() or NULL */ #endif }CO_NMT_t; /** * Initialize NMT and Heartbeat producer object. * * Function must be called in the communication reset section. * * @param NMT This object will be initialized. * @param emPr Emergency main object. * @param nodeId CANopen Node ID of this device. * @param firstHBTime_ms Time between bootup and first heartbeat message in milliseconds. * If firstHBTime is greater than _Producer Heartbeat time_ * (object dictionary, index 0x1017), latter is used instead. * @param NMT_CANdevRx CAN device for NMT reception. * @param NMT_rxIdx Index of receive buffer in above CAN device. * @param CANidRxNMT CAN identifier for NMT receive message. * @param NMT_CANdevTx CAN device for NMT master transmission. * @param NMT_txIdx Index of transmit buffer in above CAN device. * @param CANidTxNMT CAN identifier for NMT transmit message. * @param HB_CANdevTx CAN device for HB transmission. * @param HB_txIdx Index of transmit buffer in the above CAN device. * @param CANidTxHB CAN identifier for HB message. * * @return #CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT. */ CO_ReturnError_t CO_NMT_init( CO_NMT_t *NMT, CO_EMpr_t *emPr, uint8_t nodeId, uint16_t firstHBTime_ms, CO_CANmodule_t *NMT_CANdevRx, uint16_t NMT_rxIdx, uint16_t CANidRxNMT, CO_CANmodule_t *NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT, CO_CANmodule_t *HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB); #if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN /** * Initialize NMT callback function after message preprocessed. * * Function initializes optional callback function, which should immediately * start processing of CO_NMT_process() function. * Callback is called after NMT message is received from the CAN bus. * * @param NMT This object. * @param object Pointer to object, which will be passed to pFunctSignal(). Can be NULL * @param pFunctSignal Pointer to the callback function. Not called if NULL. */ void CO_NMT_initCallbackPre( CO_NMT_t *NMT, void *object, void (*pFunctSignal)(void *object)); #endif #if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN /** * Initialize NMT callback function. * * Function initializes optional callback function, which is called after * NMT State change has occured. Function may wake up external task which * handles NMT events. * The first call is made immediately to give the consumer the current NMT state. * * @remark Be aware that the callback function is run inside the CAN receive * function context. Depending on the driver, this might be inside an interrupt! * * @param NMT This object. * @param pFunctNMT Pointer to the callback function. Not called if NULL. */ void CO_NMT_initCallbackChanged( CO_NMT_t *NMT, void (*pFunctNMT)(CO_NMT_internalState_t state)); #endif /** * Process received NMT and produce Heartbeat messages. * * Function must be called cyclically. * * @param NMT This object. * @param timeDifference_us Time difference from previous function call in [microseconds]. * @param HBtime_ms _Producer Heartbeat time_ (object dictionary, index 0x1017). * @param NMTstartup _NMT startup behavior_ (object dictionary, index 0x1F80). * @param errorRegister _Error register_ (object dictionary, index 0x1001). * @param errorBehavior pointer to _Error behavior_ array (object dictionary, index 0x1029). * Object controls, if device should leave NMT operational state. * Length of array must be 6. If pointer is NULL, no calculation is made. * @param [out] timerNext_us info to OS - see CO_process(). * * @return #CO_NMT_reset_cmd_t */ CO_NMT_reset_cmd_t CO_NMT_process( CO_NMT_t *NMT, uint32_t timeDifference_us, uint16_t HBtime_ms, uint32_t NMTstartup, uint8_t errorRegister, const uint8_t errorBehavior[], uint32_t *timerNext_us); /** * Query current NMT state * * @param NMT This object. * * @return @ref CO_NMT_internalState_t */ static inline CO_NMT_internalState_t CO_NMT_getInternalState(CO_NMT_t *NMT) { return (NMT == NULL) ? CO_NMT_INITIALIZING : NMT->operatingState; } /** * Set internal NMT state * * Functions sets state directly, without any checking. @ref CO_NMT_process() * may also switch between states automatically, see @ref CO_NMT_control_t. * * @param NMT This object. * @param state New state. */ static inline void CO_NMT_setInternalState(CO_NMT_t *NMT, CO_NMT_internalState_t state) { if (NMT != NULL) NMT->operatingState = state; } #if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN /** * Send NMT master command. * * This functionality can only be used from NMT master. There is one exception * where application from slave node may send NMT master command: If CANopen * object 0x1F80 has value of **0x2**, then NMT slave shall execute the NMT * service start remote node (CO_NMT_ENTER_OPERATIONAL) with nodeID set to 0. * * @param NMT This object. * @param command NMT command from CO_NMT_command_t. * @param nodeID Node ID of the remote node. 0 for all nodes including self. * * @return 0: Operation completed successfully. * @return other: same as CO_CANsend(). */ CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t *NMT, CO_NMT_command_t command, uint8_t nodeID); #endif /* (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER */ /** @} */ /* CO_NMT_Heartbeat */ #ifdef __cplusplus } #endif /*__cplusplus*/ #endif /* CO_NMT_HEARTBEAT_H */