/** * 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 #ifdef __cplusplus extern "C" { #endif /** * @defgroup CO_NMT_Heartbeat NMT and Heartbeat * @ingroup CO_CANopen * @{ * * 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 * * ###Status LED diodes * Macros for @ref CO_NMT_statusLEDdiodes are also implemented in this object. */ /** * @defgroup CO_NMT_statusLEDdiodes Status LED diodes * @{ * * Macros for status LED diodes. * * Helper macros for implementing status LED diodes are used by stack and can * also be used by the application. If macro returns 1 LED should be ON, * otherwise OFF. Function CO_NMT_blinkingProcess50ms() must be called cyclically * to update the variables. */ #define LED_FLICKERING(NMT) (((NMT)->LEDflickering>=0) ? 1 : 0) /**< 10HZ (100MS INTERVAL) */ #define LED_BLINKING(NMT) (((NMT)->LEDblinking>=0) ? 1 : 0) /**< 2.5HZ (400MS INTERVAL) */ #define LED_SINGLE_FLASH(NMT) (((NMT)->LEDsingleFlash>=0) ? 1 : 0) /**< 200MS ON, 1000MS OFF */ #define LED_DOUBLE_FLASH(NMT) (((NMT)->LEDdoubleFlash>=0) ? 1 : 0) /**< 200MS ON, 200MS OFF, 200MS ON, 1000MS OFF */ #define LED_TRIPLE_FLASH(NMT) (((NMT)->LEDtripleFlash>=0) ? 1 : 0) /**< 200MS ON, 200MS OFF, 200MS ON, 200MS OFF, 200MS ON, 1000MS OFF */ #define LED_QUADRUPLE_FLASH(NMT)(((NMT)->LEDquadrupleFlash>=0) ? 1 : 0) /**< 200MS ON, 200MS OFF, 200MS ON, 200MS OFF, 200MS ON, 200MS OFF, 200MS ON, 1000MS OFF */ #define LED_GREEN_RUN(NMT) (((NMT)->LEDgreenRun>=0) ? 1 : 0) /**< CANOPEN RUN LED ACCORDING TO CIA DR 303-3 */ #define LED_RED_ERROR(NMT) (((NMT)->LEDredError>=0) ? 1 : 0) /**< CANopen error LED according to CiA DR 303-3 */ /** @} */ /** * Internal network state of the CANopen node */ typedef enum{ 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. It includes also variables for * @ref CO_NMT_statusLEDdiodes. Object is initialized by CO_NMT_init(). */ typedef struct{ uint8_t operatingState; /**< See @ref CO_NMT_internalState_t */ #ifdef CO_USE_LEDS int8_t LEDflickering; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDblinking; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDsingleFlash; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDdoubleFlash; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDtripleFlash; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDquadrupleFlash; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDgreenRun; /**< See @ref CO_NMT_statusLEDdiodes */ int8_t LEDredError; /**< See @ref CO_NMT_statusLEDdiodes */ #endif /* CO_USE_LEDS */ uint8_t resetCommand; /**< If different than zero, device will reset */ uint8_t nodeId; /**< CANopen Node ID of this device */ uint16_t HBproducerTimer;/**< Internal timer for HB producer */ uint16_t firstHBTime; /**< From CO_NMT_init() */ CO_EMpr_t *emPr; /**< From CO_NMT_init() */ CO_CANmodule_t *HB_CANdev; /**< From CO_NMT_init() */ void (*pFunctNMT)(CO_NMT_internalState_t state); /**< From CO_NMT_initCallback() or NULL */ CO_CANtx_t *HB_TXbuff; /**< CAN transmit buffer */ }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 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_CANdev CAN device for NMT reception. * @param NMT_rxIdx Index of receive buffer in above CAN device. * @param CANidRxNMT CAN identifier for NMT message. * @param HB_CANdev 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, CO_CANmodule_t *NMT_CANdev, uint16_t NMT_rxIdx, uint16_t CANidRxNMT, CO_CANmodule_t *HB_CANdev, uint16_t HB_txIdx, uint16_t CANidTxHB); /** * 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_initCallback( CO_NMT_t *NMT, void (*pFunctNMT)(CO_NMT_internalState_t state)); /** * Calculate blinking bytes. * * Function must be called cyclically every 50 milliseconds. See @ref CO_NMT_statusLEDdiodes. * * @param NMT NMT object. */ #ifdef CO_USE_LEDS void CO_NMT_blinkingProcess50ms(CO_NMT_t *NMT); #endif /* CO_USE_LEDS */ /** * Process received NMT and produce Heartbeat messages. * * Function must be called cyclically. * * @param NMT This object. * @param timeDifference_ms Time difference from previous function call in [milliseconds]. * @param HBtime _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 timerNext_ms Return value - info to OS - see CO_process(). * * @return #CO_NMT_reset_cmd_t */ CO_NMT_reset_cmd_t CO_NMT_process( CO_NMT_t *NMT, uint16_t timeDifference_ms, uint16_t HBtime, uint32_t NMTstartup, uint8_t errorRegister, const uint8_t errorBehavior[], uint16_t *timerNext_ms); /** * Query current NMT state * * @param NMT This object. * * @return #CO_NMT_internalState_t */ CO_NMT_internalState_t CO_NMT_getInternalState( CO_NMT_t *NMT); /** * Set current NMT state * * @param NMT This object. * @param CO_NMT_internalState_t State to set * */ void CO_NMT_setInternalState( CO_NMT_t *NMT, CO_NMT_internalState_t state); #ifdef __cplusplus } #endif /*__cplusplus*/ /** @} */ #endif