CO_HBconsumer.h

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#ifndef CO_HB_CONS_H
#define CO_HB_CONS_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_NMT_Heartbeat.h"
#include "301/CO_Emergency.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_HB_CONS
#define CO_CONFIG_HB_CONS                                                                                              \
    (CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT                   \
     | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
 
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_ENABLE) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    CO_HBconsumer_UNCONFIGURED = 0x00U, 
    CO_HBconsumer_UNKNOWN = 0x01U,      
    CO_HBconsumer_ACTIVE = 0x02U,       
    CO_HBconsumer_TIMEOUT = 0x03U,      
} CO_HBconsumer_state_t;
 
typedef struct {
    uint8_t nodeId;                  
    CO_NMT_internalState_t NMTstate; 
    CO_HBconsumer_state_t HBstate;   
    uint32_t timeoutTimer;           
    uint32_t time_us;                
    volatile void* CANrxNew;         
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0)                                                     \
    || (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
    CO_NMT_internalState_t NMTstatePrev; 
#endif
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate, void* object);
    void* pFunctSignalObjectNmtChanged; 
    void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void* object);
    void* functSignalObjectHbStarted; 
    void (*pFunctSignalTimeout)(uint8_t nodeId, uint8_t idx, void* object);
    void* functSignalObjectTimeout; 
    void (*pFunctSignalRemoteReset)(uint8_t nodeId, uint8_t idx, void* object);
    void* functSignalObjectRemoteReset; 
#endif
} CO_HBconsNode_t;
 
typedef struct {
    CO_EM_t* em;                      
    CO_HBconsNode_t* monitoredNodes;  
    uint8_t numberOfMonitoredNodes;   
    bool_t allMonitoredActive;        
    bool_t allMonitoredOperational;   
    bool_t NMTisPreOrOperationalPrev; 
    CO_CANmodule_t* CANdevRx;         
    uint16_t CANdevRxIdxStart;        
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
    OD_extension_t OD_1016_extension; 
#endif
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate, void* object);
    void* pFunctSignalObjectNmtChanged; 
#endif
} CO_HBconsumer_t;
 
CO_ReturnError_t CO_HBconsumer_init(CO_HBconsumer_t* HBcons, CO_EM_t* em, CO_HBconsNode_t* monitoredNodes,
                                    uint8_t monitoredNodesCount, OD_entry_t* OD_1016_HBcons, CO_CANmodule_t* CANdevRx,
                                    uint16_t CANdevRxIdxStart, uint32_t* errInfo);
 
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_HBconsumer_initCallbackPre(CO_HBconsumer_t* HBcons, void* object, void (*pFunctSignal)(void* object));
#endif
 
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_CHANGE) != 0)                                                     \
    || (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
void CO_HBconsumer_initCallbackNmtChanged(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
                                          void (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
                                                               CO_NMT_internalState_t NMTstate, void* object));
#endif
 
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_CALLBACK_MULTI) != 0) || defined CO_DOXYGEN
void CO_HBconsumer_initCallbackHeartbeatStarted(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
                                                void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object));
 
void CO_HBconsumer_initCallbackTimeout(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
                                       void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object));
 
void CO_HBconsumer_initCallbackRemoteReset(CO_HBconsumer_t* HBcons, uint8_t idx, void* object,
                                           void (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void* object));
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI */
 
void CO_HBconsumer_process(CO_HBconsumer_t* HBcons, bool_t NMTisPreOrOperational, uint32_t timeDifference_us,
                           uint32_t* timerNext_us);
 
#if (((CO_CONFIG_HB_CONS)&CO_CONFIG_HB_CONS_QUERY_FUNCT) != 0) || defined CO_DOXYGEN
int8_t CO_HBconsumer_getIdxByNodeId(CO_HBconsumer_t* HBcons, uint8_t nodeId);
 
CO_HBconsumer_state_t CO_HBconsumer_getState(CO_HBconsumer_t* HBcons, uint8_t idx);
 
int8_t CO_HBconsumer_getNmtState(CO_HBconsumer_t* HBcons, uint8_t idx, CO_NMT_internalState_t* nmtState);
 
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT */
 
 /* CO_HBconsumer */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE */
 
#endif /* CO_HB_CONS_H */