CO_NMT_Heartbeat.h

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#ifndef CO_NMT_HEARTBEAT_H
#define CO_NMT_HEARTBEAT_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_NMT
#define CO_CONFIG_NMT (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    CO_NMT_UNKNOWN = -1,          
    CO_NMT_INITIALIZING = 0,      
    CO_NMT_PRE_OPERATIONAL = 127, 
    CO_NMT_OPERATIONAL = 5,       
    CO_NMT_STOPPED = 4            
} CO_NMT_internalState_t;
 
typedef enum {
    CO_NMT_NO_COMMAND = 0,              
    CO_NMT_ENTER_OPERATIONAL = 1,       
    CO_NMT_ENTER_STOPPED = 2,           
    CO_NMT_ENTER_PRE_OPERATIONAL = 128, 
    CO_NMT_RESET_NODE = 129,            
    CO_NMT_RESET_COMMUNICATION = 130    
} CO_NMT_command_t;
 
typedef enum {
    CO_RESET_NOT = 0,  
    CO_RESET_COMM = 1, 
    CO_RESET_APP = 2,  
    CO_RESET_QUIT = 3  
} CO_NMT_reset_cmd_t;
 
#define CO_NMT_ERR_REG_MASK            0x00FFU
#define CO_NMT_STARTUP_TO_OPERATIONAL  0x0100U
#define CO_NMT_ERR_ON_BUSOFF_HB        0x1000U
#define CO_NMT_ERR_ON_ERR_REG          0x2000U
#define CO_NMT_ERR_TO_STOPPED          0x4000U
#define CO_NMT_ERR_FREE_TO_OPERATIONAL 0x8000U
 
 /* CO_NMT_control_t */
 
typedef struct {
    CO_NMT_internalState_t operatingState;     
    CO_NMT_internalState_t operatingStatePrev; 
    CO_NMT_command_t internalCommand; 
    uint8_t nodeId;                   
    uint16_t NMTcontrol;              
    uint32_t HBproducerTime_us;       
    uint32_t HBproducerTimer;         
    OD_extension_t OD_1017_extension; 
    CO_EM_t* em;                      
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
    CO_CANmodule_t* NMT_CANdevTx; 
    CO_CANtx_t* NMT_TXbuff;       
#endif
    CO_CANmodule_t* HB_CANdevTx; 
    CO_CANtx_t* HB_TXbuff;       
#if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
    void (*pFunctNMT)(CO_NMT_internalState_t state); 
#endif
} CO_NMT_t;
 
CO_ReturnError_t CO_NMT_init(CO_NMT_t* NMT, OD_entry_t* OD_1017_ProducerHbTime, CO_EM_t* em, uint8_t nodeId,
                             uint16_t NMTcontrol, uint16_t firstHBTime_ms, CO_CANmodule_t* NMT_CANdevRx,
                             uint16_t NMT_rxIdx, uint16_t CANidRxNMT,
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) != 0) || defined CO_DOXYGEN
                             CO_CANmodule_t* NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT,
#endif
                             CO_CANmodule_t* HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB, uint32_t* errInfo);
 
#if (((CO_CONFIG_NMT)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_NMT_initCallbackPre(CO_NMT_t* NMT, void* object, void (*pFunctSignal)(void* object));
#endif
 
#if (((CO_CONFIG_NMT)&CO_CONFIG_NMT_CALLBACK_CHANGE) != 0) || defined CO_DOXYGEN
void CO_NMT_initCallbackChanged(CO_NMT_t* NMT, void (*pFunctNMT)(CO_NMT_internalState_t state));
#endif
 
CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t* NMT, CO_NMT_internalState_t* NMTstate, uint32_t timeDifference_us,
                                  uint32_t* timerNext_us);
 
static inline CO_NMT_internalState_t
CO_NMT_getInternalState(CO_NMT_t* NMT) {
    return (NMT == NULL) ? CO_NMT_INITIALIZING : NMT->operatingState;
}
 
static inline void
CO_NMT_sendInternalCommand(CO_NMT_t* NMT, CO_NMT_command_t command) {
    if (NMT != NULL) {
        NMT->internalCommand = command;
    }
}
 
#if ((CO_CONFIG_NMT)&CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
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 */