CO_Node_Guarding.h

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#ifndef CO_NODE_GUARDING_H
#define CO_NODE_GUARDING_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
#include "301/CO_NMT_Heartbeat.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_NODE_GUARDING
#define CO_CONFIG_NODE_GUARDING (0)
#endif
#ifndef CO_CONFIG_NODE_GUARDING_MASTER_COUNT
#define CO_CONFIG_NODE_GUARDING_MASTER_COUNT 0x7F
#endif
 
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
    CO_EM_t* em;                      
    volatile void* CANrxNew;          
    uint32_t guardTime_us;            
    uint32_t lifeTime_us;             
    uint32_t lifeTimer;               
    uint8_t lifeTimeFactor;           
    bool_t toggle;                    
    bool_t lifeTimeTimeout;           
    OD_extension_t OD_100C_extension; 
    OD_extension_t OD_100D_extension; 
    CO_CANmodule_t* CANdevTx;         
    CO_CANtx_t* CANtxBuff;            
} CO_nodeGuardingSlave_t;
 
CO_ReturnError_t CO_nodeGuardingSlave_init(CO_nodeGuardingSlave_t* ngs, OD_entry_t* OD_100C_GuardTime,
                                           OD_entry_t* OD_100D_LifeTimeFactor, CO_EM_t* em, uint16_t CANidNodeGuarding,
                                           CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx,
                                           uint16_t CANdevTxIdx, uint32_t* errInfo);
 
void CO_nodeGuardingSlave_process(CO_nodeGuardingSlave_t* ngs, CO_NMT_internalState_t NMTstate, bool_t slaveDisable,
                                  uint32_t timeDifference_us, uint32_t* timerNext_us);
 
static inline bool_t
CO_nodeGuardingSlave_isTimeout(CO_nodeGuardingSlave_t* ngs) {
    return (ngs == NULL) || ngs->lifeTimeTimeout;
}
 
 /* CO_Node_Guarding */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_SLAVE_ENABLE */
 
#if (((CO_CONFIG_NODE_GUARDING)&CO_CONFIG_NODE_GUARDING_MASTER_ENABLE) != 0) || defined CO_DOXYGEN
 
#if CO_CONFIG_NODE_GUARDING_MASTER_COUNT < 1 || CO_CONFIG_NODE_GUARDING_MASTER_COUNT > 127
#error CO_CONFIG_NODE_GUARDING_MASTER_COUNT value is wrong!
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
    uint32_t guardTime_us;           
    uint32_t guardTimer;             
    uint16_t ident;                  
    CO_NMT_internalState_t NMTstate; 
    uint8_t toggle;                  
    bool_t responseRecived;          
    bool_t CANtxWasBusy;             
    bool_t monitoringActive;         
} CO_nodeGuardingMasterNode_t;
 
typedef struct {
    CO_EM_t* em;               
    CO_CANmodule_t* CANdevTx;  
    uint16_t CANdevTxIdx;      
    CO_CANtx_t* CANtxBuff;     
    bool_t allMonitoredActive; 
    bool_t allMonitoredOperational; 
    CO_nodeGuardingMasterNode_t nodes[CO_CONFIG_NODE_GUARDING_MASTER_COUNT]; 
} CO_nodeGuardingMaster_t;
 
CO_ReturnError_t CO_nodeGuardingMaster_init(CO_nodeGuardingMaster_t* ngm, CO_EM_t* em, CO_CANmodule_t* CANdevRx,
                                            uint16_t CANdevRxIdx, CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx);
 
CO_ReturnError_t CO_nodeGuardingMaster_initNode(CO_nodeGuardingMaster_t* ngm, uint8_t index, uint8_t nodeId,
                                                uint16_t guardTime_ms);
 
void CO_nodeGuardingMaster_process(CO_nodeGuardingMaster_t* ngm, uint32_t timeDifference_us, uint32_t* timerNext_us);
 
 /* @addtogroup CO_Node_Guarding */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_NODE_GUARDING) & CO_CONFIG_NODE_GUARDING_MASTER_ENABLE */
 
#endif /* CO_NODE_GUARDING_H */