CO_PDO.h

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#ifndef CO_PDO_H
#define CO_PDO_H
 
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
#include "301/CO_SYNC.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_PDO
#define CO_CONFIG_PDO                                                                                                  \
    (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE | CO_CONFIG_RPDO_TIMERS_ENABLE | CO_CONFIG_TPDO_TIMERS_ENABLE       \
     | CO_CONFIG_PDO_SYNC_ENABLE | CO_CONFIG_PDO_OD_IO_ACCESS | CO_CONFIG_GLOBAL_RT_FLAG_CALLBACK_PRE                  \
     | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)
#endif
 
#if (((CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE)) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef CO_PDO_MAX_SIZE
#define CO_PDO_MAX_SIZE 8U
#endif
 
#ifndef CO_PDO_MAX_MAPPED_ENTRIES
#define CO_PDO_MAX_MAPPED_ENTRIES 8U
#endif
 
#ifndef CO_RPDO_DEFAULT_CANID_COUNT
#define CO_RPDO_DEFAULT_CANID_COUNT 4U
#endif
 
#ifndef CO_TPDO_DEFAULT_CANID_COUNT
#define CO_TPDO_DEFAULT_CANID_COUNT 4U
#endif
 
#ifndef CO_PDO_OWN_TYPES
typedef uint8_t CO_PDO_size_t;
#endif
 
typedef enum {
    CO_PDO_TRANSM_TYPE_SYNC_ACYCLIC = 0U,     
    CO_PDO_TRANSM_TYPE_SYNC_1 = 1U,           
    CO_PDO_TRANSM_TYPE_SYNC_240 = 0xF0U,      
    CO_PDO_TRANSM_TYPE_SYNC_EVENT_LO = 0xFEU, 
    CO_PDO_TRANSM_TYPE_SYNC_EVENT_HI = 0xFFU  
} CO_PDO_transmissionTypes_t;
 
typedef struct {
    CO_EM_t* em;                
    CO_CANmodule_t* CANdev;     
    bool_t valid;               
    CO_PDO_size_t dataLength;   
    uint8_t mappedObjectsCount; 
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_OD_IO_ACCESS) != 0) || defined CO_DOXYGEN
    OD_IO_t OD_IO[CO_PDO_MAX_MAPPED_ENTRIES]; 
#if OD_FLAGS_PDO_SIZE > 0
    uint8_t* flagPDObyte[CO_PDO_MAX_MAPPED_ENTRIES];   
    uint8_t flagPDObitmask[CO_PDO_MAX_MAPPED_ENTRIES]; 
#endif
#else
    /* Pointers to data objects inside OD, where PDO will be copied */
    uint8_t* mapPointer[CO_PDO_MAX_SIZE];
#if OD_FLAGS_PDO_SIZE > 0
    uint8_t* flagPDObyte[CO_PDO_MAX_SIZE];
    uint8_t flagPDObitmask[CO_PDO_MAX_SIZE];
#endif
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_FLAG_OD_DYNAMIC) != 0) || defined CO_DOXYGEN
    bool_t isRPDO;                            
    OD_t* OD;                                 
    uint16_t CANdevIdx;                       
    uint16_t preDefinedCanId;                 
    uint16_t configuredCanId;                 
    OD_extension_t OD_communicationParam_ext; 
    OD_extension_t OD_mappingParam_extension; 
#endif
} CO_PDO_common_t;
 
/*******************************************************************************
 *      R P D O
 ******************************************************************************/
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_ENABLE) != 0) || defined CO_DOXYGEN
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
#define CO_RPDO_CAN_BUFFERS_COUNT 2
#else
#define CO_RPDO_CAN_BUFFERS_COUNT 1
#endif
 
typedef struct {
    CO_PDO_common_t PDO_common; 
    volatile void* CANrxNew[CO_RPDO_CAN_BUFFERS_COUNT]; 
    uint8_t CANrxData[CO_RPDO_CAN_BUFFERS_COUNT][CO_PDO_MAX_SIZE]; 
    uint8_t receiveError; 
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
    CO_SYNC_t* SYNC;    
    bool_t synchronous; 
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
    uint32_t timeoutTime_us; 
    uint32_t timeoutTimer;   
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
} CO_RPDO_t;
 
CO_ReturnError_t CO_RPDO_init(CO_RPDO_t* RPDO, OD_t* OD, CO_EM_t* em,
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
                              CO_SYNC_t* SYNC,
#endif
                              uint16_t preDefinedCanId, OD_entry_t* OD_14xx_RPDOCommPar, OD_entry_t* OD_16xx_RPDOMapPar,
                              CO_CANmodule_t* CANdevRx, uint16_t CANdevRxIdx, uint32_t* errInfo);
 
#if (((CO_CONFIG_PDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_RPDO_initCallbackPre(CO_RPDO_t* RPDO, void* object, void (*pFunctSignalPre)(void* object));
#endif
 
void CO_RPDO_process(CO_RPDO_t* RPDO,
#if (((CO_CONFIG_PDO)&CO_CONFIG_RPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
                     uint32_t timeDifference_us, uint32_t* timerNext_us,
#endif
                     bool_t NMTisOperational, bool_t syncWas);
#endif /* (CO_CONFIG_PDO) & CO_CONFIG_RPDO_ENABLE */
 
/*******************************************************************************
 *      T P D O
 ******************************************************************************/
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_ENABLE) != 0) || defined CO_DOXYGEN
typedef struct {
    CO_PDO_common_t PDO_common; 
    CO_CANtx_t* CANtxBuff;      
    uint8_t transmissionType;   
    bool_t sendRequest;         
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
    CO_SYNC_t* SYNC;        
    uint8_t syncStartValue; 
    uint8_t syncCounter;    
#endif
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
    uint32_t inhibitTime_us; 
    uint32_t eventTime_us;   
    uint32_t inhibitTimer;   
    uint32_t eventTimer;     
#endif
} CO_TPDO_t;
 
CO_ReturnError_t CO_TPDO_init(CO_TPDO_t* TPDO, OD_t* OD, CO_EM_t* em,
#if (((CO_CONFIG_PDO)&CO_CONFIG_PDO_SYNC_ENABLE) != 0) || defined CO_DOXYGEN
                              CO_SYNC_t* SYNC,
#endif
                              uint16_t preDefinedCanId, OD_entry_t* OD_18xx_TPDOCommPar, OD_entry_t* OD_1Axx_TPDOMapPar,
                              CO_CANmodule_t* CANdevTx, uint16_t CANdevTxIdx, uint32_t* errInfo);
 
static inline void
CO_TPDOsendRequest(CO_TPDO_t* TPDO) {
    if (TPDO != NULL) {
        TPDO->sendRequest = true;
    }
}
 
void CO_TPDO_process(CO_TPDO_t* TPDO,
#if (((CO_CONFIG_PDO)&CO_CONFIG_TPDO_TIMERS_ENABLE) != 0) || defined CO_DOXYGEN
                     uint32_t timeDifference_us, uint32_t* timerNext_us,
#endif
                     bool_t NMTisOperational, bool_t syncWas);
#endif /* (CO_CONFIG_PDO) & CO_CONFIG_TPDO_ENABLE */
 
 /* CO_PDO */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_PDO) & (CO_CONFIG_RPDO_ENABLE | CO_CONFIG_TPDO_ENABLE) */
 
#endif /* CO_PDO_H */