CANopen Safety Related Data Object protocol. More...

#include "301/CO_Emergency.h"
#include "301/CO_ODinterface.h"

Include dependency graph for CO_SRDO.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	CO_SRDOGuard_t
	Guard Object for SRDO. More...

struct	CO_SRDO_t
	SRDO object. More...

Macros
#define	CO_SRDO_MAX_SIZE 8U
	Maximum size of SRDO message, 8 for standard CAN.

#define	CO_SRDO_MAX_MAPPED_ENTRIES 16U
	Maximum number of entries, which can be mapped to SRDO, 2*8 for standard CAN, may be less to preserve RAM usage.

Typedefs
typedef uint8_t	CO_SRDO_size_t
	Variable of type CO_SRDO_size_t contains data length in bytes of SRDO.

Enumerations
enum	CO_SRDO_state_t { CO_SRDO_state_error_internal = -10 , CO_SRDO_state_error_configuration = -9 , CO_SRDO_state_error_txNotInverted = -6 , CO_SRDO_state_error_txFail = -5 , CO_SRDO_state_error_rxTimeoutSRVT = -4 , CO_SRDO_state_error_rxTimeoutSCT = -3 , CO_SRDO_state_error_rxNotInverted = -2 , CO_SRDO_state_error_rxShort = -1 , CO_SRDO_state_unknown = 0 , CO_SRDO_state_nmtNotOperational = 1 , CO_SRDO_state_initializing = 2 , CO_SRDO_state_communicationEstablished = 3 , CO_SRDO_state_deleted = 10 }
	SRDO internal state. More...

Functions
CO_ReturnError_t	CO_SRDOGuard_init (CO_SRDOGuard_t SRDOGuard, OD_entry_t OD_13FE_configurationValid, OD_entry_t OD_13FF_safetyConfigurationSignature, uint32_t errInfo)
	Initialize SRDOGuard object.

CO_ReturnError_t	CO_SRDO_init (CO_SRDO_t SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t SRDOGuard, OD_t OD, CO_EM_t em, uint8_t nodeId, uint16_t defaultCOB_ID, OD_entry_t OD_130x_SRDOCommPar, OD_entry_t OD_138x_SRDOMapPar, CO_CANmodule_t CANdevRxNormal, CO_CANmodule_t CANdevRxInverted, uint16_t CANdevRxIdxNormal, uint16_t CANdevRxIdxInverted, CO_CANmodule_t CANdevTxNormal, CO_CANmodule_t CANdevTxInverted, uint16_t CANdevTxIdxNormal, uint16_t CANdevTxIdxInverted, uint32_t *errInfo)
	Initialize SRDO object.

void	CO_SRDO_initCallbackPre (CO_SRDO_t SRDO, void object, void(pFunctSignalPre)(void object))
	Initialize SRDO callback function.

CO_ReturnError_t	CO_SRDO_config (CO_SRDO_t SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t SRDOGuard, uint32_t *errInfo)
	Configure SRDO object.

CO_ReturnError_t	CO_SRDO_requestSend (CO_SRDO_t *SRDO)
	Send SRDO on event.

CO_SRDO_state_t	CO_SRDO_process (CO_SRDO_t SRDO, uint32_t timeDifference_us, uint32_t timerNext_us, bool_t NMTisOperational)
	Process transmitting/receiving individual SRDO message.

Detailed Description

CANopen Safety Related Data Object protocol.

Author: Robert Grüning

Copyright: 2020 Robert Grüning; 2024 temi54c1l8(at)github; 2024 Janez Paternoster

This file is part of https://github.com/CANopenNode/CANopenNode, a CANopen Stack.

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.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description