CO_SRDO.h

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#ifndef CO_SRDO_H
#define CO_SRDO_H
 
#include "301/CO_Emergency.h"
#include "301/CO_ODinterface.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_SRDO
#define CO_CONFIG_SRDO (0)
#endif
#ifndef CO_CONFIG_SRDO_MINIMUM_DELAY
#define CO_CONFIG_SRDO_MINIMUM_DELAY 0U
#endif
 
#if (((CO_CONFIG_SRDO)&CO_CONFIG_SRDO_ENABLE) != 0) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifndef CO_SRDO_MAX_SIZE
#define CO_SRDO_MAX_SIZE 8U
#endif
 
#ifndef CO_SRDO_MAX_MAPPED_ENTRIES
#define CO_SRDO_MAX_MAPPED_ENTRIES 16U
#endif
 
#ifndef CO_SRDO_OWN_TYPES
typedef uint8_t CO_SRDO_size_t;
#endif
 
typedef enum {
    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                  
} CO_SRDO_state_t;
 
typedef struct {
    bool_t NMTisOperational;   
    bool_t configurationValid; 
    OD_IO_t OD_IO_configurationValid; 
    OD_entry_t* OD_13FE_entry;        
    OD_entry_t* OD_13FF_entry;        
    OD_extension_t OD_13FE_extension; 
    OD_extension_t OD_13FF_extension; 
} CO_SRDOGuard_t;
 
typedef struct {
    CO_SRDOGuard_t* SRDOGuard;       
    OD_t* OD;                        
    CO_EM_t* em;                     
    uint16_t defaultCOB_ID;          
    uint8_t nodeId;                  
    CO_CANmodule_t* CANdevTx[2];     
    uint16_t CANdevTxIdx[2];         
    CO_CANmodule_t* CANdevRx[2];     
    uint16_t CANdevRxIdx[2];         
    CO_SRDO_state_t internalState;   
    bool_t NMTisOperationalPrevious; 
    uint8_t informationDirection;    
    uint32_t cycleTime_us;           
    uint32_t validationTime_us; 
    uint32_t cycleTimer;        
    uint32_t invertedDelay;     
    uint32_t validationTimer;   
    CO_SRDO_size_t dataLength;  
    uint8_t mappedObjectsCount; 
    OD_IO_t OD_IO[CO_SRDO_MAX_MAPPED_ENTRIES]; 
    CO_CANtx_t* CANtxBuff[2];                  
    volatile void* CANrxNew[2];                
    bool_t rxSrdoShort;                        
    uint8_t CANrxData[2][CO_SRDO_MAX_SIZE];    
    bool_t nextIsNormal;                       
    OD_entry_t* OD_communicationParam_entry;   
    OD_entry_t* OD_mappingParam_entry;         
    OD_extension_t OD_communicationParam_ext;  
    OD_extension_t OD_mappingParam_extension;  
#if (((CO_CONFIG_SRDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
    void (*pFunctSignalPre)(void* object); 
    void* functSignalObjectPre;            
#endif
} CO_SRDO_t;
 
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);
 
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);
 
#if (((CO_CONFIG_SRDO)&CO_CONFIG_FLAG_CALLBACK_PRE) != 0) || defined CO_DOXYGEN
void CO_SRDO_initCallbackPre(CO_SRDO_t* SRDO, void* object, void (*pFunctSignalPre)(void* object));
#endif
 
CO_ReturnError_t CO_SRDO_config(CO_SRDO_t* SRDO, uint8_t SRDO_Index, CO_SRDOGuard_t* SRDOGuard, uint32_t* errInfo);
 
CO_ReturnError_t CO_SRDO_requestSend(CO_SRDO_t* SRDO);
 
CO_SRDO_state_t CO_SRDO_process(CO_SRDO_t* SRDO, uint32_t timeDifference_us, uint32_t* timerNext_us,
                                bool_t NMTisOperational);
 
 /* CO_SRDO */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE */
 
#endif /* CO_SRDO_H */