Heartbeat consumer

CANopen Heartbeat consumer protocol. More...

Collaboration diagram for Heartbeat consumer:

Files
file	CO_HBconsumer.h
	CANopen Heartbeat consumer protocol.

Data Structures
struct	CO_HBconsNode_t
	One monitored node inside CO_HBconsumer_t. More...
struct	CO_HBconsumer_t
	Heartbeat consumer object. More...

Enumerations
enum	CO_HBconsumer_state_t { CO_HBconsumer_UNCONFIGURED = 0x00U , CO_HBconsumer_UNKNOWN = 0x01U , CO_HBconsumer_ACTIVE = 0x02U , CO_HBconsumer_TIMEOUT = 0x03U }
	Heartbeat state of a node. More...

Functions
CO_ReturnError_t	CO_HBconsumer_init (CO_HBconsumer_t *HBcons, CO_EM_t *em, CO_HBconsNode_t *monitoredNodes, uint8_t monitoredNodesCount, OD_entry_t *OD_1016_HBcons, CO_CANmodule_t *CANdevRx, uint16_t CANdevRxIdxStart, uint32_t *errInfo)
	Initialize Heartbeat consumer object.
void	CO_HBconsumer_initCallbackPre (CO_HBconsumer_t *HBcons, void *object, void(*pFunctSignal)(void *object))
	Initialize Heartbeat consumer callback function.
void	CO_HBconsumer_initCallbackNmtChanged (CO_HBconsumer_t *HBcons, uint8_t idx, void *object, void(*pFunctSignal)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate, void *object))
	Initialize Heartbeat consumer NMT changed callback function.
void	CO_HBconsumer_initCallbackHeartbeatStarted (CO_HBconsumer_t *HBcons, uint8_t idx, void *object, void(*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object))
	Initialize Heartbeat consumer started callback function.
void	CO_HBconsumer_initCallbackTimeout (CO_HBconsumer_t *HBcons, uint8_t idx, void *object, void(*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object))
	Initialize Heartbeat consumer timeout callback function.
void	CO_HBconsumer_initCallbackRemoteReset (CO_HBconsumer_t *HBcons, uint8_t idx, void *object, void(*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object))
	Initialize Heartbeat consumer remote reset detected callback function.
void	CO_HBconsumer_process (CO_HBconsumer_t *HBcons, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t *timerNext_us)
	Process Heartbeat consumer object.
int8_t	CO_HBconsumer_getIdxByNodeId (CO_HBconsumer_t *HBcons, uint8_t nodeId)
	Get the heartbeat producer object index by node ID.
CO_HBconsumer_state_t	CO_HBconsumer_getState (CO_HBconsumer_t *HBcons, uint8_t idx)
	Get the current state of a heartbeat producer by the index in OD 0x1016.
int8_t	CO_HBconsumer_getNmtState (CO_HBconsumer_t *HBcons, uint8_t idx, CO_NMT_internalState_t *nmtState)
	Get the current NMT state of a heartbeat producer by the index in OD 0x1016.

Detailed Description

CANopen Heartbeat consumer protocol.

Heartbeat consumer monitors Heartbeat messages from remote nodes. If any monitored node don't send his Heartbeat in specified time, Heartbeat consumer sends emergency message. If all monitored nodes are operational, then variable allMonitoredOperational inside CO_HBconsumer_t is set to true. Monitoring starts after the reception of the first HeartBeat (not bootup).

Heartbeat set up is done by writing to the OD registers 0x1016. To setup heartbeat consumer by application, use

ODR_t odRet = OD_set_u32(entry, subIndex, val, false); 

See also

NMT and Heartbeat

Enumeration Type Documentation

CO_HBconsumer_state_t

enum CO_HBconsumer_state_t

Heartbeat state of a node.

Enumerator
CO_HBconsumer_UNCONFIGURED	Consumer entry inactive.
CO_HBconsumer_UNKNOWN	Consumer enabled, but no heartbeat received yet.
CO_HBconsumer_ACTIVE	Heartbeat received within set time.
CO_HBconsumer_TIMEOUT	No heatbeat received for set time.

Function Documentation

CO_HBconsumer_init()

CO_ReturnError_t CO_HBconsumer_init	(	CO_HBconsumer_t *	HBcons,
		CO_EM_t *	em,
		CO_HBconsNode_t *	monitoredNodes,
		uint8_t	monitoredNodesCount,
		OD_entry_t *	OD_1016_HBcons,
		CO_CANmodule_t *	CANdevRx,
		uint16_t	CANdevRxIdxStart,
		uint32_t *	errInfo )

Initialize Heartbeat consumer object.

Function must be called in the communication reset section.

Parameters

	HBcons	This object will be initialized.
	em	Emergency object.
	monitoredNodes	Array of monitored nodes, must be defined externally.
	monitoredNodesCount	Size of the above array, usually equal to number of array elements in OD 0x1016, valid values are 1 to 127
	OD_1016_HBcons	OD entry for 0x1016 - "Consumer heartbeat time", entry is required, IO extension will be applied.
	CANdevRx	CAN device for Heartbeat reception.
	CANdevRxIdxStart	Starting index of receive buffer in the above CAN device. Number of used indexes is equal to monitoredNodesCount.
[out]	errInfo	Additional information in case of error, may be NULL.

Returns

CO_ReturnError_t CO_ERROR_NO in case of success.

CO_HBconsumer_initCallbackPre()

void CO_HBconsumer_initCallbackPre	(	CO_HBconsumer_t *	HBcons,
		void *	object,
		void(*	pFunctSignal )(void *object) )

Initialize Heartbeat consumer callback function.

Function initializes optional callback function, which should immediately start processing of CO_HBconsumer_process() function. Callback is called after HBconsumer message is received from the CAN bus.

Parameters

HBcons	This object.
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_HBconsumer_initCallbackNmtChanged()

void CO_HBconsumer_initCallbackNmtChanged	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void(*	pFunctSignal )(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t NMTstate, void *object) )

Initialize Heartbeat consumer NMT changed callback function.

Function initializes optional callback function, which is called when NMT state from the remote node changes.

Parameters

HBcons	This object.
idx	index of the node in HBcons object (only when CO_CONFIG_HB_CONS_CALLBACK_MULTI is enabled)
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL.
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_HBconsumer_initCallbackHeartbeatStarted()

void CO_HBconsumer_initCallbackHeartbeatStarted	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void(*	pFunctSignal )(uint8_t nodeId, uint8_t idx, void *object) )

Initialize Heartbeat consumer started callback function.

Function initializes optional callback function, which is called for the first received heartbeat after activating hb consumer or timeout. Function may wake up external task, which handles this event.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_HBconsumer_initCallbackTimeout()

void CO_HBconsumer_initCallbackTimeout	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void(*	pFunctSignal )(uint8_t nodeId, uint8_t idx, void *object) )

Initialize Heartbeat consumer timeout callback function.

Function initializes optional callback function, which is called when the node state changes from active to timeout. Function may wake up external task, which handles this event.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_HBconsumer_initCallbackRemoteReset()

void CO_HBconsumer_initCallbackRemoteReset	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void(*	pFunctSignal )(uint8_t nodeId, uint8_t idx, void *object) )

Initialize Heartbeat consumer remote reset detected callback function.

Function initializes optional callback function, which is called when a bootup message is received from the remote node. Function may wake up external task, which handles this event.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

CO_HBconsumer_process()

void CO_HBconsumer_process	(	CO_HBconsumer_t *	HBcons,
		bool_t	NMTisPreOrOperational,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us )

Process Heartbeat consumer object.

Function must be called cyclically.

Parameters

	HBcons	This object.
	NMTisPreOrOperational	True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL.
	timeDifference_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS - see CO_process().

CO_HBconsumer_getIdxByNodeId()

int8_t CO_HBconsumer_getIdxByNodeId	(	CO_HBconsumer_t *	HBcons,
		uint8_t	nodeId )

Get the heartbeat producer object index by node ID.

Parameters

HBcons	This object.
nodeId	producer node ID

Returns

index. -1 if not found

CO_HBconsumer_getState()

CO_HBconsumer_state_t CO_HBconsumer_getState	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx )

Get the current state of a heartbeat producer by the index in OD 0x1016.

Parameters

HBcons	This object.
idx	object sub index

Returns

CO_HBconsumer_state_t

CO_HBconsumer_getNmtState()

int8_t CO_HBconsumer_getNmtState	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		CO_NMT_internalState_t *	nmtState )

Get the current NMT state of a heartbeat producer by the index in OD 0x1016.

NMT state is only available when heartbeat is enabled for this index!

Parameters

	HBcons	This object.
	idx	object sub index
[out]	nmtState	of this index

Return values

0	NMT state has been received and is valid
-1	not valid