CANopen Safety Related Data Object protocol More...

Collaboration diagram for SRDO:

Files
file	CO_SRDO.h
	CANopen Safety Related Data Object protocol.

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

Safety Related Data Object protocol is specified by standard EN 50325-5:2010 (formerly CiA304). Its functionality is very similar to that of the PDOs. The main differences is every message is send and received twice. The second message must be bitwise inverted. The delay between the two messages and between each message pair is monitored. The distinction between sending and receiving SRDO is made at runtime (for PDO it is compile time). If the security protocol is used, at least one SRDO is mandatory.

If there is erroneous structure of OD entries for SRDO parameters, then CO_SRDO_init() function returns error and CANopen device doesn't work. It is necessary to repair Object Dictionary and reprogram the device.

If there are erroneous values inside SRDO parameters, then Emergency message CO_EM_SRDO_CONFIGURATION is sent. Info code (32bit) contains OD index, subindex and additional byte, which helps to determine erroneous OD object.

SRDO is first configured in CANopen in CANopen initialization section after all other CANopen objects are initialized. It consists of one CO_SRDOGuard_init() and CO_SRDO_init() for each SRDO. On transition to NMT operational CO_SRDO_config() must be called for each SRDO.

CO_SRDO_process() must be executed cyclically, similar as PDO processing. Function is fast, no time consuming tasks. Function returns CO_SRDO_state_t value, which may be used to determine working-state or safe-state of safety related device. If return values from all SRDO objects are >= CO_SRDO_state_communicationEstablished, then working state is allowed. Otherwise SR device must be in safe state.

Requirement for mapped objects:

OD_attributes_t must have set bit ODA_RSRDO or ODA_RSRDO or ODA_TRSRDO (by CANopenEditor).

Macro Definition Documentation

◆ CO_SRDO_MAX_MAPPED_ENTRIES

#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.

Must be multiple of 2.

Enumeration Type Documentation

◆ CO_SRDO_state_t

enum CO_SRDO_state_t

SRDO internal state.

Enumerator
CO_SRDO_state_error_internal	internal software error
CO_SRDO_state_error_configuration	error in parameters, emergency message was sent
CO_SRDO_state_error_txNotInverted	Transmitting SRDO messages was not inverted.
CO_SRDO_state_error_txFail	SRDO CAN message transmission failed.
CO_SRDO_state_error_rxTimeoutSRVT	SRDO message didn't receive inside SRVT time.
CO_SRDO_state_error_rxTimeoutSCT	SRDO inverted message didn't receive inside SCT time.
CO_SRDO_state_error_rxNotInverted	Received SRDO messages was not inverted.
CO_SRDO_state_error_rxShort	Received SRDO message is too short.
CO_SRDO_state_unknown	unknown state, set by CO_SRDO_init()
CO_SRDO_state_nmtNotOperational	Internal NMT operating state is not NMT operational.
CO_SRDO_state_initializing	Just entered NMT operational state, SRDO message not yet received or transmitted.
CO_SRDO_state_communicationEstablished	SRDO communication established, fully functional.
CO_SRDO_state_deleted	informationDirection for this SRDO is set to 0

Function Documentation

◆ CO_SRDOGuard_init()

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.

Function must be called in the communication reset section before CO_SRDO_init() functions.

Parameters

	SRDOGuard	This object will be initialized.
	OD_13FE_configurationValid	Pointer to Configuration valid variable from Object dictionary (index 0x13FE).
	OD_13FF_safetyConfigurationSignature	Pointer to Safety configuration signature variable from Object dictionary (index 0x13FF).
[out]	errInfo	Additional information in case of error, may be NULL.

Returns: CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_SRDO_init()

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.

Function must be called in the communication reset section.

Parameters

	SRDO	This object will be initialized.
	SRDO_Index	OD index of this SRDO, 0 for the first.
	SRDOGuard	SRDOGuard object.
	OD	CANopen Object Dictionary
	em	Emergency object.
	nodeId	CANopen Node ID of this device. If default COB_ID is used, value will be added.
	defaultCOB_ID	Default COB ID for this SRDO for plain data (without NodeId).
	OD_130x_SRDOCommPar	Pointer to SRDO communication parameter record from Object dictionary (index 0x1301+).
	OD_138x_SRDOMapPar	Pointer to SRDO mapping parameter record from Object dictionary (index 0x1381+).
	CANdevRxNormal	CAN device used for SRDO reception for normal object.
	CANdevRxInverted	CAN device used for SRDO reception for inverted object.
	CANdevRxIdxNormal	Index of receive buffer in the above CAN device (normal).
	CANdevRxIdxInverted	Index of receive buffer in the above CAN device (inverted).
	CANdevTxNormal	CAN device used for SRDO transmission for normal object.
	CANdevTxInverted	CAN device used for SRDO transmission for inverted object.
	CANdevTxIdxNormal	Index of transmit buffer in the above CAN device (normal).
	CANdevTxIdxInverted	Index of transmit buffer in the above CAN device (inverted).
[out]	errInfo	Additional information in case of error, may be NULL.

Returns: CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OD_PARAMETERS.

◆ CO_SRDO_initCallbackPre()

void CO_SRDO_initCallbackPre	(	CO_SRDO_t *	SRDO,
		void *	object,
		void(*	pFunctSignalPre )(void *object) )

Initialize SRDO callback function.

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

Parameters

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

◆ CO_SRDO_config()

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

Configure SRDO object.

Function must be called in on transition to NMT operational. Function is also called from CO_SRDO_init() function.

Parameters

	SRDO	This object will be configured.
	SRDO_Index	OD index of this SRDO, 0 for the first.
	SRDOGuard	SRDOGuard object.
[out]	errInfo	Additional information in case of error, may be NULL.

Returns: CO_ReturnError_t: CO_ERROR_NO, CO_ERROR_ILLEGAL_ARGUMENT or CO_ERROR_OD_PARAMETERS.

◆ CO_SRDO_requestSend()

CO_ReturnError_t CO_SRDO_requestSend ( CO_SRDO_t * SRDO )

Send SRDO on event.

Sends SRDO before the next refresh timer tiggers. The message itself is send in CO_SRDO_process(). Note that RTOS have to trigger its processing quickly. After the transmission the timer is reset to the full refresh time.

Parameters

SRDO	This object.

Returns: CO_ReturnError_t: CO_ERROR_NO if request is granted

◆ CO_SRDO_process()

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.

Parameters

	SRDO	This object.
	timeDifference_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS, may be null.
	NMTisOperational	True if this node is in NMT_OPERATIONAL state.

Returns: CO_SRDO_state_t internal state

Files

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ CO_SRDO_MAX_MAPPED_ENTRIES

Enumeration Type Documentation

◆ CO_SRDO_state_t

Function Documentation

◆ CO_SRDOGuard_init()

◆ CO_SRDO_init()

◆ CO_SRDO_initCallbackPre()

◆ CO_SRDO_config()

◆ CO_SRDO_requestSend()

◆ CO_SRDO_process()