CO_HBconsumer.h

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#ifndef CO_HB_CONS_H
#define CO_HB_CONS_H
 
#include "301/CO_driver.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_HB_CONS
#define CO_CONFIG_HB_CONS (CO_CONFIG_HB_CONS_ENABLE)
#endif
#ifndef CO_CONFIG_HB_CONS_SIZE
#define CO_CONFIG_HB_CONS_SIZE 8
#endif
 
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE) || defined CO_DOXYGEN
 
#include "301/CO_SDOserver.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
  CO_HBconsumer_UNCONFIGURED = 0x00U,     
  CO_HBconsumer_UNKNOWN      = 0x01U,     
  CO_HBconsumer_ACTIVE       = 0x02U,     
  CO_HBconsumer_TIMEOUT      = 0x03U,     
} CO_HBconsumer_state_t;
 
 
typedef struct {
    uint8_t nodeId;
    CO_NMT_internalState_t NMTstate;
    CO_HBconsumer_state_t HBstate;
    uint32_t timeoutTimer;
    uint32_t time_us;
    volatile void *CANrxNew;
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void              (*pFunctSignalPre)(void *object);
    void               *functSignalObjectPre;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) \
    || ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) \
    || defined CO_DOXYGEN
 
    CO_NMT_internalState_t NMTstatePrev;
#endif
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
 
    void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
                                   CO_NMT_internalState_t state,
                                   void *object);
    void *pFunctSignalObjectNmtChanged;
    void (*pFunctSignalHbStarted)(uint8_t nodeId, uint8_t idx, void *object);
    void *functSignalObjectHbStarted;
    void (*pFunctSignalTimeout)(uint8_t nodeId, uint8_t idx, void *object);
    void *functSignalObjectTimeout;
    void (*pFunctSignalRemoteReset)(uint8_t nodeId, uint8_t idx, void *object);
    void *functSignalObjectRemoteReset;
#endif
} CO_HBconsNode_t;
 
 
typedef struct{
    CO_EM_t            *em;               
    const uint32_t     *HBconsTime;       
    CO_HBconsNode_t    *monitoredNodes;   
    uint8_t             numberOfMonitoredNodes; 
    bool_t              allMonitoredActive;
    uint8_t             allMonitoredOperational;
    bool_t              NMTisPreOrOperationalPrev; 
    CO_CANmodule_t     *CANdevRx;         
    uint16_t            CANdevRxIdxStart; 
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) || defined CO_DOXYGEN
 
    void (*pFunctSignalNmtChanged)(uint8_t nodeId, uint8_t idx,
                                   CO_NMT_internalState_t state,
                                   void *object);
    void *pFunctSignalObjectNmtChanged;
#endif
}CO_HBconsumer_t;
 
 
CO_ReturnError_t CO_HBconsumer_init(
        CO_HBconsumer_t        *HBcons,
        CO_EM_t                *em,
        CO_SDO_t               *SDO,
        const uint32_t          HBconsTime[],
        CO_HBconsNode_t         monitoredNodes[],
        uint8_t                 numberOfMonitoredNodes,
        CO_CANmodule_t         *CANdevRx,
        uint16_t                CANdevRxIdxStart);
 
CO_ReturnError_t CO_HBconsumer_initEntry(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 idx,
        uint8_t                 nodeId,
        uint16_t                consumerTime_ms);
 
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
void CO_HBconsumer_initCallbackPre(
        CO_HBconsumer_t        *HBcons,
        void                   *object,
        void                  (*pFunctSignal)(void *object));
#endif
 
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_CHANGE) \
    || ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) \
    || defined CO_DOXYGEN
 
void CO_HBconsumer_initCallbackNmtChanged(
        CO_HBconsumer_t        *HBcons,
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
        uint8_t                 idx,
#endif
        void                   *object,
        void                  (*pFunctSignal)(uint8_t nodeId, uint8_t idx,
                                              CO_NMT_internalState_t state,
                                              void *object));
#endif
 
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI) || defined CO_DOXYGEN
 
void CO_HBconsumer_initCallbackHeartbeatStarted(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 idx,
        void                   *object,
        void                  (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
 
void CO_HBconsumer_initCallbackTimeout(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 idx,
        void                   *object,
        void                  (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
 
void CO_HBconsumer_initCallbackRemoteReset(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 idx,
        void                   *object,
        void                  (*pFunctSignal)(uint8_t nodeId, uint8_t idx, void *object));
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_CALLBACK_MULTI */
 
void CO_HBconsumer_process(
        CO_HBconsumer_t        *HBcons,
        bool_t                  NMTisPreOrOperational,
        uint32_t                timeDifference_us,
        uint32_t               *timerNext_us);
 
 
#if ((CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT) || defined CO_DOXYGEN
 
int8_t CO_HBconsumer_getIdxByNodeId(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 nodeId);
 
CO_HBconsumer_state_t CO_HBconsumer_getState(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 idx);
 
int8_t CO_HBconsumer_getNmtState(
        CO_HBconsumer_t        *HBcons,
        uint8_t                 idx,
        CO_NMT_internalState_t *nmtState);
 
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_QUERY_FUNCT */
 /* CO_HBconsumer */
 
#ifdef __cplusplus
}
#endif /*__cplusplus*/
 
#endif /* (CO_CONFIG_HB_CONS) & CO_CONFIG_HB_CONS_ENABLE */
 
#endif /* CO_HB_CONS_H */