CO_NMT_Heartbeat.h

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#ifndef CO_NMT_HEARTBEAT_H
#define CO_NMT_HEARTBEAT_H
 
#include "301/CO_driver.h"
#include "301/CO_ODinterface.h"
#include "301/CO_Emergency.h"
 
/* default configuration, see CO_config.h */
#ifndef CO_CONFIG_NMT
#define CO_CONFIG_NMT (0)
#endif
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    CO_NMT_UNKNOWN = -1,
    CO_NMT_INITIALIZING = 0,
    CO_NMT_PRE_OPERATIONAL = 127,
    CO_NMT_OPERATIONAL = 5,
    CO_NMT_STOPPED = 4
} CO_NMT_internalState_t;
 
 
typedef enum {
    CO_NMT_ENTER_OPERATIONAL = 1,
    CO_NMT_ENTER_STOPPED = 2,
    CO_NMT_ENTER_PRE_OPERATIONAL = 128,
    CO_NMT_RESET_NODE = 129,
    CO_NMT_RESET_COMMUNICATION = 130
} CO_NMT_command_t;
 
 
typedef enum {
    CO_RESET_NOT = 0,
    CO_RESET_COMM = 1,
    CO_RESET_APP = 2,
    CO_RESET_QUIT = 3
} CO_NMT_reset_cmd_t;
 
 
typedef enum {
    CO_NMT_ERR_REG_MASK = 0x00FFU,
    CO_NMT_STARTUP_TO_OPERATIONAL = 0x0100U,
    CO_NMT_ERR_ON_BUSOFF_HB = 0x1000U,
    CO_NMT_ERR_ON_ERR_REG = 0x2000U,
    CO_NMT_ERR_TO_STOPPED = 0x4000U,
    CO_NMT_ERR_FREE_TO_OPERATIONAL = 0x8000U
} CO_NMT_control_t;
 
 
typedef struct {
    uint8_t operatingState;
    uint8_t operatingStatePrev;
    uint8_t internalCommand;
    uint8_t nodeId;
    CO_NMT_control_t NMTcontrol;
    uint32_t HBproducerTime_us;
    uint32_t HBproducerTimer;
    CO_EM_t *em;
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
 
    CO_CANmodule_t *NMT_CANdevTx;
    CO_CANtx_t *NMT_TXbuff;
#endif
 
    CO_CANmodule_t *HB_CANdevTx;
    CO_CANtx_t *HB_TXbuff;
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void (*pFunctSignalPre)(void *object);
    void *functSignalObjectPre;
#endif
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN
 
    void (*pFunctNMT)(CO_NMT_internalState_t state);
#endif
} CO_NMT_t;
 
 
CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT,
                             const OD_entry_t *OD_1017_ProducerHbTime,
                             CO_EM_t *em,
                             uint8_t nodeId,
                             CO_NMT_control_t NMTcontrol,
                             uint16_t firstHBTime_ms,
                             CO_CANmodule_t *NMT_CANdevRx,
                             uint16_t NMT_rxIdx,
                             uint16_t CANidRxNMT,
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
                             CO_CANmodule_t *NMT_CANdevTx,
                             uint16_t NMT_txIdx,
                             uint16_t CANidTxNMT,
#endif
                             CO_CANmodule_t *HB_CANdevTx,
                             uint16_t HB_txIdx,
                             uint16_t CANidTxHB);
 
 
#if ((CO_CONFIG_NMT) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
void CO_NMT_initCallbackPre(CO_NMT_t *NMT,
                            void *object,
                            void (*pFunctSignal)(void *object));
#endif
 
 
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN
 
void CO_NMT_initCallbackChanged(CO_NMT_t *NMT,
                                void (*pFunctNMT)(CO_NMT_internalState_t state));
#endif
 
 
CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT,
                                  CO_NMT_internalState_t *NMTstate,
                                  uint32_t timeDifference_us,
                                  uint32_t *timerNext_us);
 
 
static inline CO_NMT_internalState_t CO_NMT_getInternalState(CO_NMT_t *NMT) {
    return (NMT == NULL) ? CO_NMT_INITIALIZING : NMT->operatingState;
}
 
 
static inline void CO_NMT_setInternalState(CO_NMT_t *NMT,
                                           CO_NMT_internalState_t state)
{
    if (NMT != NULL) NMT->operatingState = state;
}
 
 
#if ((CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN
 
CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t *NMT,
                                    CO_NMT_command_t command,
                                    uint8_t nodeID);
 
#endif /* (CO_CONFIG_NMT) & CO_CONFIG_NMT_MASTER */
 /* CO_NMT_Heartbeat */
 
#ifdef __cplusplus
}
#endif /*__cplusplus*/
 
#endif /* CO_NMT_HEARTBEAT_H */