CO_SRDO.h

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#ifndef CO_SRDO_H
#define CO_SRDO_H
 
#include "301/CO_driver.h"
#include "301/CO_SDOserver.h"
#include "301/CO_Emergency.h"
#include "301/CO_NMT_Heartbeat.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 0
#endif
 
#if ((CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE) || defined CO_DOXYGEN
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct{
    uint8_t             maxSubIndex;    
    uint8_t             informationDirection;
    uint16_t            safetyCycleTime;
    uint8_t             safetyRelatedValidationTime;
    uint8_t             transmissionType;
    uint32_t            COB_ID1_normal;
    uint32_t            COB_ID2_inverted;
}CO_SRDOCommPar_t;
 
 
typedef struct{
    uint8_t             numberOfMappedObjects;
    uint32_t            mappedObjects[16];
}CO_SRDOMapPar_t;
 
typedef struct{
    CO_NMT_internalState_t *operatingState;     
    CO_NMT_internalState_t  operatingStatePrev; 
    uint8_t                *configurationValid; 
    uint8_t                 checkCRC;           
}CO_SRDOGuard_t;
 
typedef struct{
    CO_EM_t                *em;                  
    CO_SDO_t               *SDO;                 
    CO_SRDOGuard_t         *SRDOGuard;           
    uint8_t                *mapPointer[2][8];
    uint8_t                 dataLength;
    uint8_t                 nodeId;              
    uint16_t                defaultCOB_ID[2];    
    uint8_t                 valid;
    const CO_SRDOCommPar_t *SRDOCommPar;         
    const CO_SRDOMapPar_t  *SRDOMapPar;          
    const uint16_t         *checksum;            
    CO_CANmodule_t         *CANdevRx;            
    CO_CANmodule_t         *CANdevTx;            
    CO_CANtx_t             *CANtxBuff[2];        
    uint16_t                CANdevRxIdx[2];      
    uint16_t                CANdevTxIdx[2];      
    uint8_t                 toogle;              
    uint32_t                timer;               
    volatile void          *CANrxNew[2];
    uint8_t                 CANrxData[2][8];
    void                  (*pFunctSignalSafe)(void *object);
    void                   *functSignalObjectSafe;
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
    void                  (*pFunctSignalPre)(void *object);
    void                   *functSignalObjectPre;
#endif
}CO_SRDO_t;
 
CO_ReturnError_t CO_SRDOGuard_init(
        CO_SRDOGuard_t         *SRDOGuard,
        CO_SDO_t               *SDO,
        CO_NMT_internalState_t *operatingState,
        uint8_t                *configurationValid,
        uint16_t                idx_SRDOvalid,
        uint16_t                idx_SRDOcrc);
 
uint8_t CO_SRDOGuard_process(
        CO_SRDOGuard_t         *SRDOGuard);
 
CO_ReturnError_t CO_SRDO_init(
        CO_SRDO_t              *SRDO,
        CO_SRDOGuard_t         *SRDOGuard,
        CO_EM_t                *em,
        CO_SDO_t               *SDO,
        uint8_t                 nodeId,
        uint16_t                defaultCOB_ID,
        const CO_SRDOCommPar_t *SRDOCommPar,
        const CO_SRDOMapPar_t  *SRDOMapPar,
        const uint16_t         *checksum,
        uint16_t                idx_SRDOCommPar,
        uint16_t                idx_SRDOMapPar,
        CO_CANmodule_t         *CANdevRx,
        uint16_t                CANdevRxIdxNormal,
        uint16_t                CANdevRxIdxInverted,
        CO_CANmodule_t         *CANdevTx,
        uint16_t                CANdevTxIdxNormal,
        uint16_t                CANdevTxIdxInverted);
 
#if ((CO_CONFIG_SRDO) & CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN
 
void CO_SRDO_initCallbackPre(
        CO_SRDO_t              *SRDO,
        void                   *object,
        void                  (*pFunctSignalPre)(void *object));
#endif
 
void CO_SRDO_initCallbackEnterSafeState(
        CO_SRDO_t              *SRDO,
        void                   *object,
        void                  (*pFunctSignalSafe)(void *object));
 
 
CO_ReturnError_t CO_SRDO_requestSend(
        CO_SRDO_t              *SRDO);
 
void CO_SRDO_process(
        CO_SRDO_t              *SRDO,
        uint8_t                 commands,
        uint32_t                timeDifference_us,
        uint32_t               *timerNext_us);
 /* CO_SRDO */
 
#ifdef __cplusplus
}
#endif /*__cplusplus*/
 
#endif /* (CO_CONFIG_SRDO) & CO_CONFIG_SRDO_ENABLE */
 
#endif /* CO_SRDO_H */