GFC

Files
file	CO_GFC.c
	CANopen Global fail-safe command protocol.
file	CO_GFC.h
	CANopen Global fail-safe command protocol.

Data Structures
struct	CO_GFC_t
	GFC object. More...

Functions
CO_ReturnError_t	CO_GFC_init (CO_GFC_t *GFC, uint8_t *valid, CO_CANmodule_t *GFC_CANdevRx, uint16_t GFC_rxIdx, uint16_t CANidRxGFC, CO_CANmodule_t *GFC_CANdevTx, uint16_t GFC_txIdx, uint16_t CANidTxGFC)
	Initialize GFC object. More...
void	CO_GFC_initCallbackEnterSafeState (CO_GFC_t *GFC, void *object, void(*pFunctSignalSafe)(void *object))
	Initialize GFC callback function. More...
CO_ReturnError_t	CO_GFCsend (CO_GFC_t *GFC)
	Send GFC message. More...

Detailed Description

Global fail-safe command protocol.

Very simple consumer/producer protocol. A net can have multiple GFC producer and multiple GFC consumer. On a safety-relevant the producer can send a GFC message (ID 0, DLC 0). The consumer can use this message to start the transition to a safe state. The GFC is optional for the security protocol and is not monitored (timed).

Function Documentation

CO_GFC_init()

CO_ReturnError_t CO_GFC_init	(	CO_GFC_t *	GFC,
		uint8_t *	valid,
		CO_CANmodule_t *	GFC_CANdevRx,
		uint16_t	GFC_rxIdx,
		uint16_t	CANidRxGFC,
		CO_CANmodule_t *	GFC_CANdevTx,
		uint16_t	GFC_txIdx,
		uint16_t	CANidTxGFC
	)

Initialize GFC object.

Function must be called in the communication reset section.

Parameters

GFC	This object will be initialized.
valid	pointer to the valid flag in OD (0x1300)
GFC_CANdevRx	CAN device used for SRDO reception.
GFC_rxIdx	Index of receive buffer in the above CAN device.
CANidRxGFC	GFC CAN ID for reception
GFC_CANdevTx	AN device used for SRDO transmission.
GFC_txIdx	Index of transmit buffer in the above CAN device.
CANidTxGFC	GFC CAN ID for transmission

Returns

CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

CO_GFC_initCallbackEnterSafeState()

void CO_GFC_initCallbackEnterSafeState	(	CO_GFC_t *	GFC,
		void *	object,
		void(*)(void *object)	pFunctSignalSafe
	)

Initialize GFC callback function.

Function initializes optional callback function, that is called when GFC is received. Callback is called from receive function (interrupt).

Parameters

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

CO_GFCsend()

CO_ReturnError_t CO_GFCsend

(

CO_GFC_t *

GFC

)

Send GFC message.

It should be called by application, for example after a safety-relevant change.

Parameters

GFC	GFC object.

Returns

Same as CO_CANsend().