Files
file	CO_HBconsumer.h
	CANopen Heartbeat consumer protocol.

Data Structures
struct	CO_HBconsNode_t
	One monitored node inside CO_HBconsumer_t. More...

struct	CO_HBconsumer_t
	Heartbeat consumer object. More...

Enumerations
enum	CO_HBconsumer_state_t { CO_HBconsumer_UNCONFIGURED = 0x00U, CO_HBconsumer_UNKNOWN = 0x01U, CO_HBconsumer_ACTIVE = 0x02U, CO_HBconsumer_TIMEOUT = 0x03U }
	Heartbeat state of a node. More...

Functions
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)
	Initialize Heartbeat consumer object. More...

CO_ReturnError_t	CO_HBconsumer_initEntry (CO_HBconsumer_t *HBcons, uint8_t idx, uint8_t nodeId, uint16_t consumerTime_ms)
	Initialize one Heartbeat consumer entry. More...

void	CO_HBconsumer_initCallbackPre (CO_HBconsumer_t HBcons, void object, void(pFunctSignal)(void object))
	Initialize Heartbeat consumer callback function. More...

void	CO_HBconsumer_initCallbackNmtChanged (CO_HBconsumer_t HBcons, uint8_t idx, void object, void(pFunctSignal)(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t state, void object))
	Initialize Heartbeat consumer NMT changed callback function. More...

void	CO_HBconsumer_initCallbackHeartbeatStarted (CO_HBconsumer_t HBcons, uint8_t idx, void object, void(pFunctSignal)(uint8_t nodeId, uint8_t idx, void object))
	Initialize Heartbeat consumer started callback function. More...

void	CO_HBconsumer_initCallbackTimeout (CO_HBconsumer_t HBcons, uint8_t idx, void object, void(pFunctSignal)(uint8_t nodeId, uint8_t idx, void object))
	Initialize Heartbeat consumer timeout callback function. More...

void	CO_HBconsumer_initCallbackRemoteReset (CO_HBconsumer_t HBcons, uint8_t idx, void object, void(pFunctSignal)(uint8_t nodeId, uint8_t idx, void object))
	Initialize Heartbeat consumer remote reset detected callback function. More...

void	CO_HBconsumer_process (CO_HBconsumer_t HBcons, bool_t NMTisPreOrOperational, uint32_t timeDifference_us, uint32_t timerNext_us)
	Process Heartbeat consumer object. More...

int8_t	CO_HBconsumer_getIdxByNodeId (CO_HBconsumer_t *HBcons, uint8_t nodeId)
	Get the heartbeat producer object index by node ID. More...

CO_HBconsumer_state_t	CO_HBconsumer_getState (CO_HBconsumer_t *HBcons, uint8_t idx)
	Get the current state of a heartbeat producer by the index in OD 0x1016. More...

int8_t	CO_HBconsumer_getNmtState (CO_HBconsumer_t HBcons, uint8_t idx, CO_NMT_internalState_t nmtState)
	Get the current NMT state of a heartbeat producer by the index in OD 0x1016. More...

Detailed Description

CANopen Heartbeat consumer protocol.

Heartbeat consumer monitors Heartbeat messages from remote nodes. If any monitored node don't send his Heartbeat in specified time, Heartbeat consumer sends emergency message. If all monitored nodes are operational, then variable allMonitoredOperational inside CO_HBconsumer_t is set to true. Monitoring starts after the reception of the first HeartBeat (not bootup).

Heartbeat set up is done by writing to the OD registers 0x1016 or by using the function CO_HBconsumer_initEntry()

See also: NMT and Heartbeat

Enumeration Type Documentation

◆ CO_HBconsumer_state_t

enum CO_HBconsumer_state_t

Heartbeat state of a node.

Enumerator
CO_HBconsumer_UNCONFIGURED	Consumer entry inactive.
CO_HBconsumer_UNKNOWN	Consumer enabled, but no heartbeat received yet.
CO_HBconsumer_ACTIVE	Heartbeat received within set time.
CO_HBconsumer_TIMEOUT	No heatbeat received for set time.

Function Documentation

◆ CO_HBconsumer_init()

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
	)

Initialize Heartbeat consumer object.

Function must be called in the communication reset section.

Parameters

HBcons	This object will be initialized.
em	Emergency object.
SDO	SDO server object.
HBconsTime	Pointer to Consumer Heartbeat Time array from Object Dictionary (index 0x1016). Size of array is equal to numberOfMonitoredNodes.
monitoredNodes	Pointer to the externaly defined array of the same size as numberOfMonitoredNodes.
numberOfMonitoredNodes	Total size of the above arrays.
CANdevRx	CAN device for Heartbeat reception.
CANdevRxIdxStart	Starting index of receive buffer in the above CAN device. Number of used indexes is equal to numberOfMonitoredNodes.

Returns: CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_HBconsumer_initEntry()

CO_ReturnError_t CO_HBconsumer_initEntry	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		uint8_t	nodeId,
		uint16_t	consumerTime_ms
	)

Initialize one Heartbeat consumer entry.

Calling this function has the same affect as writing to the corresponding entries in the Object Dictionary (index 0x1016)

Remarks: The values in the Object Dictionary must be set manually by the calling function so that heartbeat consumer behaviour matches the OD value.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
nodeId	see OD 0x1016 description
consumerTime_ms	in milliseconds. see OD 0x1016 description

Returns

◆ CO_HBconsumer_initCallbackPre()

void CO_HBconsumer_initCallbackPre	(	CO_HBconsumer_t *	HBcons,
		void *	object,
		void()(void object)	pFunctSignal
	)

Initialize Heartbeat consumer callback function.

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

Parameters

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

◆ CO_HBconsumer_initCallbackNmtChanged()

void CO_HBconsumer_initCallbackNmtChanged	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void()(uint8_t nodeId, uint8_t idx, CO_NMT_internalState_t state, void object)	pFunctSignal
	)

Initialize Heartbeat consumer NMT changed callback function.

Function initializes optional callback function, which is called when NMT state from the remote node changes.

Parameters

HBcons	This object.
idx	index of the node in HBcons object (only when CO_CONFIG_HB_CONS_CALLBACK_MULTI is enabled)
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL.
pFunctSignal	Pointer to the callback function. Not called if NULL.

◆ CO_HBconsumer_initCallbackHeartbeatStarted()

void CO_HBconsumer_initCallbackHeartbeatStarted	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void()(uint8_t nodeId, uint8_t idx, void object)	pFunctSignal
	)

Initialize Heartbeat consumer started callback function.

Function initializes optional callback function, which is called for the first received heartbeat after activating hb consumer or timeout. Function may wake up external task, which handles this event.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

◆ CO_HBconsumer_initCallbackTimeout()

void CO_HBconsumer_initCallbackTimeout	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void()(uint8_t nodeId, uint8_t idx, void object)	pFunctSignal
	)

Initialize Heartbeat consumer timeout callback function.

Function initializes optional callback function, which is called when the node state changes from active to timeout. Function may wake up external task, which handles this event.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

◆ CO_HBconsumer_initCallbackRemoteReset()

void CO_HBconsumer_initCallbackRemoteReset	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		void *	object,
		void()(uint8_t nodeId, uint8_t idx, void object)	pFunctSignal
	)

Initialize Heartbeat consumer remote reset detected callback function.

Function initializes optional callback function, which is called when a bootup message is received from the remote node. Function may wake up external task, which handles this event.

Parameters

HBcons	This object.
idx	index of the node in HBcons object
object	Pointer to object, which will be passed to pFunctSignal(). Can be NULL
pFunctSignal	Pointer to the callback function. Not called if NULL.

◆ CO_HBconsumer_process()

void CO_HBconsumer_process	(	CO_HBconsumer_t *	HBcons,
		bool_t	NMTisPreOrOperational,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us
	)

Process Heartbeat consumer object.

Function must be called cyclically.

Parameters

	HBcons	This object.
	NMTisPreOrOperational	True if this node is NMT_PRE_OPERATIONAL or NMT_OPERATIONAL.
	timeDifference_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS - see CO_process().

◆ CO_HBconsumer_getIdxByNodeId()

int8_t CO_HBconsumer_getIdxByNodeId	(	CO_HBconsumer_t *	HBcons,
		uint8_t	nodeId
	)

Get the heartbeat producer object index by node ID.

Parameters

HBcons	This object.
nodeId	producer node ID

Returns: index. -1 if not found

◆ CO_HBconsumer_getState()

CO_HBconsumer_state_t CO_HBconsumer_getState	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx
	)

Get the current state of a heartbeat producer by the index in OD 0x1016.

Parameters

HBcons	This object.
idx	object sub index

Returns: CO_HBconsumer_state_t

◆ CO_HBconsumer_getNmtState()

int8_t CO_HBconsumer_getNmtState	(	CO_HBconsumer_t *	HBcons,
		uint8_t	idx,
		CO_NMT_internalState_t *	nmtState
	)

Get the current NMT state of a heartbeat producer by the index in OD 0x1016.

NMT state is only available when heartbeat is enabled for this index!

Parameters

	HBcons	This object.
	idx	object sub index
[out]	nmtState	of this index

Return values

0	NMT state has been received and is valid
-1	not valid

Files

Data Structures

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

◆ CO_HBconsumer_state_t

Function Documentation

◆ CO_HBconsumer_init()

◆ CO_HBconsumer_initEntry()

◆ CO_HBconsumer_initCallbackPre()

◆ CO_HBconsumer_initCallbackNmtChanged()

◆ CO_HBconsumer_initCallbackHeartbeatStarted()

◆ CO_HBconsumer_initCallbackTimeout()

◆ CO_HBconsumer_initCallbackRemoteReset()

◆ CO_HBconsumer_process()

◆ CO_HBconsumer_getIdxByNodeId()

◆ CO_HBconsumer_getState()

◆ CO_HBconsumer_getNmtState()