Files
file	CO_LEDs.h
	CANopen Indicator specification (CiA 303-3 v1.4.0)

Data Structures
struct	CO_LEDs_t
	LEDs object, initialized by CO_LEDs_init() More...

Macros
#define	CO_LED_RED(LEDs, BITFIELD) (((LEDs)->LEDred & BITFIELD) ? 1 : 0)
	Get on/off state for green led for specified bitfield.

#define	CO_LED_GREEN(LEDs, BITFIELD) (((LEDs)->LEDgreen & BITFIELD) ? 1 : 0)
	Get on/off state for green led for specified bitfield.

Enumerations
enum	CO_LED_BITFIELD_t { CO_LED_flicker = 0x01, CO_LED_blink = 0x02, CO_LED_flash_1 = 0x04, CO_LED_flash_2 = 0x08, CO_LED_flash_3 = 0x10, CO_LED_flash_4 = 0x20, CO_LED_CANopen = 0x80 }
	Bitfield for combining with red or green led. More...

Functions
CO_ReturnError_t	CO_LEDs_init (CO_LEDs_t *LEDs)
	Initialize LEDs object. More...

void	CO_LEDs_process (CO_LEDs_t LEDs, uint32_t timeDifference_us, CO_NMT_internalState_t NMTstate, bool_t LSSconfig, bool_t ErrCANbusOff, bool_t ErrCANbusWarn, bool_t ErrRpdo, bool_t ErrSync, bool_t ErrHbCons, bool_t ErrOther, bool_t firmwareDownload, uint32_t timerNext_us)
	Process indicator states. More...

Detailed Description

CIA 303-3 standard specifies indicator LED diodes, which reflects state of the CANopen device. Green and red leds or bi-color led can be used.

CANopen green led - run led:

flickering: LSS configuration state is active
blinking: device is in NMT pre-operational state
single flash: device is in NMT stopped state
triple flash: a software download is running in the device
on: device is in NMT operational state

CANopen red led - error led:

off: no error
flickering: LSS node id is not configured, CANopen is not initialized
blinking: invalid configuration, general error
single flash: CAN warning limit reached
double flash: heartbeat consumer - error in remote monitored node
triple flash: sync message reception timeout
quadruple flash: PDO has not been received before the event timer elapsed
on: CAN bus off

To apply on/off state to led diode, use CO_LED_RED and CO_LED_GREEN macros. For CANopen leds use CO_LED_BITFIELD_t CO_LED_CANopen. Other bitfields are available for implementing custom leds.

Enumeration Type Documentation

◆ CO_LED_BITFIELD_t

enum CO_LED_BITFIELD_t

Bitfield for combining with red or green led.

Enumerator
CO_LED_flicker	LED flickering 10Hz.
CO_LED_blink	LED blinking 2,5Hz.
CO_LED_flash_1	LED single flash.
CO_LED_flash_2	LED double flash.
CO_LED_flash_3	LED triple flash.
CO_LED_flash_4	LED quadruple flash.
CO_LED_CANopen	LED CANopen according to CiA 303-3.

Function Documentation

◆ CO_LEDs_init()

CO_ReturnError_t CO_LEDs_init ( CO_LEDs_t * LEDs )

Initialize LEDs object.

Function must be called in the communication reset section.

Parameters

LEDs	This object will be initialized.

Returns: CO_ReturnError_t CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_LEDs_process()

void CO_LEDs_process	(	CO_LEDs_t *	LEDs,
		uint32_t	timeDifference_us,
		CO_NMT_internalState_t	NMTstate,
		bool_t	LSSconfig,
		bool_t	ErrCANbusOff,
		bool_t	ErrCANbusWarn,
		bool_t	ErrRpdo,
		bool_t	ErrSync,
		bool_t	ErrHbCons,
		bool_t	ErrOther,
		bool_t	firmwareDownload,
		uint32_t *	timerNext_us
	)

Process indicator states.

Function must be called cyclically.

Parameters

	LEDs	This object.
	timeDifference_us	Time difference from previous function call in [microseconds].
	NMTstate	NMT operating state.
	LSSconfig	Node is in LSS configuration state indication.
	ErrCANbusOff	CAN bus off indication (highest priority).
	ErrCANbusWarn	CAN error warning limit reached indication.
	ErrRpdo	RPDO event timer timeout indication.
	ErrSync	Sync receive timeout indication.
	ErrHbCons	Heartbeat consumer error (remote node) indication.
	ErrOther	Other error indication (lowest priority).
	firmwareDownload	Firmware download is in progress indication.
[out]	timerNext_us	info to OS - see CO_process().

Files

Data Structures

Macros