Files
file	CO_NMT_Heartbeat.h
	CANopen Network management and Heartbeat producer protocol.

Data Structures
struct	CO_NMT_t
	NMT consumer and Heartbeat producer object. More...

Enumerations
enum	CO_NMT_internalState_t { CO_NMT_UNKNOWN = -1, CO_NMT_INITIALIZING = 0, CO_NMT_PRE_OPERATIONAL = 127, CO_NMT_OPERATIONAL = 5, CO_NMT_STOPPED = 4 }
	Internal network state of the CANopen node. More...

enum	CO_NMT_command_t { 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 }
	Commands from NMT master. More...

enum	CO_NMT_reset_cmd_t { CO_RESET_NOT = 0, CO_RESET_COMM = 1, CO_RESET_APP = 2, CO_RESET_QUIT = 3 }
	Return code from CO_NMT_process() that tells application code what to reset. More...

enum	CO_NMT_control_t { 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 }
	NMT control bitfield for NMT internal state. More...

Functions
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, CO_CANmodule_t NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT, CO_CANmodule_t HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB)
	Initialize NMT and Heartbeat producer object. More...

void	CO_NMT_initCallbackPre (CO_NMT_t NMT, void object, void(pFunctSignal)(void object))
	Initialize NMT callback function after message preprocessed. More...

void	CO_NMT_initCallbackChanged (CO_NMT_t NMT, void(pFunctNMT)(CO_NMT_internalState_t state))
	Initialize NMT callback function. More...

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)
	Process received NMT and produce Heartbeat messages. More...

static CO_NMT_internalState_t	CO_NMT_getInternalState (CO_NMT_t *NMT)
	Query current NMT state. More...

static void	CO_NMT_setInternalState (CO_NMT_t *NMT, CO_NMT_internalState_t state)
	Set internal NMT state. More...

CO_ReturnError_t	CO_NMT_sendCommand (CO_NMT_t *NMT, CO_NMT_command_t command, uint8_t nodeID)
	Send NMT master command. More...

Detailed Description

CANopen Network management and Heartbeat producer protocol.

CANopen device can be in one of the CO_NMT_internalState_t

Initializing. It is active before CANopen is initialized.
Pre-operational. All CANopen objects are active, except PDOs.
Operational. Process data objects (PDOs) are active too.
Stopped. Only Heartbeat producer and NMT consumer are active.

NMT master can change the internal state of the devices by sending CO_NMT_command_t.

NMT message contents:

Byte	Description
0	CO_NMT_command_t
1	Node ID. If zero, command addresses all nodes.

Heartbeat message contents:

Byte	Description
0	CO_NMT_internalState_t

See CO_Default_CAN_ID_t for CAN identifiers.

Enumeration Type Documentation

◆ CO_NMT_internalState_t

enum CO_NMT_internalState_t

Internal network state of the CANopen node.

Enumerator
CO_NMT_UNKNOWN	-1, Device state is unknown (for heartbeat consumer)
CO_NMT_INITIALIZING	0, Device is initializing
CO_NMT_PRE_OPERATIONAL	127, Device is in pre-operational state
CO_NMT_OPERATIONAL	5, Device is in operational state
CO_NMT_STOPPED	4, Device is stopped

◆ CO_NMT_command_t

enum CO_NMT_command_t

Commands from NMT master.

Enumerator
CO_NMT_ENTER_OPERATIONAL	1, Start device
CO_NMT_ENTER_STOPPED	2, Stop device
CO_NMT_ENTER_PRE_OPERATIONAL	128, Put device into pre-operational
CO_NMT_RESET_NODE	129, Reset device
CO_NMT_RESET_COMMUNICATION	130, Reset CANopen communication on device

◆ CO_NMT_reset_cmd_t

enum CO_NMT_reset_cmd_t

Return code from CO_NMT_process() that tells application code what to reset.

Enumerator
CO_RESET_NOT	0, Normal return, no action
CO_RESET_COMM	1, Application must provide communication reset.
CO_RESET_APP	2, Application must provide complete device reset
CO_RESET_QUIT	3, Application must quit, no reset of microcontroller (command is not requested by the stack.)

◆ CO_NMT_control_t

enum CO_NMT_control_t

NMT control bitfield for NMT internal state.

Variable of this type is passed to CO_NMT_init() function. It controls behavior of the CO_NMT_internalState_t of the device according to CANopen error register.

Internal NMT state is controlled also with external NMT command, CO_NMT_setInternalState() or CO_NMT_sendCommand() functions.

Enumerator
CO_NMT_ERR_REG_MASK	First 8 bits can be used to specify bitmask for the CO_errorRegister_t, to get relevant bits for the calculation.
CO_NMT_STARTUP_TO_OPERATIONAL	If bit is set, then device enters NMT operational state after the initialization phase, otherwise it enters NMT pre-operational state.
CO_NMT_ERR_ON_BUSOFF_HB	If bit is set and device is operational, it enters NMT pre-operational or stopped state, if CAN bus is off or heartbeat consumer timeout is detected.
CO_NMT_ERR_ON_ERR_REG	If bit is set and device is operational, it enters NMT pre-operational or stopped state, if masked CANopen error register is different than zero.
CO_NMT_ERR_TO_STOPPED	If bit is set and CO_NMT_ERR_ON_xx condition is met, then device will enter NMT stopped state, otherwise it will enter NMT pre-op state.
CO_NMT_ERR_FREE_TO_OPERATIONAL	If bit is set and device is pre-operational, it enters NMT operational state automatically, if conditions from CO_NMT_ERR_ON_xx are all false.

Function Documentation

◆ CO_NMT_init()

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,
		CO_CANmodule_t *	NMT_CANdevTx,
		uint16_t	NMT_txIdx,
		uint16_t	CANidTxNMT,
		CO_CANmodule_t *	HB_CANdevTx,
		uint16_t	HB_txIdx,
		uint16_t	CANidTxHB
	)

Initialize NMT and Heartbeat producer object.

Function must be called in the communication reset section.

Parameters

NMT	This object will be initialized.
OD_1017_ProducerHbTime	OD entry for 0x1017 -"Producer heartbeat time", entry is required, IO extension is optional for runtime configuration.
em	Emergency object.
nodeId	CANopen Node ID of this device.
NMTcontrol	Control variable for calculation of NMT internal state, based on error register, startup and runtime behavior.
firstHBTime_ms	Time between bootup and first heartbeat message in milliseconds. If firstHBTime_ms is greater than "Producer Heartbeat time" (OD object 0x1017), latter is used instead. Entry is required, IO extension is optional.
NMT_CANdevRx	CAN device for NMT reception.
NMT_rxIdx	Index of receive buffer in above CAN device.
CANidRxNMT	CAN identifier for NMT receive message.
NMT_CANdevTx	CAN device for NMT master transmission.
NMT_txIdx	Index of transmit buffer in above CAN device.
CANidTxNMT	CAN identifier for NMT transmit message.
HB_CANdevTx	CAN device for HB transmission.
HB_txIdx	Index of transmit buffer in the above CAN device.
CANidTxHB	CAN identifier for HB message.

Returns: CO_ReturnError_t CO_ERROR_NO on success.

◆ CO_NMT_initCallbackPre()

void CO_NMT_initCallbackPre	(	CO_NMT_t *	NMT,
		void *	object,
		void()(void object)	pFunctSignal
	)

Initialize NMT callback function after message preprocessed.

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

Parameters

NMT	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_NMT_initCallbackChanged()

void CO_NMT_initCallbackChanged	(	CO_NMT_t *	NMT,
		void(*)(CO_NMT_internalState_t state)	pFunctNMT
	)

Initialize NMT callback function.

Function initializes optional callback function, which is called after NMT State change has occurred. Function may wake up external task which handles NMT events. The first call is made immediately to give the consumer the current NMT state.

Parameters

NMT	This object.
pFunctNMT	Pointer to the callback function. Not called if NULL.

◆ CO_NMT_process()

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
	)

Process received NMT and produce Heartbeat messages.

Function must be called cyclically.

Parameters

	NMT	This object.
[out]	NMTstate	If not NULL, CANopen NMT internal state is returned.
	timeDifference_us	Time difference from previous function call in microseconds.
[out]	timerNext_us	info to OS - see CO_process().

Returns: CO_NMT_reset_cmd_t

◆ CO_NMT_getInternalState()

static CO_NMT_internalState_t CO_NMT_getInternalState ( CO_NMT_t * NMT )

inlinestatic

Query current NMT state.

Parameters

NMT	This object.

Returns: CO_NMT_internalState_t

◆ CO_NMT_setInternalState()

static void CO_NMT_setInternalState	(	CO_NMT_t *	NMT,
		CO_NMT_internalState_t	state
	)

inlinestatic

Set internal NMT state.

Functions sets state directly, without any checking. CO_NMT_process() may also switch between states automatically, see CO_NMT_control_t.

Parameters

NMT	This object.
state	New state.

◆ CO_NMT_sendCommand()

CO_ReturnError_t CO_NMT_sendCommand	(	CO_NMT_t *	NMT,
		CO_NMT_command_t	command,
		uint8_t	nodeID
	)

Send NMT master command.

This functionality may only be used from NMT master, as specified by standard CiA302-2. Standard provides one exception, where application from slave node may send NMT master command: "If CANopen object 0x1F80 has value of 0x2, then NMT slave shall execute the NMT service start remote node (CO_NMT_ENTER_OPERATIONAL) with nodeID set to 0."

Parameters

NMT	This object.
command	NMT command from CO_NMT_command_t.
nodeID	Node ID of the remote node. 0 for all nodes including self.

Returns: CO_ERROR_NO on success or CO_ReturnError_t from CO_CANsend().

Files

Data Structures

Enumerations

Functions

Detailed Description

NMT message contents:

Heartbeat message contents:

Enumeration Type Documentation

◆ CO_NMT_internalState_t

◆ CO_NMT_command_t

◆ CO_NMT_reset_cmd_t

◆ CO_NMT_control_t

Function Documentation

◆ CO_NMT_init()

◆ CO_NMT_initCallbackPre()

◆ CO_NMT_initCallbackChanged()

◆ CO_NMT_process()

◆ CO_NMT_getInternalState()

◆ CO_NMT_setInternalState()

◆ CO_NMT_sendCommand()