Files
file	CO_SRDO.c
	CANopen Safety Related Data Object protocol.

file	CO_SRDO.h
	CANopen Safety Related Data Object protocol.

Data Structures
struct	CO_SRDOCommPar_t
	SRDO communication parameter. More...

struct	CO_SRDOGuard_t
	Gurad Object for SRDO monitors: More...

struct	CO_SRDO_t
	SRDO object. More...

Functions
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)
	Initialize SRDOGuard object. More...

uint8_t	CO_SRDOGuard_process (CO_SRDOGuard_t *SRDOGuard)
	Process operation and valid state changes. More...

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)
	Initialize SRDO object. More...

void	CO_SRDO_initCallbackPre (CO_SRDO_t SRDO, void object, void(pFunctSignalPre)(void object))
	Initialize SRDO callback function. More...

void	CO_SRDO_initCallbackEnterSafeState (CO_SRDO_t SRDO, void object, void(pFunctSignalSafe)(void object))
	Initialize SRDO callback function. More...

CO_ReturnError_t	CO_SRDO_requestSend (CO_SRDO_t *SRDO)
	Send SRDO on event. More...

void	CO_SRDO_process (CO_SRDO_t SRDO, uint8_t commands, uint32_t timeDifference_us, uint32_t timerNext_us)
	Process transmitting/receiving SRDO messages. More...

Detailed Description

CANopen Safety Related Data Object protocol.

The functionality is very similar to that of the PDOs. The main differences is every message is send and received twice. The second message must be bitwise inverted. The delay between the two messages and between each message pair is monitored. The distinction between sending and receiving SRDO is made at runtime (for PDO it is compile time). If the security protocol is used, at least one SRDO is mandatory.

Function Documentation

◆ CO_SRDOGuard_init()

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
	)

Initialize SRDOGuard object.

Function must be called in the communication reset section.

Parameters

SRDOGuard	This object will be initialized.
SDO	SDO object.
operatingState	Pointer to variable indicating CANopen device NMT internal state.
configurationValid	Pointer to variable with the SR valid flag
idx_SRDOvalid	Index in Object Dictionary
idx_SRDOcrc	Index in Object Dictionary

Returns: CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_SRDOGuard_process()

uint8_t CO_SRDOGuard_process ( CO_SRDOGuard_t * SRDOGuard )

Process operation and valid state changes.

Parameters

SRDOGuard This object.

Returns

uint8_t command for CO_SRDO_process().

bit 0 entered operational
bit 1 validate checksum

◆ CO_SRDO_init()

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
	)

Initialize SRDO object.

Function must be called in the communication reset section.

Parameters

SRDO	This object will be initialized.
SRDOGuard	SRDOGuard object.
em	Emergency object.
SDO	SDO object.
nodeId	CANopen Node ID of this device. If default COB_ID is used, value will be added.
defaultCOB_ID	Default COB ID for this SRDO (without NodeId).
SRDOCommPar	Pointer to SRDO communication parameter record from Object dictionary (index 0x1301+).
SRDOMapPar	Pointer to SRDO mapping parameter record from Object dictionary (index 0x1381+).
checksum
idx_SRDOCommPar	Index in Object Dictionary
idx_SRDOMapPar	Index in Object Dictionary
CANdevRx	CAN device used for SRDO reception.
CANdevRxIdxNormal	Index of receive buffer in the above CAN device.
CANdevRxIdxInverted	Index of receive buffer in the above CAN device.
CANdevTx	CAN device used for SRDO transmission.
CANdevTxIdxNormal	Index of transmit buffer in the above CAN device.
CANdevTxIdxInverted	Index of transmit buffer in the above CAN device.

Returns: CO_ReturnError_t: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT.

◆ CO_SRDO_initCallbackPre()

void CO_SRDO_initCallbackPre	(	CO_SRDO_t *	SRDO,
		void *	object,
		void()(void object)	pFunctSignalPre
	)

Initialize SRDO callback function.

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

Parameters

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

◆ CO_SRDO_initCallbackEnterSafeState()

void CO_SRDO_initCallbackEnterSafeState	(	CO_SRDO_t *	SRDO,
		void *	object,
		void()(void object)	pFunctSignalSafe
	)

Initialize SRDO callback function.

Function initializes optional callback function, that is called when SRDO enters a safe state. This happens when a timeout is reached or the data is inconsistent. The safe state itself is not further defined. One measure, for example, would be to go back to the pre-operational state Callback is called from CO_SRDO_process().

Parameters

SRDO	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_SRDO_requestSend()

CO_ReturnError_t CO_SRDO_requestSend ( CO_SRDO_t * SRDO )

Send SRDO on event.

Sends SRDO before the next refresh timer tiggers. The message itself is send in CO_SRDO_process(). After the transmission the timer is reset to the full refresh time.

Parameters

SRDO	This object.

Returns: CO_ReturnError_t CO_ERROR_NO if request is granted

◆ CO_SRDO_process()

void CO_SRDO_process	(	CO_SRDO_t *	SRDO,
		uint8_t	commands,
		uint32_t	timeDifference_us,
		uint32_t *	timerNext_us
	)

Process transmitting/receiving SRDO messages.

This function verifies the checksum on demand. This function also configures the SRDO on operation state change to operational

Parameters

	SRDO	This object.
	commands	result from CO_SRDOGuard_process().
	timeDifference_us	Time difference from previous function call in [microseconds].
[out]	timerNext_us	info to OS.

Files

Data Structures

Functions

Detailed Description

Function Documentation

◆ CO_SRDOGuard_init()

◆ CO_SRDOGuard_process()

◆ CO_SRDO_init()

◆ CO_SRDO_initCallbackPre()

◆ CO_SRDO_initCallbackEnterSafeState()

◆ CO_SRDO_requestSend()

◆ CO_SRDO_process()