com_user.c

---

//====================================================================================================================//
// File:          com_user.c                                                                                          //
// Description:   This file holds demo code for callback functions of the CANopen Master Protocol Stack               //
//                                                                                                                    //
// Copyright (C) MicroControl GmbH & Co. KG                                                                           //
// 53844 Troisdorf - Germany                                                                                          //
// www.microcontrol.net                                                                                               //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of MicroControl GmbH & Co. KG, Germany. The        //
// program(s) may be used and/or copied only with the written permission of MicroControl GmbH & Co. KG or in          //
// accordance with the terms and conditions stipulated in the agreement/contract under which the program(s) have      //
// been supplied.                                                                                                     //
//                                                                                                                    //
//====================================================================================================================//
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** IMPORTANT NOTE                                                                                                     **
** This file provides a template for all functions that need to be adopted to YOUR hardware. Copy this file to        **
** <myfile.c> and make your changes in the new file.                                                                  **
\*--------------------------------------------------------------------------------------------------------------------*/
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Include files                                                                                                      **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
#include "com_emcy.h"
#include "com_led.h"
#include "com_lss.h"
#include "com_mgr.h"
#include "com_nmt.h"
#include "com_pdo.h"
#include "com_sdo_cln.h"
#include "com_sdo_srv.h"
#include "com_time.h"
 
 
#if COM_SAFETY_SUPPORT == 1
#include "com_safety.h"
#endif
 
#if COM_NRL_SUPPORT > 0
#include "com_nrl.h"
#endif
 
#include "com_demo.h"
#include "com_demo_app.h"
 
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Module variables                                                                                                   **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
static CPP_SECTION   uint8_t aubLssStateMachineS[COM_NET_MAX];
 
 
/*--------------------------------------------------------------------------------------------------------------------*\
** Functions                                                                                                          **
**                                                                                                                    **
\*--------------------------------------------------------------------------------------------------------------------*/
 
//--------------------------------------------------------------------------------------------------------------------//
// ComDemoLssState()                                                                                                  //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
uint8_t ComDemoLssState(uint8_t ubNetV)
{
   uint8_t ubResultT = aubLssStateMachineS[ubNetV];
   if (aubLssStateMachineS[ubNetV] > eCOM_LSS_PROT_NONE)
   {
      aubLssStateMachineS[ubNetV] = eCOM_LSS_PROT_NONE;
   }
 
   return (ubResultT);
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComEmcyConsEventReceive()                                                                                          //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_EMCY_CONS_SUPPORT >0
void ComEmcyConsEventReceive(uint8_t ubNetV, uint8_t ubNodeIdV)
{
   uint16_t          uwEmcyConsCountT = 0;
   CpCanMsg_ts       tsEmcyMessageT;
 
   //---------------------------------------------------------------------------------------------------
   // This handler is called upon reception of an EMCY. In this example we read EMCY messages from the
   // receive queue until the queue is empty. In this example we do not care for the node-ID of the
   // producer.
   //
   (void) ubNodeIdV;
   ComEmcyConsQueueCount(ubNetV, &uwEmcyConsCountT);
   while (uwEmcyConsCountT > 0)
   {
      //-------------------------------------------------------------------------------------------
      // Clear CAN frame structure, the frame format does not matter here
      //
      CpMsgInit(&tsEmcyMessageT, CP_MSG_FORMAT_CBFF);
      ComEmcyConsQueueFetch(ubNetV, &tsEmcyMessageT);
      uwEmcyConsCountT--;
 
 
      //-------------------------------------------------------------------------------------------
      // Do something with the EMCY using the identifier of 082h.
      //
      if (CpMsgGetIdentifier(&tsEmcyMessageT) == 0x082)
      {
 
      }
   }
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComLssEventReceive()                                                                                               //
// Function handler for LSS reception                                                                                 //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_LSS_SUPPORT > 0 
void ComLssEventReceive(uint8_t ubNetV, uint8_t ubLssProtocolV)
{
   uint8_t  ubLssStatusT;
 
 
   //---------------------------------------------------------------------------------------------------
   // read status of last LSS protocol
   //
   ComLssGetStatus(ubNetV, &ubLssStatusT);
 
   if (ubLssStatusT == eCOM_LSS_STAT_SUCCESS)
   {
      switch (ubLssProtocolV)
      {
         //-----------------------------------------------------------------------------------
         // A node has been identified which is not configured yet. Start the LSS fast-scan 
         // next
         //
         case eCOM_LSS_PROT_IDENTIFY:
            aubLssStateMachineS[ubNetV] = eCOM_LSS_PROT_FASTSCAN;
            break;
 
         //-----------------------------------------------------------------------------------
         // After successful fast-scan operation, set the new node-ID
         //
         case eCOM_LSS_PROT_FASTSCAN:
            aubLssStateMachineS[ubNetV] = eCOM_LSS_PROT_CONF_ID;
            break;
 
         //-----------------------------------------------------------------------------------
         // After successful config node-ID operation, trigger a switch mode global to waiting
         //
         case eCOM_LSS_PROT_CONF_ID:
            aubLssStateMachineS[ubNetV] = eCOM_LSS_PROT_SWI_GLB;
            break;
 
         default:
 
            break;
      }
   }
   else
   {
      //-------------------------------------------------------------------------------------------
      // error handling, LSS operation failed
      //
      aubLssStateMachineS[ubNetV] = eCOM_LSS_PROT_NONE;
   }
 
}
#endif
 
//--------------------------------------------------------------------------------------------------------------------//
// ComMgrEventBus()                                                                                                   //
// Handler for Bus events                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void ComMgrEventBus(uint8_t ubNetV, CpState_ts * ptsBusStateV)
{
   if (ubNetV == eCOM_NET_1)
   {
      if (ptsBusStateV != 0L)
      {
 
      }
   }
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComMgrGetDataBitrate()                                                                                             //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
int32_t ComMgrGetDataBitrate(uint8_t ubNetV)
{
   //---------------------------------------------------------------------------------------------------
   // Return the required data bit-rate when running in CANopen FD mode. If no bit-rate switching
   // is necessary the value eCP_BITRATE_NONE must be returned.
   //
   (void) ubNetV;
 
   return (eCP_BITRATE_2M);
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComMgrUserInit()                                                                                                   //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
ComStatus_tv ComMgrUserInit(uint8_t ubNetV)
{
   //---------------------------------------------------------------------------------------------------
   // initialise state of LSS demo
   //
   aubLssStateMachineS[ubNetV] = 0;
 
 
 
   return (eCOM_ERR_NONE);
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventActiveMaster()                                                                                          //
// Handler for Active Master detection                                                                                //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventActiveMaster( uint8_t ubNetV, uint8_t ubPriorityV, uint8_t ubNodeIdV)
{
   if (ubNetV == eCOM_NET_1)
   {
      if (ubPriorityV == 0)
      {
         //-----------------------------------------------------------------------------------
         // report node-id of active master, i.e. 'ubNodeIdV'
         // 
         (void) ubNodeIdV; // avoid compiler warning
      }
   }
 
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventGuarding()                                                                                              //
// Handler for NMT events                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_NMT_GUARDING > 0
void ComNmtEventGuarding(uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubReasonV)
{
   if(ubNetV == eCOM_NET_1)
   {
      if(ubNodeIdV == 3)
      {
         //------------------------------------------------
         // Node guarding event failed from node-ID 3
         //
      }
   }
 
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventHeartbeat()                                                                                             //
// Handler for NMT events                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventHeartbeat(uint8_t ubNetV, uint8_t ubNodeIdV)
{
   //---------------------------------------------------------------------------------------------------
   // Stop Heartbeat consumer for Node
   //
   ComNmtSetHbConsTime(ubNetV, ubNodeIdV, 0);
 
   ComDemoAppConsoleLog(ComDemoNmtStateString(ubNetV, ubNodeIdV));
 
   //---------------------------------------------------------------------------------------------------
   // delete node from structure and send reset-node
   //
   //ComDemoRemoveDevice(ubNetV, ubNodeIdV);
   ComNmtSetNodeState(ubNetV, ubNodeIdV, eCOM_NMT_STATE_RESET_NODE);
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventIdCollision()                                                                                           //
// Handler for identifier collisions                                                                                  //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventIdCollision(uint8_t ubNetV)
{
   if (ubNetV == eCOM_NET_1)
   {
 
   }
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventMasterDetection()                                                                                       //
// Handler for NMT master detection events                                                                            //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventMasterDetection(uint8_t ubNetV, uint8_t ubResultV)
{
   //---------------------------------------------------------------------------------------------------
   // In case of timeout: we are the active CANopen master
   //
   if (ubResultV == eCOM_NMT_DETECT_TIMEOUT)
   {
      ComDemoAppConsoleLog("I am the active master");
 
      //-------------------------------------------------------------------------------------------
      // reset all nodes
      //
      ComNmtSetNodeState(ubNetV, 0, eCOM_NMT_STATE_RESET_COM);
 
      //-------------------------------------------------------------------------------------------
      // start the SYNC with configured cycle time
      //
      #if COM_SYNC_SUPPORT > 0 
      ComSyncEnable(ubNetV, 1);
      #endif
   }
} 
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventResetCommunication()                                                                                    //
// Handler for NMT events                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventResetCommunication(uint8_t ubNetV)
{
   //----------------------------------------------------------------
   // handle reset communication command
   //
   if (ubNetV == eCOM_NET_1)
   {
 
   }
 
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventResetNode()                                                                                             //
// Handler for NMT events                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventResetNode(uint8_t ubNetV)
{
   if (ubNetV == eCOM_NET_1)
   {
 
   }
 
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNmtEventStateChange()                                                                                           //
// Handler for NMT events                                                                                             //
//--------------------------------------------------------------------------------------------------------------------//
void ComNmtEventStateChange(uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubNmtEventV)
{
   if (eCOM_NMT_STATE_UNKNOWN != ubNmtEventV)
   {
      ComDemoAppConsoleLog(ComDemoNmtStateString(ubNetV, ubNodeIdV));
      ComDemoNmtQueueStateChange(ubNetV, ubNodeIdV, ubNmtEventV);
   }
} 
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComNrlEventHandler()                                                                                               //
//                                                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_NRL_SUPPORT > 0
void ComNrlEventHandler(uint8_t ubNetV, uint8_t ubNrlStateV)
{
   ComDemoAppConsoleLog(ComDemoNrlStateString(ubNetV));
 
   switch (ubNrlStateV)
   {
      case eCP_NRL_STATE_ACTIVE:
 
         break;
 
      case eCP_NRL_STATE_PASSIVE:
 
         break;
 
      case eCP_NRL_STATE_DISCONNECTED:
 
         break;
 
      default:
 
         break;
   }
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComObjectEventProgress()                                                                                           //
// Function handler for SDO / USDO segmented transfer                                                                 //
//--------------------------------------------------------------------------------------------------------------------//
void  ComObjectEventProgress(uint8_t ubNetV, uint8_t ubNodeIdV, CoObject_ts * ptsCoObjV, uint32_t ulByteCntV)
{
   (void) ulByteCntV;
 
   if (ubNetV == eCOM_NET_1)
   {
      if (ubNodeIdV == 1)
      {
         if( (ptsCoObjV->uwIndex == 0x2000) && (ptsCoObjV->ubSubIndex) == 1 )
         {
 
         }
      }
   }
} 
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComObjectEventReady()                                                                                              //
// Function handler for SDO / USDO                                                                                    //
//--------------------------------------------------------------------------------------------------------------------//
void ComObjectEventReady(uint8_t ubNetV, uint8_t ubNodeIdV, CoObject_ts * ptsCoObjV, uint32_t ulAbortV)
{
   
   (void) ulAbortV;
 
   if (ptsCoObjV != (CoObject_ts *) 0L)
   {
      switch (ptsCoObjV->ubMarker)
      {
         case eCOM_OBJECT_MARKER_NODE_GET_INFO:
            ComDemoAppConsoleLog(ComDemoNodeInfoString(ubNetV, ubNodeIdV));
            ComNodeSetHbProdTime(ubNetV, ubNodeIdV, 500);
            ComNmtSetHbConsTime(ubNetV, ubNodeIdV, 1000);
            break;
 
         case eCOM_OBJECT_MARKER_NODE_SET_HEARTBEAT:
            ComDemoNmtConfigurationDone(ubNetV, ubNodeIdV);
            break;
 
         default:
 
            break;
      }
   }
 
} 
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComObjectEventTimeout()                                                                                            //
// Function handler for SDO / USDO time-out                                                                           //
//--------------------------------------------------------------------------------------------------------------------//
void ComObjectEventTimeout(uint8_t ubNetV, uint8_t ubNodeIdV, CoObject_ts * ptsCoObjV)
{
   if (ubNetV == eCOM_NET_1)
   {
      if (ubNodeIdV == 1)
      {
         if( (ptsCoObjV->uwIndex == 0x2000) && (ptsCoObjV->ubSubIndex) == 1 )
         {
            // time-out on this object
         }
      }
 
   }
 
   ComDemoNmtConfigurationDone(ubNetV, ubNodeIdV);
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComPdoEventReceive()                                                                                               //
// Function handler for PDO Receive                                                                                   //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_PDO_RCV_MAX > 0
void ComPdoEventReceive(uint8_t ubNetV, uint16_t uwPdoNumV)
{
   uint16_t          uwRcvPdoCountT = 0;
   CpCanMsg_ts       tsPdoMessageT;
 
   //---------------------------------------------------------------------------------------------------
   // This handler is called upon reception of a PDO. In this example we read RPDO messages from the
   // receive queue until the queue is empty. In this example we do not care for the RPDO number.
   //
   (void) uwPdoNumV;
   ComPdoRcvQueueCount(ubNetV, &uwRcvPdoCountT);
   while (uwRcvPdoCountT > 0)
   {
      //-------------------------------------------------------------------------------------------
      // Clear CAN frame structure, the frame format does not matter here
      //
      CpMsgInit(&tsPdoMessageT, CP_MSG_FORMAT_CBFF);
      ComPdoRcvQueueFetch(ubNetV, &tsPdoMessageT);
      uwRcvPdoCountT--;
 
 
      //-------------------------------------------------------------------------------------------
      // Do something with the PDO using the identifier of 27Fh.
      //
      if (CpMsgGetIdentifier(&tsPdoMessageT) == 0x27F)
      {
 
      }
   }
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComPdoEventTimeout()                                                                                               //
// Function handler for PDO timeout                                                                                   //
//--------------------------------------------------------------------------------------------------------------------//
void ComPdoEventTimeout(uint8_t ubNetV, uint16_t uwPdoNumV)
{
   if (ubNetV == eCOM_NET_1)
   {
      if (uwPdoNumV == 1)
      {
         // handle time-out for RPDO 1
      }
   }
 
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComSafetySrdoRcvDataUpdate()                                                                                       //
// Function handler for SRDO                                                                                          //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_SAFETY_SUPPORT == 1
void ComSafetySrdoRcvDataUpdate(uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubSrdoNumberV)
{
 
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComSafetySrdoTrmDataUpdate()                                                                                       //
// Function handler for SRDO                                                                                          //
//--------------------------------------------------------------------------------------------------------------------//
#if COM_SAFETY_SUPPORT == 1
void ComSafetySrdoTrmDataUpdate(uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubSrdoNumberV)
{
 
}
#endif
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComSdoSrvBlkUpObjectSize()                                                                                         //
// Function handler for SDO server block transfer                                                                     //
//--------------------------------------------------------------------------------------------------------------------//
uint32_t ComSdoSrvBlkUpObjectSize(uint8_t ubNetV, uint16_t uwIndexV, uint8_t ubSubIndexV)
{
   uint32_t ulObjSizeT = 0;
 
   if(ubNetV == eCOM_NET_1)
   {
      //-------------------------------------------------------------
      // get object size for index 2000h, sub-index 1
      //
      if( (uwIndexV == 0x2000) && (ubSubIndexV) == 1 )
      {
         ulObjSizeT = 100;
      }
   }
 
   return ulObjSizeT;
}
 
 
//--------------------------------------------------------------------------------------------------------------------//
// ComTimeEventConsume()                                                                                              //
// Handler for TIME consumer                                                                                          //
//--------------------------------------------------------------------------------------------------------------------//
void  ComTimeEventConsume(uint8_t ubNetV, ComTimeOfDay_ts * ptsTimeStampV)
{
   (void) ptsTimeStampV;
 
   if (ubNetV == eCOM_NET_1)
   {
 
   }
}