cos_nrl.h File Reference

Detailed Description

This module adds the Network Redundancy Layer (NRL) to the CANopen FD Slave protocol stack. The NRL is an optional add-on module for the CANopen FD Slave protocol stack. The NRL is enabled by setting the symbol COS_NRL_SUPPORT to 1.

The NRL must be started in advance to the CANopen FD Slave protocol stack. The following example depicts the initialization of the NRL:

//----------------------------------------------------------------------------------------------
// Initialise the Network Redundancy Layer
// The DCL is on CAN interface 1, the RCL is on CAN interface 2
//
CosNrlInit(eCP_NRL_CHANNEL_1, eCP_CHANNEL_1, eCP_CHANNEL_2, &tsNrlDriverG);
 
//----------------------------------------------------------------------------------------------
// Initialise the CANopen slave stack
//
CosMgrInit(eCP_CHANNEL_1, COS_CONF_SLAVE);
 
//----------------------------------------------------------------------------------------------
// Start the NRL
//
CosNrlStart(eCP_NRL_CHANNEL_1);
 
//---------------------------------------------------------------------------------------------------
// start the CANopen Slave Protocol Stack
//
CosMgrStart(ubNodeIdT, eCP_BITRATE_125K, eCP_BITRATE_NONE);

The following table shows all additional objects for the CANopen FD Slave protocol stack when NRL is enabled.

Index	Description	Function / Variable	Configuration Symbol
1F62h	NRL configuration	CosNrl_Idx1F62()	COS_NRL_SUPPORT
1F62h	NRL monitoring	CosNrl_Idx1F63()	COS_NRL_SUPPORT

Include dependency graph for cos_nrl.h:

Functions
uint8_t	CosNrl_Idx1F62 (uint8_t ubSubIndexV, uint8_t ubReqCodeV)
uint8_t	CosNrl_Idx1F63 (uint8_t ubSubIndexV, uint8_t ubReqCodeV)
void	CosNrlEventHandler (uint8_t ubNrlStateV)
Status_tv	CosNrlInit (uint8_t ubNrlChannelV, uint8_t ubPhyIfDclV, uint8_t ubPhyIfRclV, CpNrlDriver_ts *ptsNrlDriverV)
Status_tv	CosNrlStart (uint8_t ubNrlChannelV)
void	CosNrlTimerEvent (void)

Function Documentation

CosNrl_Idx1F62()

uint8_t CosNrl_Idx1F62	(	uint8_t	ubSubIndexV,
		uint8_t	ubReqCodeV
	)

Index 1F62 - Network Redundancy Layer Configuration.

Parameters

ubSubIndexV	sub-index
ubReqCodeV	read / write access

Returns

SDO response code (enumeration CosSdo_e)

The object allows adjustment of NRL parameters in order to meet the application requirements.

• Sub-Index 0 Highest Sub-Index supported
• Sub-Index 1 Counter deviation limit
• Sub-Index 2 Mailbox timeout

The function returns a SDO response code defined by the CosSdo_e enumeration. The index is only available when the symbol COS_NRL_SUPPORT is set.

CosNrl_Idx1F63()

uint8_t CosNrl_Idx1F63	(	uint8_t	ubSubIndexV,
		uint8_t	ubReqCodeV
	)

Index 1F63 - Network Redundancy Layer Monitoring.

Parameters

ubSubIndexV	sub-index
ubReqCodeV	read / write access

Returns

SDO response code (enumeration CosSdo_e)

This object allows to monitor the transmit and receive counter deviation values of the Network Redundancy Layer.

• Sub-Index 0 Highest Sub-Index supported
• Sub-Index 1 NRL state
• Sub-Index 2 NRL active line
• Sub-Index 3 CAN error state DCL
• Sub-Index 4 CAN error state RCL
• Sub-Index 5 DCL node count
• Sub-Index 6 DCL cross count
• Sub-Index 7 RCL node count
• Sub-Index 8 RCL cross count

The function returns a SDO response code defined by the CosSdo_e enumeration. The index is only available when the symbol COS_NRL_SUPPORT is set.

CosNrlEventHandler()

void CosNrlEventHandler

(

uint8_t

ubNrlStateV

)

Parameters

[in]

ubNrlStateV

State of Network Redundancy Layer

This function is called upon the occurrence of a NRL state change event. The function implementation is located in the file cos_user.c. The value of the parameter ubNrlStateV is defined by the enumeration CpNrlState_e, detailed information about the NRL can be obtained by calling CpNrlState().

CosNrlInit()

Status_tv CosNrlInit	(	uint8_t	ubNrlChannelV,
		uint8_t	ubPhyIfDclV,
		uint8_t	ubPhyIfRclV,
		CpNrlDriver_ts *	ptsNrlDriverV
	)

Parameters

[in]	ubNrlChannelV	Channel of Network Redundancy Layer
[in]	ubPhyIfDclV	Physical interface of Default CAN Line
[in]	ubPhyIfRclV	Physical interface of Redundant CAN Line
[in]	ptsNrlDriverV	Pointer to NRL driver structure

Returns

Error code defined by the CosErr_e enumeration. If no error occurred, the function will return the value eCOS_ERR_NONE.

This function must be called by the application program prior to any other CANopen FD Slave Stack function if the Network Redundancy Layer shall be supported.

The function returns an error code defined the the enumeration CosErr_e.

CosNrlStart()

Status_tv CosNrlStart

(

uint8_t

ubNrlChannelV

)

Parameters

[in]

ubNrlChannelV

Channel of Network Redundancy Layer

Returns

Error code defined by the CosErr_e enumeration. If no error occurred, the function will return the value eCOS_ERR_NONE.

This function must be called by the application program after CosMgrInit(). It is responsible for initialization of the NRL control service.

The function returns an error code defined the the enumeration CosErr_e.

CosNrlTimerEvent()

void CosNrlTimerEvent

(

void

)

This function must be called by a timer resource of the target system. It is responsible to call the NRL fault detection and recovery. The period of the timer is defined via the symbol CP_NRL_TIMER_PERIOD.

Example

//-------------------------------------------------------------//
// Timer service routine                                       //
//                                                             //
//-------------------------------------------------------------//
void MyTimerService(void)
{
   //... timer services of application ...
 
   //--- Call NRL timer function -------------
   CosNrlTimerEvent();
 
}