155 lines
4.6 KiB
C
155 lines
4.6 KiB
C
/*
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* co_srdo.h - contains defines for srdo services
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*
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* Copyright (c) 2015-2024 emotas embedded communication GmbH
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*
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*-------------------------------------------------------------------
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* $Id: co_srdo.h 54942 2024-08-07 06:33:18Z boe $
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*-------------------------------------------------------------------
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*
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*
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*
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*/
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/**
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* \brief defines for srdo services
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*
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* \file co_srdo.h - contains defines for srdo services
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*/
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#ifndef CO_SRDO_H
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#define CO_SRDO_H 1
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#include <co_datatype.h>
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#define CO_SRDO_TYPE_NONE 0u
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#define CO_SRDO_TYPE_PRODUCER 1u
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#define CO_SRDO_TYPE_CONSUMER 2u
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#define CO_SRDO_VALID_SIGNATURE 0xa5u
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/* datatypes */
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typedef enum {
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CO_SRDO_STATE_UNKNOWN,
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CO_SRDO_STATE_AWAIT_FIRST_MSG1,
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CO_SRDO_STATE_AWAIT_MSG1,
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CO_SRDO_STATE_AWAIT_MSG2,
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CO_SRDO_STATE_ERROR
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} CO_SRDO_STATE_T;
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typedef enum {
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CO_SRDO_DATA_UNKNOWN,
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CO_SRDO_DATA_VALID,
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CO_SRDO_DATA_INVALID
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} CO_SRDO_DATA_VALID_T;
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typedef enum {
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CO_SRDO_TIMER_TYPE_REFRESH,
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CO_SRDO_TIMER_TYPE_SRVT,
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CO_SRDO_TIMER_TYPE_SCT
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} CO_SRDO_TIMER_TYPE_T;
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struct srdo_timer {
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struct srdo_timer *pNext; /* pointer to next timer */
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UNSIGNED32 actTicks; /* actual timer ticks */
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CO_SRDO_TIMER_TYPE_T type; /* srdo timer type */
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UNSIGNED16 srdoNr; /* srdo number */
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};
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typedef struct srdo_timer CO_SRDO_TIMER_T;
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typedef struct {
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UNSIGNED8 direction; /* information direction */
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UNSIGNED16 refreshTime; /* refresh time */
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UNSIGNED8 srvt; /* SRVT */
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UNSIGNED8 transType; /* transmission type */
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UNSIGNED32 cobId1; /* cob id 1 */
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UNSIGNED32 cobId2; /* cob id 2 */
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UNSIGNED8 mapCnt; /* number of actual mappings */
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UNSIGNED8 maxMapCnt; /* number of maximum mappings */
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UNSIGNED8 mapLen; /* len of mapped data in bytes (1..8) */
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UNSIGNED16 signature; /* signature for the srdo */
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const UNSIGNED32 *mapTable; /* pointer to mapping table */
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CO_SRDO_STATE_T state; /* internal srdo state */
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CO_SRDO_DATA_VALID_T dataValid; /* srdo data valid/not valid */
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CO_SRDO_TIMER_T timerSct; /* SCT timer */
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CO_SRDO_TIMER_T timerSrvt; /* SRVT timer */
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} CO_SRDO_DATA_T;
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/*
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* defines for error reasons
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*/
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typedef enum {
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CO_SRDO_ERROR_WRONG_MSG = 0, /* wrong message received */
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CO_SRDO_ERROR_DATA_MISMATCH, /* data doesnt match */
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CO_SRDO_ERROR_TIMEOUT_SCT, /* timeout SCT */
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CO_SRDO_ERROR_TIMEOUT_SRVT, /* timeout SRVT */
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CO_SRDO_ERROR_WRONG_LEN /* wrong len received */
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} CO_SRDO_ERROR_T;
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EXTERN_DECL RET_T coSrdoInit(UNSIGNED16 srdoNr);
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EXTERN_DECL RET_T coSrdoTransmit(UNSIGNED8 srdoNr);
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EXTERN_DECL RET_T genSrdoGetState(UNSIGNED8 srdoNr);
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EXTERN_DECL RET_T genSrdoDataGet_u8(UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED8 *pData);
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EXTERN_DECL RET_T genSrdoDataGet_u16(UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED16 *pData);
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EXTERN_DECL RET_T genSrdoDataGet_u32(UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED32 *pData);
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EXTERN_DECL RET_T genSrdoDataGet_i8(UNSIGNED16 index, UNSIGNED8 subIndex,
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INTEGER8 *pData);
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EXTERN_DECL RET_T genSrdoDataGet_i16(UNSIGNED16 index, UNSIGNED8 subIndex,
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INTEGER16 *pData);
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EXTERN_DECL RET_T genSrdoDataGet_i32(UNSIGNED16 index, UNSIGNED8 subIndex,
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INTEGER32 *pData);
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EXTERN_DECL RET_T genSrdoDataGet_r32(UNSIGNED16 index, UNSIGNED8 subIndex,
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REAL32 *pData);
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EXTERN_DECL RET_T genSrdoDataPut_u8(UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED8 data);
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EXTERN_DECL RET_T genSrdoDataPut_u16(UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED16 data);
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EXTERN_DECL RET_T genSrdoDataPut_u32(UNSIGNED16 index, UNSIGNED8 subIndex,
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UNSIGNED32 data);
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EXTERN_DECL RET_T genSrdoDataPut_i8(UNSIGNED16 index, UNSIGNED8 subIndex,
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INTEGER8 data);
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EXTERN_DECL RET_T genSrdoDataPut_i16(UNSIGNED16 index, UNSIGNED8 subIndex,
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INTEGER16 data);
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EXTERN_DECL RET_T genSrdoDataPut_i32(UNSIGNED16 index, UNSIGNED8 subIndex,
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INTEGER32 data);
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EXTERN_DECL RET_T genSrdoDataPut_r32(UNSIGNED16 index, UNSIGNED8 subIndex,
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REAL32 data);
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EXTERN_DECL void genSrdoSetDefaultValue(UNSIGNED8 ownNodeId);
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EXTERN_DECL RET_T genSrdoCheckOperational(void);
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EXTERN_DECL void genSrdoGoOperational(void);
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EXTERN_DECL void genSrdoGoPreOperational(void);
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EXTERN_DECL RET_T genSrdoTransmitMapping(UNSIGNED16 srdoNr,
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UNSIGNED8 *pBufferNormal, UNSIGNED8 *pBufferInverted);
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EXTERN_DECL void genSrdoReceiveHandler(UNSIGNED16 srdoNr,
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CO_CONST CO_CAN_REC_MSG_T *pRecMsg);
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EXTERN_DECL void genSrdoTimerInit(UNSIGNED32 timerVal);
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EXTERN_DECL void genSrdoTimerIsr(void);
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EXTERN_DECL void genSrdoTimerCheck(void);
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void srdoErrorIndication(UNSIGNED16 srdoNr, CO_SRDO_ERROR_T reason);
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void srdoConsumerIndication(UNSIGNED16 srdoNr);
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void srdoProducerIndication(UNSIGNED16 srdoNr);
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#endif /* CO_SRDO_H */
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