128 lines
3.7 KiB
C
128 lines
3.7 KiB
C
/*
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* co_nmt.h - contains defines for nmt services
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*
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* Copyright (c) 2012-2023 emotas embedded communication GmbH
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*
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*-------------------------------------------------------------------
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* $Id: co_nmt.h 49613 2023-09-26 14:20:14Z 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 nmt services
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*
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* \file co_nmt.h - contains defines for nmt services
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*
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*/
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#ifndef CO_NMT_H
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#define CO_NMT_H 1
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#include <co_datatype.h>
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/* datatypes */
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/**
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* error control states
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*/
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typedef enum {
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CO_ERRCTRL_BOOTUP, /**< bootup */
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CO_ERRCTRL_NEW_STATE, /**< NMT state changed */
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CO_ERRCTRL_HB_STARTED, /**< heartbeat started */
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CO_ERRCTRL_HB_FAILED, /**< heartbeat failed */
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CO_ERRCTRL_GUARD_FAILED, /**< Lifetime failure from master detected */
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CO_ERRCTRL_MGUARD_TOGGLE, /**< Master guarding toggle failure detected */
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CO_ERRCTRL_MGUARD_FAILED, /**< Master guarding failure detected */
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CO_ERRCTRL_BOOTUP_FAILURE, /**< error transmit bootup */
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CO_ERRCTRL_DOUBLE_ID /**< error double node id received */
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} CO_ERRCTRL_T;
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/**
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* NMT states
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*/
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typedef enum {
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CO_NMT_STATE_UNKNOWN = 0, /**< unknown */
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CO_NMT_STATE_OPERATIONAL = 5, /**< OPERATIONAL */
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CO_NMT_STATE_STOPPED = 4, /**< STOPPED */
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CO_NMT_STATE_PREOP = 127, /**< PRE-OPERATIONAL */
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CO_NMT_STATE_RESET_NODE = 128, /**< Reset NODE */
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CO_NMT_STATE_RESET_COMM = 129 /**< Reset Communication */
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} CO_NMT_STATE_T;
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/**
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* NMT REQ states
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*/
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typedef enum {
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CO_NMT_REQ_STATE_UNKNOWN = 0, /**< unknown */
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CO_NMT_REQ_STATE_STOPPED = 4, /**< STOPPED */
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CO_NMT_REQ_STATE_OPERATIONAL = 5, /**< OPERATIONAL */
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CO_NMT_REQ_STATE_RESET_NODE = 6, /**< Reset NODE */
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CO_NMT_REQ_STATE_RESET_COMM = 7, /**< Reset Communication */
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CO_NMT_REQ_STATE_PREOP = 127 /**< PRE-OPERATIONAL */
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} CO_NMT_REQ_STATE_T;
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/** \brief function pointer to get node id function
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* This function shall get the node id for the device
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*
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* \return node id
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*/
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typedef UNSIGNED8 (* CO_NODE_ID_T)(void); /*lint !e960 customer specific parameter names */
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/** \brief function pointer to error control event function
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* \param nodeId - node Id
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* \param errCtrlState - error control state
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* \param nmtState - actual NMT state
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*
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*/
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typedef void (* CO_EVENT_ERRCTRL_T)(UNSIGNED8, CO_ERRCTRL_T, CO_NMT_STATE_T); /*lint !e960 customer specific parameter names */
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/** \brief function pointer to NMT event function
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* \param execute - execute status change y/n
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* \param nmtState - new NMT state
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*
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* \return RET_T
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* \retval RET_OK - state change allowed (only valid for OPERATIONAL)
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* \retval RET_ - state change not allowed (only valid for OPERATIONAL)
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*/
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typedef RET_T (* CO_EVENT_NMT_T)(BOOL_T, CO_NMT_STATE_T); /*lint !e960 customer specific parameter names */
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/* function prototypes */
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EXTERN_DECL RET_T coNmtInit(UNSIGNED8 master);
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EXTERN_DECL UNSIGNED8 coNmtGetNodeId(void);
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EXTERN_DECL BOOL_T coNmtInhibitActive(void);
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EXTERN_DECL RET_T coErrorCtrlInit(UNSIGNED16 hbTime, UNSIGNED8 hbConsCnt);
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EXTERN_DECL RET_T coGuardingInit(void);
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EXTERN_DECL RET_T coEventRegister_ERRCTRL(CO_EVENT_ERRCTRL_T pFunction);
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EXTERN_DECL RET_T coEventRegister_NMT(CO_EVENT_NMT_T pFunction);
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EXTERN_DECL CO_NMT_STATE_T coNmtGetState(void);
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EXTERN_DECL CO_NMT_STATE_T coNmtGetRemoteNodeState(
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UNSIGNED8 nodeId);
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EXTERN_DECL RET_T coNmtStateReq(UNSIGNED8 node,
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CO_NMT_STATE_T reqState, BOOL_T master);
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EXTERN_DECL RET_T coNmtLocalStateReq(CO_NMT_STATE_T reqState);
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EXTERN_DECL BOOL_T coNmtNodeIsMaster(void);
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EXTERN_DECL RET_T coHbConsumerSet(UNSIGNED8 node,
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UNSIGNED16 hbTime);
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EXTERN_DECL RET_T coHbConsumerStart(UNSIGNED8 node);
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EXTERN_DECL RET_T coHbConsumerStop(UNSIGNED8 node);
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EXTERN_DECL RET_T coGuardingMasterStart(UNSIGNED8 node);
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EXTERN_DECL RET_T coGuardingMasterStop(UNSIGNED8 node);
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#endif /* CO_NMT_H */
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