345 lines
18 KiB
HTML
Executable File
345 lines
18 KiB
HTML
Executable File
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<a href="#files">Files</a> |
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<a href="#nested-classes">Data Structures</a> |
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<a href="#func-members">Functions</a> </div>
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<div class="headertitle">
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<div class="title">TIME<div class="ingroups"><a class="el" href="group__CO__CANopen__301.html">CANopen_301</a></div></div> </div>
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</div><!--header-->
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<div class="contents">
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="files"></a>
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Files</h2></td></tr>
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<tr class="memitem:CO__TIME_8h"><td class="memItemLeft" align="right" valign="top">file  </td><td class="memItemRight" valign="bottom"><a class="el" href="CO__TIME_8h.html">CO_TIME.h</a></td></tr>
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<tr class="memdesc:CO__TIME_8h"><td class="mdescLeft"> </td><td class="mdescRight">CANopen Time-stamp protocol. <br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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Data Structures</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TIME__t.html">CO_TIME_t</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">TIME producer and consumer object. <a href="structCO__TIME__t.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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Functions</h2></td></tr>
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<tr class="memitem:ga9e02651c1662d3da13a9a071c73347bb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__TIME.html#ga9e02651c1662d3da13a9a071c73347bb">CO_TIME_init</a> (<a class="el" href="structCO__TIME__t.html">CO_TIME_t</a> *TIME, <a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, CO_SDO_t *SDO, <a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> *operatingState, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> COB_ID_TIMEMessage, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> TIMECyclePeriod, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevRx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevRxIdx, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevTx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevTxIdx)</td></tr>
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<tr class="memdesc:ga9e02651c1662d3da13a9a071c73347bb"><td class="mdescLeft"> </td><td class="mdescRight">Initialize TIME object. <a href="group__CO__TIME.html#ga9e02651c1662d3da13a9a071c73347bb">More...</a><br /></td></tr>
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<tr class="separator:ga9e02651c1662d3da13a9a071c73347bb"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:gae2f03663f1477cdc551b61cf5689cd6b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__TIME.html#gae2f03663f1477cdc551b61cf5689cd6b">CO_TIME_initCallbackPre</a> (<a class="el" href="structCO__TIME__t.html">CO_TIME_t</a> *TIME, void *object, void(*pFunctSignalPre)(void *object))</td></tr>
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<tr class="memdesc:gae2f03663f1477cdc551b61cf5689cd6b"><td class="mdescLeft"> </td><td class="mdescRight">Initialize TIME callback function. <a href="group__CO__TIME.html#gae2f03663f1477cdc551b61cf5689cd6b">More...</a><br /></td></tr>
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<tr class="separator:gae2f03663f1477cdc551b61cf5689cd6b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ga39f71192db2b40da6dcf8f4fceac9bb6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__TIME.html#ga39f71192db2b40da6dcf8f4fceac9bb6">CO_TIME_process</a> (<a class="el" href="structCO__TIME__t.html">CO_TIME_t</a> *TIME, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> timeDifference_us)</td></tr>
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<tr class="memdesc:ga39f71192db2b40da6dcf8f4fceac9bb6"><td class="mdescLeft"> </td><td class="mdescRight">Process TIME communication. <a href="group__CO__TIME.html#ga39f71192db2b40da6dcf8f4fceac9bb6">More...</a><br /></td></tr>
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<tr class="separator:ga39f71192db2b40da6dcf8f4fceac9bb6"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p>CANopen Time-stamp protocol.</p>
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<p>For CAN identifier see <a class="el" href="group__CO__driver.html#ga01dd35ae53fd2209ceccabdc8bf8dd06" title="Default CANopen identifiers.">CO_Default_CAN_ID_t</a></p>
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<p>TIME message is used for time synchronization of the nodes on network. One node should be TIME producer, others can be TIME consumers. This is configured with COB_ID_TIME object 0x1012 :</p>
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<ul>
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<li>bit 31 should be set for a consumer</li>
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<li>bit 30 should be set for a producer</li>
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</ul>
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<h3>TIME CONSUMER</h3>
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<p><a class="el" href="group__CO__TIME.html#ga9e02651c1662d3da13a9a071c73347bb" title="Initialize TIME object.">CO_TIME_init()</a> configuration :</p><ul>
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<li>COB_ID_TIME : 0x80000100L -> TIME consumer with TIME_COB_ID = 0x100</li>
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<li>TIMECyclePeriod :<ul>
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<li>0 -> no EMCY will be transmitted in case of TIME timeout</li>
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<li>X -> an EMCY will be transmitted in case of TIME timeout (X * 1.5) ms</li>
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</ul>
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</li>
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</ul>
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<p>Latest time value is stored in <code>CO->TIME->Time</code> variable.</p>
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<h3>TIME PRODUCER</h3>
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<p><a class="el" href="group__CO__TIME.html#ga9e02651c1662d3da13a9a071c73347bb" title="Initialize TIME object.">CO_TIME_init()</a> configuration :</p><ul>
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<li>COB_ID_TIME : 0x40000100L -> TIME producer with TIME_COB_ID = 0x100</li>
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<li>TIMECyclePeriod : Time transmit period in ms</li>
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</ul>
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<p>Write time value in <code>CO->TIME->Time</code> variable, this will be sent at TIMECyclePeriod. </p>
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<h2 class="groupheader">Function Documentation</h2>
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<a id="ga9e02651c1662d3da13a9a071c73347bb"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga9e02651c1662d3da13a9a071c73347bb">◆ </a></span>CO_TIME_init()</h2>
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<td class="memname"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> CO_TIME_init </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__TIME__t.html">CO_TIME_t</a> * </td>
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<td class="paramname"><em>TIME</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__EM__t.html">CO_EM_t</a> * </td>
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<td class="paramname"><em>em</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">CO_SDO_t * </td>
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<td class="paramname"><em>SDO</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> * </td>
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<td class="paramname"><em>operatingState</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> </td>
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<td class="paramname"><em>COB_ID_TIMEMessage</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> </td>
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<td class="paramname"><em>TIMECyclePeriod</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> * </td>
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<td class="paramname"><em>CANdevRx</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>CANdevRxIdx</em>, </td>
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</tr>
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<tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> * </td>
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<td class="paramname"><em>CANdevTx</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> </td>
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<td class="paramname"><em>CANdevTxIdx</em> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Initialize TIME object. </p>
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<p>Function must be called in the communication reset section.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">TIME</td><td>This object will be initialized. </td></tr>
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<tr><td class="paramname">em</td><td>Emergency object. </td></tr>
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<tr><td class="paramname">SDO</td><td>SDO server object. </td></tr>
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<tr><td class="paramname">operatingState</td><td>Pointer to variable indicating CANopen device NMT internal state. </td></tr>
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<tr><td class="paramname">COB_ID_TIMEMessage</td><td>Should be intialized with CO_CAN_ID_TIME_STAMP </td></tr>
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<tr><td class="paramname">TIMECyclePeriod</td><td>TIME period in ms (may also be used in consumer mode for timeout detection (1.5x period)). </td></tr>
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<tr><td class="paramname">CANdevRx</td><td>CAN device for TIME reception. </td></tr>
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<tr><td class="paramname">CANdevRxIdx</td><td>Index of receive buffer in the above CAN device. </td></tr>
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<tr><td class="paramname">CANdevTx</td><td>CAN device for TIME transmission. </td></tr>
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<tr><td class="paramname">CANdevTxIdx</td><td>Index of transmit buffer in the above CAN device.</td></tr>
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</table>
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</dd>
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</dl>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532" title="Return values of some CANopen functions.">CO_ReturnError_t</a>: CO_ERROR_NO or CO_ERROR_ILLEGAL_ARGUMENT. </dd></dl>
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</div>
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<a id="gae2f03663f1477cdc551b61cf5689cd6b"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#gae2f03663f1477cdc551b61cf5689cd6b">◆ </a></span>CO_TIME_initCallbackPre()</h2>
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<td class="memname">void CO_TIME_initCallbackPre </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__TIME__t.html">CO_TIME_t</a> * </td>
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<td class="paramname"><em>TIME</em>, </td>
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</tr>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void * </td>
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<td class="paramname"><em>object</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">void(*)(void *object) </td>
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<td class="paramname"><em>pFunctSignalPre</em> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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<p>Initialize TIME callback function. </p>
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<p>Function initializes optional callback function, which should immediately start processing of <a class="el" href="group__CO__TIME.html#ga39f71192db2b40da6dcf8f4fceac9bb6" title="Process TIME communication.">CO_TIME_process()</a> function. Callback is called after TIME message is received from the CAN bus.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">TIME</td><td>This object. </td></tr>
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<tr><td class="paramname">object</td><td>Pointer to object, which will be passed to pFunctSignalPre(). Can be NULL </td></tr>
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<tr><td class="paramname">pFunctSignalPre</td><td>Pointer to the callback function. Not called if NULL. </td></tr>
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</table>
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</dd>
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</dl>
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<a id="ga39f71192db2b40da6dcf8f4fceac9bb6"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ga39f71192db2b40da6dcf8f4fceac9bb6">◆ </a></span>CO_TIME_process()</h2>
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<td class="memname"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> CO_TIME_process </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="structCO__TIME__t.html">CO_TIME_t</a> * </td>
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<td class="paramname"><em>TIME</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype"><a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> </td>
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<td class="paramname"><em>timeDifference_us</em> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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</div><div class="memdoc">
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<p>Process TIME communication. </p>
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<p>Function must be called cyclically.</p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">TIME</td><td>This object. </td></tr>
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<tr><td class="paramname">timeDifference_us</td><td>Time difference from previous function call in [microseconds].</td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>0: No special meaning. </dd>
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<dd>
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1: New TIME message recently received (consumer) / transmited (producer). </dd></dl>
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<li class="footer">Generated on Thu Dec 24 2020 14:30:50 for CANopenNode by
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.17 </li>
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