| 323 | } |
| 324 | |
| 325 | void |
| 326 | CO_nodeGuardingMaster_process(CO_nodeGuardingMaster_t* ngm, uint32_t timeDifference_us, uint32_t* timerNext_us) { |
| 327 | (void)timerNext_us; /* may be unused */ |
| 328 | bool_t allMonitoredActiveCurrent = true; |
| 329 | bool_t allMonitoredOperationalCurrent = true; |
| 330 | CO_nodeGuardingMasterNode_t* node = &ngm->nodes[0]; |
| 331 | |
| 332 | for (uint8_t i = 0; i < CO_CONFIG_NODE_GUARDING_MASTER_COUNT; i++) { |
| 333 | if (node->guardTime_us > 0 && node->ident > CO_CAN_ID_HEARTBEAT) { |
| 334 | if (timeDifference_us < node->guardTimer) { |
| 335 | node->guardTimer -= timeDifference_us; |
| 336 | #if ((CO_CONFIG_NMT)&CO_CONFIG_FLAG_TIMERNEXT) != 0 |
| 337 | /* Calculate, when timeout expires */ |
| 338 | if (timerNext_us != NULL && *timerNext_us > node->guardTimer) { |
| 339 | *timerNext_us = node->guardTimer; |
| 340 | } |
| 341 | #endif |
| 342 | } else { |
| 343 | /* it is time to send new rtr, but first verify last response */ |
| 344 | if (!node->CANtxWasBusy) { |
| 345 | if (!node->responseRecived) { |
| 346 | node->monitoringActive = false; |
| 347 | /* error bit is shared with HB consumer */ |
| 348 | CO_errorReport(ngm->em, CO_EM_HEARTBEAT_CONSUMER, CO_EMC_HEARTBEAT, node->ident & 0x7F); |
| 349 | } else if (node->NMTstate != CO_NMT_UNKNOWN) { |
| 350 | node->monitoringActive = true; |
| 351 | CO_errorReset(ngm->em, CO_EM_HEARTBEAT_CONSUMER, node->ident & 0x7F); |
| 352 | } |
| 353 | } |
| 354 | |
| 355 | if (ngm->CANtxBuff->bufferFull) { |
| 356 | node->guardTimer = 0; |
| 357 | node->CANtxWasBusy = true; |
| 358 | } else { |
| 359 | #if CO_CONFIG_NODE_GUARDING_MASTER_COUNT > 1 |
| 360 | ngm->CANtxBuff = CO_CANtxBufferInit(ngm->CANdevTx, ngm->CANdevTxIdx, node->ident, true, 1, 0); |
| 361 | #endif |
| 362 | (void)CO_CANsend(ngm->CANdevTx, ngm->CANtxBuff); |
| 363 | node->CANtxWasBusy = false; |
| 364 | node->responseRecived = false; |
| 365 | node->guardTimer = node->guardTime_us; |
| 366 | } |
| 367 | } |
| 368 | |
| 369 | if (allMonitoredActiveCurrent) { |
| 370 | if (node->monitoringActive) { |
| 371 | if (node->NMTstate != CO_NMT_OPERATIONAL) { |
| 372 | allMonitoredOperationalCurrent = false; |
| 373 | } |
| 374 | } else { |
| 375 | allMonitoredActiveCurrent = false; |
| 376 | allMonitoredOperationalCurrent = false; |
| 377 | } |
| 378 | } |
| 379 | } /* if node enabled */ |
| 380 | |
| 381 | node++; |
| 382 | } /* for */ |
no test coverage detected