Epec Programming and Libraries Manual
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Supported platforms: CODESYS 3.5, CODESYS 3.5 SAFETY

 

S_ValidateSRDOSignature (FUN)

Description

This function validates safety configuration signature of one SRDO message.

The function shall be used to validate safety configuration signatures of all SRDOs at unit start-up.

 

Signature calculation is described in CANopen safety standard EN50325-5.

 

Unlike all other CRCs, safety configuration signature is specified to be calculated little-endian.

 

This function is endianness-aware.

Separate endian format conversions shall NOT be used.

 

MultiTool Creator code template includes signature validation automatically.

 

Operation

The function uses CalculateSRDOSignature function for calculation of signature.

If the calculated signature match with given value, output o_OutputValid is set TRUE, and error code is not added to the pointed EventCode.

 

Inputs

Input variable name

Data type

Unit

Range

Description

i_pSRDOSignature

POINTER TO WORD

-

≠ 0

Pointer to SRDO safety configuration signature variable

i_InfoDirection

BYTE

-

0 - 2

0 = not valid

1 = SRDO producer

2 = SRDO consumer

i_SCTime

UINT

ms

-

Safety Cycle Time / Refresh Time of SRDO

i_SRVTime

USINT

ms

-

Safety-Related Validation Time of SRDO

i_COBID1

DWORD

-

101h - 17Fh, odd values only

Plain SRDO message COB-ID

i_COBID2

DWORD

-

102h – 180h, even values only

Inverted SRDO message COB-ID

i_Mappings

USINT

-

> 0

Number of variable mappings of one SRDO message

i_pMapping

POINTER TO BYTE

-

≠ 0

Pointer to variable mapping table of one SRDO message

i_pEventCode

POINTER TO EventCode

-

≠ 0

Pointer to EventCode variable.

 

Outputs

Output variable name

Data type

Range

Description

o_OutputValid

BOOL

TRUE/FALSE

Calculated value is valid.

o_ParameterError

BOOL

TRUE/FALSE

Error in input parameters.

 

Return value

Data type

Description

SAFEBOOL

TRUE = Signature ok

FALSE = Signature mismatch or calculation failure

 

Error diagnostic

See Diagnostic Interface library description of error status and event code functionality.

 

Conditions

Return value

o_OutputValid

o_ParameterError

Event code FunctionID

Event code EventID

i_pSRDOSignature = 0 OR

i_pMappingParameter = 0 OR

i_Mappings = 0 OR

i_InfoDirection out of range OR

i_COBID1 out of range OR

i_COBID2 out of range

FALSE

FALSE

TRUE

VALIDATE_ SRDO_ SIGNATURE

PARAMETER_ERROR

i_pEventCode = 0

FALSE

FALSE

TRUE

-

-

parameters ok AND

inputs match

TRUE

TRUE

FALSE

NO_FUNC

NO_ERROR

parameters ok AND

inputs mismatch

FALSE

TRUE

FALSE

VALIDATE_ SRDO_ SIGNATURE

DATA_MISMATCH

 

Example code

Definitions at global variable list G_CAN1_TSRDO:

 

(*NOTE! This object is created by Epec MultiTool*)

 

/// Plain SRDO variables

tdw1 AT %MD0: DWORD := DWORD#16#0;

tdw2 AT %MD1: DWORD := DWORD#16#0;

 

/// Inverted SRDO variables

tdw1_i AT %MD2: DWORD := DWORD#16#0;

tdw2_i AT %MD3: DWORD := DWORD#16#0;

 

/// Plain SRDO variable timestamps

tdw1_TIME: UDINT := UDINT#0;

tdw2_TIME: UDINT := UDINT#0;

 

/// Inverted SRDO variable timestamps

tdw1_i_TIME: UDINT := UDINT#0;

tdw2_i_TIME: UDINT := UDINT#0;

 

 

 

Definitions at global variable list G_CANopen_CAN1:

 

(*NOTE! This object is created by Epec MultiTool Creator*)

 

/// SRDO

SRDO: EPEC_CANopen.SRDOData; (* Protocol data *)

SRDOS: ARRAY[1..2] OF EPEC_CANopen.CANopenSRDO; (* SRDO instances *)

SRDO_Handler: EPEC_CANopen.CANopenSRDOHandler; (* Protocol handler *)

SRDO_Error: EPEC_CANopen.Errors := EPEC_CANopen.Errors.NotInitialized;

SRDO_Triggers: ARRAY[1..2] OF BOOL;

SRDO_Signatures: ARRAY[1..2] OF WORD;

SRDO_EventCodes: ARRAY[1..2] OF EPEC_DITF.EventCode;

 

 

Definitions at global variable list G_CANopen_CAN1_Mappings:

 

(*NOTE! This object is created by Epec MultiTool Creator*)

 

/// SRDO variable mappings

SRDO1Mappings: ARRAY [1..G_CANOPEN_NUMBER_OF_LAST_SRDO_MAP*2] OF DWORD := [

    DWORD#16#5FD60120, (* G_CAN1_TSRDO.tdw1 *)

    DWORD#16#5FD50120, (* G_CAN1_TSRDO.tdw1_i *)

    DWORD#16#5FD60220, (* G_CAN1_TSRDO.tdw2 *)

    DWORD#16#5FD50220, (* G_CAN1_TSRDO.tdw2_i *)

    12(DWORD#16#0)];   (* 16 - 4 = 12 *)

 

 

SRDO protocol initialization at non-safe Init_CANopen_CAN1 (PRG):

 

 

(*NOTE! This object is created by Epec MultiTool Creator*)

 

(*Define SRDO protocol*)

G_CANopen_CAN1.Protocols[6].Protocol:=EPEC_CANopen.ProtocolType.SRDO;

G_CANopen_CAN1.Protocols[6].pData:=ADR(G_CANopen_CAN1.SRDO);

G_CANopen_CAN1.Protocols[6].itfProtocol:=G_CANopen_CAN1.SRDO_Handler;

G_CANopen_CAN1.Protocols[6].pError:=ADR(G_CANopen_CAN1.SRDO_Error);

G_CANopen_CAN1.ProtocolAdded[6] := CANopenDeviceAddProtocol( (* Add to protocol stack *)

    i_pDevice:=ADR(G_CANopen_CAN1.Device),

    i_pProtocol:=ADR(G_CANopen_CAN1.Protocols[6])

);

IF G_CANopen_CAN1.ProtocolAdded[6] THEN

    G_CANopen_CAN1.SRDO_Handler.Init(

        i_pDevice := ADR(G_CANopen_CAN1.Device)

    );

ELSE

    G_CANopen_CAN1.SRDO_Error := EPEC_CANopen.Errors.ProtocolDataMissing;

END_IF

 

SRDO initialization at non-safe Init_CANopen_CAN1 (PRG):

 

(* Init SRDOs *)

G_CANopen_CAN1.SRDOS[1].i_pTimings[1]:= ADR(G_CAN1_TSRDO.tdw1_TIME); (*tdw1 *)

G_CANopen_CAN1.SRDOS[1].i_pTimings[2]:= ADR(G_CAN1_TSRDO.tdw1_i_TIME); (*tdw1_i *)

G_CANopen_CAN1.SRDOS[1].i_pTimings[3]:= ADR(G_CAN1_TSRDO.tdw2_TIME); (*tdw2 *)

G_CANopen_CAN1.SRDOS[1].i_pTimings[4]:= ADR(G_CAN1_TSRDO.tdw2_i_TIME); (*tdw2_i *)

G_CANopen_CAN1.SRDOS[1].Init(

    i_pDevice := ADR(G_CANopen_CAN1.Device),

    i_SRDONumber := 1,

    i_SRDOType := EPEC_CANopen.SRDOType.TransmitSRDO,

    i_SCTime := UINT#25, (* TSRDO Refresh Time (ms) *)

    i_SRVTime := USINT#0, (* Validation time (rx) (ms) *)

    i_COB_ID1 := DWORD#16#101, (* Plain message COB-ID *)

    i_COB_ID2 := DWORD#16#102, (* Inverted message COB-ID *)

    i_Mapping := G_CANopen_CAN1_Mappings.SRDO1Mappings, (* Plain + Inverted data mappings *)

    i_Mappings := 4, (* Plain + Inverted data mappings *)

    o_Error => G_CANopen_CAN1.SRDO_Error

);

 

 

Definitions:

 

srdoerror: BOOL;

srdovalid: BOOL;

SignatureValid: BOOL := FALSE;

SignatureError: BOOL := FALSE;

 

S_SRDOValid: SAFEBOOL := FALSE;

 

 

 

Code:

 

SignatureValid := TRUE;

S_SRDOValid := TRUE;

 

FOR i := UINT#1 TO SIZEOF(G_CANopen_CAN1.SRDOS)/SIZEOF(G_CANopen_CAN1.SRDOS[1]) DO

 

    S_SRDOValid := S_SRDOValid AND EPEC_SDV.S_ValidateSRDOSignature (

        i_pSRDOSignature := ADR(G_CANopen_CAN1.SRDO_Signatures[i]),

        i_InfoDirection := G_CANopen_CAN1.SRDOS[i].i_SRDOType,

        i_SCTime := G_CANopen_CAN1.SRDOS[i].i_SCTime,

        i_SRVTime := G_CANopen_CAN1.SRDOS[i].i_SRVTime,

        i_COBID1 := G_CANopen_CAN1.SRDOS[i].i_COB_ID1,

        i_COBID2 := G_CANopen_CAN1.SRDOS[i].i_COB_ID2,

        i_Mappings := G_CANopen_CAN1.SRDOS[i].i_Mappings,

        i_pMappingParameter := ADR(G_CANopen_CAN1.SRDOS[i].i_Mapping),

        i_pEventCode := ADR(G_CANopen_CAN1.SRDO_EventCodes[i]),

        o_ParameterError => srdoerror,

        o_OutputValid => srdovalid

    );

    (* calculation status *)

    SignatureValid := SignatureValid AND srdovalid;

    SignatureError := SignatureError OR srdoerror;

 

END_FOR

 

 

See also

 

 

 

 

 

Source file topic100387.htm

Last updated 13-Jun-2024