This function is intended to be used in device that configures safety unit. E.g. a display unit.

SRDO signature is calculated by MultiTool Creator when configuring the unit with it.

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

This function is endianness-aware.

Separate big-endian format conversions shall NOT be used.

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

Input variable name

Data type

Unit

Range

Description

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

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.

Data type

Description

WORD

Calculated SRDO signature.

Conditions

Return value

o_OutputValid

o_ParameterError

i_pMapping = 0 OR

i_Mappings = 0 OR

i_COBID1 out of range OR

i_COBID2 out of range

0

FALSE

TRUE

Parameters ok

Calculated result

TRUE

FALSE

Definitions at global variable list G_CAN1_TSRDO:

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

/// 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;

Code:

SignatureValid := TRUE;

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

    G_CANopen_CAN1.SRDO_Signatures[i] := EPEC_SDV.CalculateSRDOSignature (

        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),

        o_ParameterError => srdoerror,

        o_OutputValid => srdovalid

    );

    SignatureValid := SignatureValid AND srdovalid;

    SignatureError := SignatureError OR srdoerror;

END_FOR