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Can_open_slavenode
Diff: framework/include/lifegrd.h
- Revision:
- 0:6219434a0cb5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/include/lifegrd.h Mon May 30 07:14:41 2011 +0000 @@ -0,0 +1,87 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/** @defgroup heartbeato Heartbeat Object + * The heartbeat mechanism for a device is established through cyclically transmitting a message by a + * heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the + * heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be + * informed about that event. + * @ingroup comobj + */ + +#ifndef __lifegrd_h__ +#define __lifegrd_h__ + + +#include <applicfg.h> + +typedef void (*heartbeatError_t)(CO_Data*, UNS8); +void _heartbeatError(CO_Data* d, UNS8 heartbeatID); + +typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8); +void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID); + +typedef void (*post_SlaveStateChange_t)(CO_Data*, UNS8, e_nodeState); +void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState); + +#include "data.h" + +/************************************************************************* + * Functions + *************************************************************************/ + +/** + * @ingroup statemachine + * @brief To read the state of a node + * This can be used by the master after having sent a life guard request, + * of by any node if it is waiting for heartbeat. + * @param *d Pointer on a CAN object data structure + * @param nodeId Id of a node + * @return e_nodeState State of the node corresponding to the nodeId + */ +e_nodeState getNodeState (CO_Data* d, UNS8 nodeId); + +/** + * @brief Start heartbeat consumer and producer + * with respect to 0x1016 and 0x1017 + * object dictionary entries + * @param *d Pointer on a CAN object data structure + */ +void heartbeatInit(CO_Data* d); + +/** + * @brief Stop heartbeat consumer and producer + * @param *d Pointer on a CAN object data structure + */ +void heartbeatStop(CO_Data* d); + +/** + * @brief This function is responsible to process a canopen-message which seams to be an NMT Error Control + * Messages. At them moment we assume that every NMT error control message + * is a heartbeat message. + * If a BootUp message is detected, it will return the nodeId of the Slave who booted up + * @param *d Pointer on a CAN object data structure + * @param *m Pointer on the CAN-message which has to be analysed. + */ +void proceedNODE_GUARD (CO_Data* d, Message* m); + +#endif /*__lifegrd_h__ */