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Can_open_slavenode
framework/include/lifegrd.h
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:6219434a0cb5
File content as of revision 0:6219434a0cb5:
/* 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__ */