Sam Grove
/
canopen_masternode
CANfestival - an open source CANopen framework
framework/src/lifegrd.c@0:9dd7c6129683, 2011-05-30 (annotated)
- Committer:
- sam_grove
- Date:
- Mon May 30 07:36:47 2011 +0000
- Revision:
- 0:9dd7c6129683
Initial public release of master node example
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sam_grove |
0:9dd7c6129683 | 1 | /* |
sam_grove |
0:9dd7c6129683 | 2 | This file is part of CanFestival, a library implementing CanOpen |
sam_grove |
0:9dd7c6129683 | 3 | Stack. |
sam_grove |
0:9dd7c6129683 | 4 | |
sam_grove |
0:9dd7c6129683 | 5 | Copyright (C): Edouard TISSERANT and Francis DUPIN |
sam_grove |
0:9dd7c6129683 | 6 | |
sam_grove |
0:9dd7c6129683 | 7 | See COPYING file for copyrights details. |
sam_grove |
0:9dd7c6129683 | 8 | |
sam_grove |
0:9dd7c6129683 | 9 | This library is free software; you can redistribute it and/or |
sam_grove |
0:9dd7c6129683 | 10 | modify it under the terms of the GNU Lesser General Public |
sam_grove |
0:9dd7c6129683 | 11 | License as published by the Free Software Foundation; either |
sam_grove |
0:9dd7c6129683 | 12 | version 2.1 of the License, or (at your option) any later version. |
sam_grove |
0:9dd7c6129683 | 13 | |
sam_grove |
0:9dd7c6129683 | 14 | This library is distributed in the hope that it will be useful, |
sam_grove |
0:9dd7c6129683 | 15 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
sam_grove |
0:9dd7c6129683 | 16 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
sam_grove |
0:9dd7c6129683 | 17 | Lesser General Public License for more details. |
sam_grove |
0:9dd7c6129683 | 18 | |
sam_grove |
0:9dd7c6129683 | 19 | You should have received a copy of the GNU Lesser General Public |
sam_grove |
0:9dd7c6129683 | 20 | License along with this library; if not, write to the Free Software |
sam_grove |
0:9dd7c6129683 | 21 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 |
sam_grove |
0:9dd7c6129683 | 22 | USA |
sam_grove |
0:9dd7c6129683 | 23 | */ |
sam_grove |
0:9dd7c6129683 | 24 | |
sam_grove |
0:9dd7c6129683 | 25 | /*! |
sam_grove |
0:9dd7c6129683 | 26 | ** @file lifegrd.c |
sam_grove |
0:9dd7c6129683 | 27 | ** @author Edouard TISSERANT |
sam_grove |
0:9dd7c6129683 | 28 | ** @date Mon Jun 4 17:19:24 2007 |
sam_grove |
0:9dd7c6129683 | 29 | ** |
sam_grove |
0:9dd7c6129683 | 30 | ** @brief |
sam_grove |
0:9dd7c6129683 | 31 | ** |
sam_grove |
0:9dd7c6129683 | 32 | ** |
sam_grove |
0:9dd7c6129683 | 33 | */ |
sam_grove |
0:9dd7c6129683 | 34 | |
sam_grove |
0:9dd7c6129683 | 35 | #include <data.h> |
sam_grove |
0:9dd7c6129683 | 36 | #include "lifegrd.h" |
sam_grove |
0:9dd7c6129683 | 37 | #include "canfestival.h" |
sam_grove |
0:9dd7c6129683 | 38 | #include "dcf.h" |
sam_grove |
0:9dd7c6129683 | 39 | #include "sysdep.h" |
sam_grove |
0:9dd7c6129683 | 40 | |
sam_grove |
0:9dd7c6129683 | 41 | |
sam_grove |
0:9dd7c6129683 | 42 | void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id); |
sam_grove |
0:9dd7c6129683 | 43 | |
sam_grove |
0:9dd7c6129683 | 44 | |
sam_grove |
0:9dd7c6129683 | 45 | void ProducerHearbeatAlarm(CO_Data* d, UNS32 id); |
sam_grove |
0:9dd7c6129683 | 46 | |
sam_grove |
0:9dd7c6129683 | 47 | UNS32 OnHearbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex); |
sam_grove |
0:9dd7c6129683 | 48 | |
sam_grove |
0:9dd7c6129683 | 49 | /*! |
sam_grove |
0:9dd7c6129683 | 50 | ** |
sam_grove |
0:9dd7c6129683 | 51 | ** |
sam_grove |
0:9dd7c6129683 | 52 | ** @param d |
sam_grove |
0:9dd7c6129683 | 53 | ** @param nodeId |
sam_grove |
0:9dd7c6129683 | 54 | ** |
sam_grove |
0:9dd7c6129683 | 55 | ** @return |
sam_grove |
0:9dd7c6129683 | 56 | **/ |
sam_grove |
0:9dd7c6129683 | 57 | e_nodeState getNodeState (CO_Data* d, UNS8 nodeId) |
sam_grove |
0:9dd7c6129683 | 58 | { |
sam_grove |
0:9dd7c6129683 | 59 | e_nodeState networkNodeState = d->NMTable[nodeId]; |
sam_grove |
0:9dd7c6129683 | 60 | return networkNodeState; |
sam_grove |
0:9dd7c6129683 | 61 | } |
sam_grove |
0:9dd7c6129683 | 62 | |
sam_grove |
0:9dd7c6129683 | 63 | /*! |
sam_grove |
0:9dd7c6129683 | 64 | ** The Consumer Timer Callback |
sam_grove |
0:9dd7c6129683 | 65 | ** |
sam_grove |
0:9dd7c6129683 | 66 | ** @param d |
sam_grove |
0:9dd7c6129683 | 67 | ** @param id |
sam_grove |
0:9dd7c6129683 | 68 | **/ |
sam_grove |
0:9dd7c6129683 | 69 | void ConsumerHearbeatAlarm(CO_Data* d, UNS32 id) |
sam_grove |
0:9dd7c6129683 | 70 | { |
sam_grove |
0:9dd7c6129683 | 71 | UNS8 nodeId = (UNS8)(((d->ConsumerHeartbeatEntries[id]) & (UNS32)0x00FF0000) >> (UNS8)16); |
sam_grove |
0:9dd7c6129683 | 72 | /*MSG_WAR(0x00, "ConsumerHearbeatAlarm", 0x00);*/ |
sam_grove |
0:9dd7c6129683 | 73 | |
sam_grove |
0:9dd7c6129683 | 74 | /* timer have been notified and is now free (non periodic)*/ |
sam_grove |
0:9dd7c6129683 | 75 | /* -> avoid deleting re-assigned timer if message is received too late*/ |
sam_grove |
0:9dd7c6129683 | 76 | d->ConsumerHeartBeatTimers[id]=TIMER_NONE; |
sam_grove |
0:9dd7c6129683 | 77 | |
sam_grove |
0:9dd7c6129683 | 78 | /* set node state */ |
sam_grove |
0:9dd7c6129683 | 79 | d->NMTable[nodeId] = Disconnected; |
sam_grove |
0:9dd7c6129683 | 80 | /*! call heartbeat error with NodeId */ |
sam_grove |
0:9dd7c6129683 | 81 | (*d->heartbeatError)(d, nodeId); |
sam_grove |
0:9dd7c6129683 | 82 | } |
sam_grove |
0:9dd7c6129683 | 83 | |
sam_grove |
0:9dd7c6129683 | 84 | /*! |
sam_grove |
0:9dd7c6129683 | 85 | ** |
sam_grove |
0:9dd7c6129683 | 86 | ** |
sam_grove |
0:9dd7c6129683 | 87 | ** @param d |
sam_grove |
0:9dd7c6129683 | 88 | ** @param m |
sam_grove |
0:9dd7c6129683 | 89 | **/ |
sam_grove |
0:9dd7c6129683 | 90 | void proceedNODE_GUARD(CO_Data* d, Message* m ) |
sam_grove |
0:9dd7c6129683 | 91 | { |
sam_grove |
0:9dd7c6129683 | 92 | UNS8 nodeId = (UNS8) GET_NODE_ID((*m)); |
sam_grove |
0:9dd7c6129683 | 93 | |
sam_grove |
0:9dd7c6129683 | 94 | if((m->rtr == 1) ) |
sam_grove |
0:9dd7c6129683 | 95 | /*! |
sam_grove |
0:9dd7c6129683 | 96 | ** Notice that only the master can have sent this |
sam_grove |
0:9dd7c6129683 | 97 | ** node guarding request |
sam_grove |
0:9dd7c6129683 | 98 | */ |
sam_grove |
0:9dd7c6129683 | 99 | { |
sam_grove |
0:9dd7c6129683 | 100 | /*! |
sam_grove |
0:9dd7c6129683 | 101 | ** Receiving a NMT NodeGuarding (request of the state by the |
sam_grove |
0:9dd7c6129683 | 102 | ** master) |
sam_grove |
0:9dd7c6129683 | 103 | ** Only answer to the NMT NodeGuarding request, the master is |
sam_grove |
0:9dd7c6129683 | 104 | ** not checked (not implemented) |
sam_grove |
0:9dd7c6129683 | 105 | */ |
sam_grove |
0:9dd7c6129683 | 106 | if (nodeId == *d->bDeviceNodeId ) |
sam_grove |
0:9dd7c6129683 | 107 | { |
sam_grove |
0:9dd7c6129683 | 108 | Message msg; |
sam_grove |
0:9dd7c6129683 | 109 | UNS16 tmp = *d->bDeviceNodeId + 0x700; |
sam_grove |
0:9dd7c6129683 | 110 | msg.cob_id = UNS16_LE(tmp); |
sam_grove |
0:9dd7c6129683 | 111 | msg.len = (UNS8)0x01; |
sam_grove |
0:9dd7c6129683 | 112 | msg.rtr = 0; |
sam_grove |
0:9dd7c6129683 | 113 | msg.data[0] = d->nodeState; |
sam_grove |
0:9dd7c6129683 | 114 | if (d->toggle) |
sam_grove |
0:9dd7c6129683 | 115 | { |
sam_grove |
0:9dd7c6129683 | 116 | msg.data[0] |= 0x80 ; |
sam_grove |
0:9dd7c6129683 | 117 | d->toggle = 0 ; |
sam_grove |
0:9dd7c6129683 | 118 | } |
sam_grove |
0:9dd7c6129683 | 119 | else |
sam_grove |
0:9dd7c6129683 | 120 | d->toggle = 1 ; |
sam_grove |
0:9dd7c6129683 | 121 | /* send the nodeguard response. */ |
sam_grove |
0:9dd7c6129683 | 122 | MSG_WAR(0x3130, "Sending NMT Nodeguard to master, state: ", d->nodeState); |
sam_grove |
0:9dd7c6129683 | 123 | canSend(d->canHandle,&msg ); |
sam_grove |
0:9dd7c6129683 | 124 | } |
sam_grove |
0:9dd7c6129683 | 125 | |
sam_grove |
0:9dd7c6129683 | 126 | }else{ /* Not a request CAN */ |
sam_grove |
0:9dd7c6129683 | 127 | /* The state is stored on 7 bit */ |
sam_grove |
0:9dd7c6129683 | 128 | e_nodeState newNodeState = (e_nodeState) ((*m).data[0] & 0x7F); |
sam_grove |
0:9dd7c6129683 | 129 | |
sam_grove |
0:9dd7c6129683 | 130 | MSG_WAR(0x3110, "Received NMT nodeId : ", nodeId); |
sam_grove |
0:9dd7c6129683 | 131 | |
sam_grove |
0:9dd7c6129683 | 132 | if (d->NMTable[nodeId] != newNodeState) |
sam_grove |
0:9dd7c6129683 | 133 | { |
sam_grove |
0:9dd7c6129683 | 134 | (*d->post_SlaveStateChange)(d, nodeId, newNodeState); |
sam_grove |
0:9dd7c6129683 | 135 | /* the slave's state receievd is stored in the NMTable */ |
sam_grove |
0:9dd7c6129683 | 136 | d->NMTable[nodeId] = newNodeState; |
sam_grove |
0:9dd7c6129683 | 137 | } |
sam_grove |
0:9dd7c6129683 | 138 | |
sam_grove |
0:9dd7c6129683 | 139 | /* Boot-Up frame reception */ |
sam_grove |
0:9dd7c6129683 | 140 | if ( d->NMTable[nodeId] == Initialisation) |
sam_grove |
0:9dd7c6129683 | 141 | { |
sam_grove |
0:9dd7c6129683 | 142 | /* |
sam_grove |
0:9dd7c6129683 | 143 | ** The device send the boot-up message (Initialisation) |
sam_grove |
0:9dd7c6129683 | 144 | ** to indicate the master that it is entered in |
sam_grove |
0:9dd7c6129683 | 145 | ** pre_operational mode |
sam_grove |
0:9dd7c6129683 | 146 | ** Because the device enter automaticaly in pre_operational |
sam_grove |
0:9dd7c6129683 | 147 | ** mode, |
sam_grove |
0:9dd7c6129683 | 148 | ** the pre_operational mode is stored |
sam_grove |
0:9dd7c6129683 | 149 | ** NMTable[bus_id][nodeId] = Pre_operational |
sam_grove |
0:9dd7c6129683 | 150 | */ |
sam_grove |
0:9dd7c6129683 | 151 | MSG_WAR(0x3100, "The NMT is a bootup from node : ", nodeId); |
sam_grove |
0:9dd7c6129683 | 152 | |
sam_grove |
0:9dd7c6129683 | 153 | if(!send_consise_dcf(d,nodeId)){ |
sam_grove |
0:9dd7c6129683 | 154 | /* call post SlaveBootup with NodeId */ |
sam_grove |
0:9dd7c6129683 | 155 | (*d->post_SlaveBootup)(d, nodeId); |
sam_grove |
0:9dd7c6129683 | 156 | } |
sam_grove |
0:9dd7c6129683 | 157 | } |
sam_grove |
0:9dd7c6129683 | 158 | |
sam_grove |
0:9dd7c6129683 | 159 | if( d->NMTable[nodeId] != Unknown_state ) { |
sam_grove |
0:9dd7c6129683 | 160 | UNS8 index, ConsummerHeartBeat_nodeId ; |
sam_grove |
0:9dd7c6129683 | 161 | for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
sam_grove |
0:9dd7c6129683 | 162 | { |
sam_grove |
0:9dd7c6129683 | 163 | ConsummerHeartBeat_nodeId = (UNS8)( ((d->ConsumerHeartbeatEntries[index]) & (UNS32)0x00FF0000) >> (UNS8)16 ); |
sam_grove |
0:9dd7c6129683 | 164 | if ( nodeId == ConsummerHeartBeat_nodeId ) |
sam_grove |
0:9dd7c6129683 | 165 | { |
sam_grove |
0:9dd7c6129683 | 166 | TIMEVAL time = ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
sam_grove |
0:9dd7c6129683 | 167 | /* Renew alarm for next heartbeat. */ |
sam_grove |
0:9dd7c6129683 | 168 | DelAlarm(d->ConsumerHeartBeatTimers[index]); |
sam_grove |
0:9dd7c6129683 | 169 | d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
sam_grove |
0:9dd7c6129683 | 170 | } |
sam_grove |
0:9dd7c6129683 | 171 | } |
sam_grove |
0:9dd7c6129683 | 172 | } |
sam_grove |
0:9dd7c6129683 | 173 | } |
sam_grove |
0:9dd7c6129683 | 174 | } |
sam_grove |
0:9dd7c6129683 | 175 | |
sam_grove |
0:9dd7c6129683 | 176 | /*! The Consumer Timer Callback |
sam_grove |
0:9dd7c6129683 | 177 | ** |
sam_grove |
0:9dd7c6129683 | 178 | ** |
sam_grove |
0:9dd7c6129683 | 179 | ** @param d |
sam_grove |
0:9dd7c6129683 | 180 | ** @param id |
sam_grove |
0:9dd7c6129683 | 181 | **/ |
sam_grove |
0:9dd7c6129683 | 182 | void ProducerHearbeatAlarm(CO_Data* d, UNS32 id) |
sam_grove |
0:9dd7c6129683 | 183 | { |
sam_grove |
0:9dd7c6129683 | 184 | if(*d->ProducerHeartBeatTime) |
sam_grove |
0:9dd7c6129683 | 185 | { |
sam_grove |
0:9dd7c6129683 | 186 | Message msg; |
sam_grove |
0:9dd7c6129683 | 187 | /* Time expired, the heartbeat must be sent immediately |
sam_grove |
0:9dd7c6129683 | 188 | ** generate the correct node-id: this is done by the offset 1792 |
sam_grove |
0:9dd7c6129683 | 189 | ** (decimal) and additionaly |
sam_grove |
0:9dd7c6129683 | 190 | ** the node-id of this device. |
sam_grove |
0:9dd7c6129683 | 191 | */ |
sam_grove |
0:9dd7c6129683 | 192 | UNS16 tmp = *d->bDeviceNodeId + 0x700; |
sam_grove |
0:9dd7c6129683 | 193 | msg.cob_id = UNS16_LE(tmp); |
sam_grove |
0:9dd7c6129683 | 194 | msg.len = (UNS8)0x01; |
sam_grove |
0:9dd7c6129683 | 195 | msg.rtr = 0; |
sam_grove |
0:9dd7c6129683 | 196 | msg.data[0] = d->nodeState; /* No toggle for heartbeat !*/ |
sam_grove |
0:9dd7c6129683 | 197 | /* send the heartbeat */ |
sam_grove |
0:9dd7c6129683 | 198 | MSG_WAR(0x3130, "Producing heartbeat: ", d->nodeState); |
sam_grove |
0:9dd7c6129683 | 199 | canSend(d->canHandle,&msg ); |
sam_grove |
0:9dd7c6129683 | 200 | |
sam_grove |
0:9dd7c6129683 | 201 | }else{ |
sam_grove |
0:9dd7c6129683 | 202 | d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
sam_grove |
0:9dd7c6129683 | 203 | } |
sam_grove |
0:9dd7c6129683 | 204 | } |
sam_grove |
0:9dd7c6129683 | 205 | |
sam_grove |
0:9dd7c6129683 | 206 | /*! This is called when Index 0x1017 is updated. |
sam_grove |
0:9dd7c6129683 | 207 | ** |
sam_grove |
0:9dd7c6129683 | 208 | ** |
sam_grove |
0:9dd7c6129683 | 209 | ** @param d |
sam_grove |
0:9dd7c6129683 | 210 | ** @param unsused_indextable |
sam_grove |
0:9dd7c6129683 | 211 | ** @param unsused_bSubindex |
sam_grove |
0:9dd7c6129683 | 212 | ** |
sam_grove |
0:9dd7c6129683 | 213 | ** @return |
sam_grove |
0:9dd7c6129683 | 214 | **/ |
sam_grove |
0:9dd7c6129683 | 215 | UNS32 OnHeartbeatProducerUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
sam_grove |
0:9dd7c6129683 | 216 | { |
sam_grove |
0:9dd7c6129683 | 217 | heartbeatStop(d); |
sam_grove |
0:9dd7c6129683 | 218 | heartbeatInit(d); |
sam_grove |
0:9dd7c6129683 | 219 | return 0; |
sam_grove |
0:9dd7c6129683 | 220 | } |
sam_grove |
0:9dd7c6129683 | 221 | |
sam_grove |
0:9dd7c6129683 | 222 | /*! |
sam_grove |
0:9dd7c6129683 | 223 | ** |
sam_grove |
0:9dd7c6129683 | 224 | ** |
sam_grove |
0:9dd7c6129683 | 225 | ** @param d |
sam_grove |
0:9dd7c6129683 | 226 | **/ |
sam_grove |
0:9dd7c6129683 | 227 | void heartbeatInit(CO_Data* d) |
sam_grove |
0:9dd7c6129683 | 228 | { |
sam_grove |
0:9dd7c6129683 | 229 | |
sam_grove |
0:9dd7c6129683 | 230 | UNS8 index; /* Index to scan the table of heartbeat consumers */ |
sam_grove |
0:9dd7c6129683 | 231 | RegisterSetODentryCallBack(d, 0x1017, 0x00, &OnHeartbeatProducerUpdate); |
sam_grove |
0:9dd7c6129683 | 232 | |
sam_grove |
0:9dd7c6129683 | 233 | d->toggle = 0; |
sam_grove |
0:9dd7c6129683 | 234 | |
sam_grove |
0:9dd7c6129683 | 235 | for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
sam_grove |
0:9dd7c6129683 | 236 | { |
sam_grove |
0:9dd7c6129683 | 237 | TIMEVAL time = (UNS16) ( (d->ConsumerHeartbeatEntries[index]) & (UNS32)0x0000FFFF ) ; |
sam_grove |
0:9dd7c6129683 | 238 | /* MSG_WAR(0x3121, "should_time : ", should_time ) ; */ |
sam_grove |
0:9dd7c6129683 | 239 | if ( time ) |
sam_grove |
0:9dd7c6129683 | 240 | { |
sam_grove |
0:9dd7c6129683 | 241 | d->ConsumerHeartBeatTimers[index] = SetAlarm(d, index, &ConsumerHearbeatAlarm, MS_TO_TIMEVAL(time), 0); |
sam_grove |
0:9dd7c6129683 | 242 | } |
sam_grove |
0:9dd7c6129683 | 243 | } |
sam_grove |
0:9dd7c6129683 | 244 | |
sam_grove |
0:9dd7c6129683 | 245 | if ( *d->ProducerHeartBeatTime ) |
sam_grove |
0:9dd7c6129683 | 246 | { |
sam_grove |
0:9dd7c6129683 | 247 | TIMEVAL time = *d->ProducerHeartBeatTime; |
sam_grove |
0:9dd7c6129683 | 248 | d->ProducerHeartBeatTimer = SetAlarm(d, 0, &ProducerHearbeatAlarm, MS_TO_TIMEVAL(time), MS_TO_TIMEVAL(time)); |
sam_grove |
0:9dd7c6129683 | 249 | } |
sam_grove |
0:9dd7c6129683 | 250 | } |
sam_grove |
0:9dd7c6129683 | 251 | |
sam_grove |
0:9dd7c6129683 | 252 | /*! |
sam_grove |
0:9dd7c6129683 | 253 | ** |
sam_grove |
0:9dd7c6129683 | 254 | ** |
sam_grove |
0:9dd7c6129683 | 255 | ** @param d |
sam_grove |
0:9dd7c6129683 | 256 | **/ |
sam_grove |
0:9dd7c6129683 | 257 | void heartbeatStop(CO_Data* d) |
sam_grove |
0:9dd7c6129683 | 258 | { |
sam_grove |
0:9dd7c6129683 | 259 | UNS8 index; |
sam_grove |
0:9dd7c6129683 | 260 | for( index = (UNS8)0x00; index < *d->ConsumerHeartbeatCount; index++ ) |
sam_grove |
0:9dd7c6129683 | 261 | { |
sam_grove |
0:9dd7c6129683 | 262 | d->ConsumerHeartBeatTimers[index] = DelAlarm(d->ConsumerHeartBeatTimers[index]); |
sam_grove |
0:9dd7c6129683 | 263 | } |
sam_grove |
0:9dd7c6129683 | 264 | |
sam_grove |
0:9dd7c6129683 | 265 | d->ProducerHeartBeatTimer = DelAlarm(d->ProducerHeartBeatTimer); |
sam_grove |
0:9dd7c6129683 | 266 | } |
sam_grove |
0:9dd7c6129683 | 267 | |
sam_grove |
0:9dd7c6129683 | 268 | /*! |
sam_grove |
0:9dd7c6129683 | 269 | ** |
sam_grove |
0:9dd7c6129683 | 270 | ** |
sam_grove |
0:9dd7c6129683 | 271 | ** @param heartbeatID |
sam_grove |
0:9dd7c6129683 | 272 | **/ |
sam_grove |
0:9dd7c6129683 | 273 | void _heartbeatError(CO_Data* d, UNS8 heartbeatID){} |
sam_grove |
0:9dd7c6129683 | 274 | void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID){} |
sam_grove |
0:9dd7c6129683 | 275 | void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState){} |
sam_grove |
0:9dd7c6129683 | 276 |