Sam Grove / Mbed 2 deprecated canopen_slavenode

CANfestival - an open source CANopen framework

Dependencies:   mbed

framework/include/lifegrd.h@0:6219434a0cb5, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:14:41 2011 +0000
Revision:
0:6219434a0cb5
Initial public release of slave node framework port

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5
sam_grove 0:6219434a0cb5 6 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 7
sam_grove 0:6219434a0cb5 8 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 10 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 12
sam_grove 0:6219434a0cb5 13 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 16 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 17
sam_grove 0:6219434a0cb5 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 19 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 21 */
sam_grove 0:6219434a0cb5 22
sam_grove 0:6219434a0cb5 23 /** @defgroup heartbeato Heartbeat Object
sam_grove 0:6219434a0cb5 24 * The heartbeat mechanism for a device is established through cyclically transmitting a message by a
sam_grove 0:6219434a0cb5 25 * heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the
sam_grove 0:6219434a0cb5 26 * heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be
sam_grove 0:6219434a0cb5 27 * informed about that event.
sam_grove 0:6219434a0cb5 28 * @ingroup comobj
sam_grove 0:6219434a0cb5 29 */
sam_grove 0:6219434a0cb5 30
sam_grove 0:6219434a0cb5 31 #ifndef __lifegrd_h__
sam_grove 0:6219434a0cb5 32 #define __lifegrd_h__
sam_grove 0:6219434a0cb5 33
sam_grove 0:6219434a0cb5 34
sam_grove 0:6219434a0cb5 35 #include <applicfg.h>
sam_grove 0:6219434a0cb5 36
sam_grove 0:6219434a0cb5 37 typedef void (*heartbeatError_t)(CO_Data*, UNS8);
sam_grove 0:6219434a0cb5 38 void _heartbeatError(CO_Data* d, UNS8 heartbeatID);
sam_grove 0:6219434a0cb5 39
sam_grove 0:6219434a0cb5 40 typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8);
sam_grove 0:6219434a0cb5 41 void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);
sam_grove 0:6219434a0cb5 42
sam_grove 0:6219434a0cb5 43 typedef void (*post_SlaveStateChange_t)(CO_Data*, UNS8, e_nodeState);
sam_grove 0:6219434a0cb5 44 void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState);
sam_grove 0:6219434a0cb5 45
sam_grove 0:6219434a0cb5 46 #include "data.h"
sam_grove 0:6219434a0cb5 47
sam_grove 0:6219434a0cb5 48 /*************************************************************************
sam_grove 0:6219434a0cb5 49 * Functions
sam_grove 0:6219434a0cb5 50 *************************************************************************/
sam_grove 0:6219434a0cb5 51
sam_grove 0:6219434a0cb5 52 /**
sam_grove 0:6219434a0cb5 53 * @ingroup statemachine
sam_grove 0:6219434a0cb5 54 * @brief To read the state of a node
sam_grove 0:6219434a0cb5 55 * This can be used by the master after having sent a life guard request,
sam_grove 0:6219434a0cb5 56 * of by any node if it is waiting for heartbeat.
sam_grove 0:6219434a0cb5 57 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 58 * @param nodeId Id of a node
sam_grove 0:6219434a0cb5 59 * @return e_nodeState State of the node corresponding to the nodeId
sam_grove 0:6219434a0cb5 60 */
sam_grove 0:6219434a0cb5 61 e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);
sam_grove 0:6219434a0cb5 62
sam_grove 0:6219434a0cb5 63 /**
sam_grove 0:6219434a0cb5 64 * @brief Start heartbeat consumer and producer
sam_grove 0:6219434a0cb5 65 * with respect to 0x1016 and 0x1017
sam_grove 0:6219434a0cb5 66 * object dictionary entries
sam_grove 0:6219434a0cb5 67 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 68 */
sam_grove 0:6219434a0cb5 69 void heartbeatInit(CO_Data* d);
sam_grove 0:6219434a0cb5 70
sam_grove 0:6219434a0cb5 71 /**
sam_grove 0:6219434a0cb5 72 * @brief Stop heartbeat consumer and producer
sam_grove 0:6219434a0cb5 73 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 74 */
sam_grove 0:6219434a0cb5 75 void heartbeatStop(CO_Data* d);
sam_grove 0:6219434a0cb5 76
sam_grove 0:6219434a0cb5 77 /**
sam_grove 0:6219434a0cb5 78 * @brief This function is responsible to process a canopen-message which seams to be an NMT Error Control
sam_grove 0:6219434a0cb5 79 * Messages. At them moment we assume that every NMT error control message
sam_grove 0:6219434a0cb5 80 * is a heartbeat message.
sam_grove 0:6219434a0cb5 81 * If a BootUp message is detected, it will return the nodeId of the Slave who booted up
sam_grove 0:6219434a0cb5 82 * @param *d Pointer on a CAN object data structure
sam_grove 0:6219434a0cb5 83 * @param *m Pointer on the CAN-message which has to be analysed.
sam_grove 0:6219434a0cb5 84 */
sam_grove 0:6219434a0cb5 85 void proceedNODE_GUARD (CO_Data* d, Message* m);
sam_grove 0:6219434a0cb5 86
sam_grove 0:6219434a0cb5 87 #endif /*__lifegrd_h__ */