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__ */