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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef __lifegrd_h__
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#define __lifegrd_h__
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#include <applicfg.h>
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typedef void (*heartbeatError_t)(UNS8);
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#include "data.h"
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//*************************************************************************/
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//Functions
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//*************************************************************************/
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/** To read the state of a node
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* This can be used by the master after having sent a life guard request,
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* of by any node if it is waiting for heartbeat.
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*/
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e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);
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/** Start heartbeat consumer and producer
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* with respect to 0x1016 and 0x1017
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* object dictionary entries
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*/
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void heartbeatInit(CO_Data* d);
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/** Stop heartbeat consumer and producer
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*/
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void heartbeatStop(CO_Data* d);
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/** This function is responsible to process a canopen-message which seams to be an NMT Error Control
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* Messages. At them moment we assume that every NMT error control message
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* is a heartbeat message.
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* \param Message The CAN-message which has to be analysed.
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* If a BootUp message is detected, it will return the nodeId of the Slave who booted up
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*/
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void proceedNODE_GUARD (CO_Data* d, Message* m);
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#endif //__lifegrd_h__
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