1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

/** @defgroup heartbeato Heartbeat Object

    24

 *  The heartbeat mechanism for a device is established through cyclically transmitting a message by a

    25

 *	heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the

    26

 *	heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be

    27

 *	informed about that event.

    28

 *  @ingroup comobj

    29

 */

    30

    31

#ifndef __lifegrd_h__

    32

#define __lifegrd_h__

    33

    34

    35

#include <applicfg.h>

    36

    37

typedef void (*heartbeatError_t)(CO_Data*, UNS8);

    38

void _heartbeatError(CO_Data* d, UNS8 heartbeatID);

    39

    40

typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8);

    41

void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);

    42

    43

typedef void (*post_SlaveStateChange_t)(CO_Data*, UNS8, e_nodeState);

    44

void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState);

    45

    46

#include "data.h"

    47

    48

/*************************************************************************

    49

 * Functions

    50

 *************************************************************************/

    51

    52

/** 

    53

 * @ingroup statemachine

    54

 * @brief To read the state of a node

    55

 * This can be used by the master after having sent a life guard request,

    56

 * of by any node if it is waiting for heartbeat.

    57

 * @param *d Pointer on a CAN object data structure

    58

 * @param nodeId Id of a node

    59

 * @return e_nodeState State of the node corresponding to the nodeId

    60

 */

    61

e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);

    62

    63

/** 

    64

 * @brief Start heartbeat consumer and producer

    65

 * with respect to 0x1016 and 0x1017

    66

 * object dictionary entries

    67

 * @param *d Pointer on a CAN object data structure

    68

 */

    69

void heartbeatInit(CO_Data* d);

    70

    71

/** 

    72

 * @brief Stop heartbeat consumer and producer

    73

 * @param *d Pointer on a CAN object data structure

    74

 */

    75

void heartbeatStop(CO_Data* d);

    76

    77

/** 

    78

 * @brief This function is responsible to process a canopen-message which seams to be an NMT Error Control

    79

 * Messages. At them moment we assume that every NMT error control message

    80

 * is a heartbeat message.

    81

 * If a BootUp message is detected, it will return the nodeId of the Slave who booted up

    82

 * @param *d Pointer on a CAN object data structure 

    83

 * @param *m Pointer on the CAN-message which has to be analysed.

    84

 */

    85

void proceedNODE_GUARD (CO_Data* d, Message* m);

    86

    87

#endif /*__lifegrd_h__ */