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

#ifndef __states_h__

    24

#define __states_h__

    25

    26

#include <applicfg.h>

    27

    28

/* The nodes states 

    29

 * -----------------

    30

 * values are choosen so, that they can be sent directly

    31

 * for heartbeat messages...

    32

 * Must be coded on 7 bits only

    33

 * */

    34

/* Should not be modified */

    35

enum enum_nodeState {

    36

  Initialisation  = 0x00, 

    37

  Disconnected    = 0x01,

    38

  Connecting      = 0x02,

    39

  Preparing       = 0x02,

    40

  Stopped         = 0x04,

    41

  Operational     = 0x05,

    42

  Pre_operational = 0x7F,

    43

  Unknown_state   = 0x0F,

    44

#ifdef CO_ENABLE_LSS

    45

  LssTimingDelay  = 0x10

    46

#endif

    47

};

    48

    49

typedef enum enum_nodeState e_nodeState;

    50

    51

typedef struct

    52

{

    53

	INTEGER8 csBoot_Up;

    54

	INTEGER8 csSDO;

    55

	INTEGER8 csEmergency;

    56

	INTEGER8 csSYNC;

    57

	INTEGER8 csHeartbeat;

    58

	INTEGER8 csPDO;

    59

	INTEGER8 csLSS;

    60

} s_state_communication;

    61

    62

/** Function that user app can overload

    63

 * 

    64

 */

    65

typedef void (*initialisation_t)(void);

    66

typedef void (*preOperational_t)(void);

    67

typedef void (*operational_t)(void);

    68

typedef void (*stopped_t)(void);

    69

    70

void _initialisation(void);

    71

void _preOperational(void);

    72

void _operational(void);

    73

void _stopped(void);

    74

    75

#include "data.h"

    76

    77

/************************* prototypes ******************************/

    78

    79

/** Called by driver/app when receiving messages

    80

*/

    81

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

    82

    83

/** Returns the state of the node 

    84

*/

    85

e_nodeState getState (CO_Data* d);

    86

    87

/** Change the state of the node 

    88

*/

    89

UNS8 setState (CO_Data* d, e_nodeState newState);

    90

    91

/** Returns the nodId 

    92

*/

    93

UNS8 getNodeId (CO_Data* d);

    94

    95

/** Define the node ID. Initialize the object dictionary

    96

*/

    97

void setNodeId (CO_Data* d, UNS8 nodeId);

    98

    99

/** Some stuff to do when the node enter in reset mode

   100

 *

   101

 */

   102

/* void initResetMode (CO_Data* d); */

   103

   104

   105

/** Some stuff to do when the node enter in pre-operational mode

   106

 *

   107

 */

   108

void initPreOperationalMode (CO_Data* d);

   109

   110

#endif