include/states.h
author fbeaulier
Mon, 29 Aug 2011 17:31:55 +0200
changeset 665 90e6cf84a0d7
parent 530 458418d7e10f
child 750 bfb63ff7106e
permissions -rw-r--r--
patch from Christian Taedcke <hacking@taedcke.com> : fix-wrong-resetSDOline-for-sdo-timeout.patch
FIXED: - The sdo line must not be closed at the end of SDOTimeoutAlarm() if the same sdo line is closed and reopened for a new transfer inside the callback. (Patch from Jaroslav Fojtik)
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     1
/*
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack. 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     3
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     5
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     6
See COPYING file for copyrights details.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     7
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     8
This library is free software; you can redistribute it and/or
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
     9
modify it under the terms of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    10
License as published by the Free Software Foundation; either
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    11
version 2.1 of the License, or (at your option) any later version.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    12
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    13
This library is distributed in the hope that it will be useful,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    14
but WITHOUT ANY WARRANTY; without even the implied warranty of
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    16
Lesser General Public License for more details.
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    17
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    18
You should have received a copy of the GNU Lesser General Public
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    19
License along with this library; if not, write to the Free Software
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    20
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    21
*/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    22
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    23
/** @defgroup statemachine State Machine
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    24
 *  @ingroup userapi
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    25
 */
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    26
 
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    27
#ifndef __states_h__
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    28
#define __states_h__
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    29
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    30
#include <applicfg.h>
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    31
71
95cd3376cc9f compilator compatitibility
frdupin
parents: 0
diff changeset
    32
/* The nodes states 
95cd3376cc9f compilator compatitibility
frdupin
parents: 0
diff changeset
    33
 * -----------------
95cd3376cc9f compilator compatitibility
frdupin
parents: 0
diff changeset
    34
 * values are choosen so, that they can be sent directly
95cd3376cc9f compilator compatitibility
frdupin
parents: 0
diff changeset
    35
 * for heartbeat messages...
95cd3376cc9f compilator compatitibility
frdupin
parents: 0
diff changeset
    36
 * Must be coded on 7 bits only
95cd3376cc9f compilator compatitibility
frdupin
parents: 0
diff changeset
    37
 * */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    38
/* Should not be modified */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    39
enum enum_nodeState {
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    40
  Initialisation  = 0x00, 
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    41
  Disconnected    = 0x01,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    42
  Connecting      = 0x02,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    43
  Preparing       = 0x02,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    44
  Stopped         = 0x04,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    45
  Operational     = 0x05,
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    46
  Pre_operational = 0x7F,
357
838e5397ae67 Fixed some build errors and warnigs, thanks to Martin Hollenweger (geautomotive.eu)
etisserant
parents: 343
diff changeset
    47
  Unknown_state   = 0x0F
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    48
};
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    49
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    50
typedef enum enum_nodeState e_nodeState;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    51
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    52
typedef struct
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    53
{
291
6165554cbfe9 Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents: 150
diff changeset
    54
	INTEGER8 csBoot_Up;
6165554cbfe9 Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents: 150
diff changeset
    55
	INTEGER8 csSDO;
6165554cbfe9 Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents: 150
diff changeset
    56
	INTEGER8 csEmergency;
6165554cbfe9 Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents: 150
diff changeset
    57
	INTEGER8 csSYNC;
6165554cbfe9 Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents: 150
diff changeset
    58
	INTEGER8 csHeartbeat;
6165554cbfe9 Some tricks in communication services status struct (states.c) and in sync.c to fit with Beremiz generated node code.
etisserant
parents: 150
diff changeset
    59
	INTEGER8 csPDO;
343
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa.
etisserant
parents: 291
diff changeset
    60
	INTEGER8 csLSS;
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    61
} s_state_communication;
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    62
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    63
/** 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    64
 * @brief Function that user app can overload
529
c171e11707c5 Second time, Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 528
diff changeset
    65
 * @ingroup statemachine
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    66
 */
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 357
diff changeset
    67
typedef void (*initialisation_t)(CO_Data*);
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 357
diff changeset
    68
typedef void (*preOperational_t)(CO_Data*);
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 357
diff changeset
    69
typedef void (*operational_t)(CO_Data*);
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents: 357
diff changeset
    70
typedef void (*stopped_t)(CO_Data*);
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
    71
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    72
/** 
530
458418d7e10f Third time, Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 529
diff changeset
    73
 * @ingroup statemachine
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    74
 * @brief Function that user app can overload
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    75
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    76
 */
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    77
void _initialisation(CO_Data* d);
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    78
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    79
/** 
530
458418d7e10f Third time, Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 529
diff changeset
    80
 * @ingroup statemachine
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    81
 * @brief Function that user app can overload
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    82
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    83
 */
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    84
void _preOperational(CO_Data* d);
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    85
530
458418d7e10f Third time, Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 529
diff changeset
    86
/**
458418d7e10f Third time, Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 529
diff changeset
    87
 * @ingroup statemachine 
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    88
 * @brief Function that user app can overload
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    89
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    90
 */
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    91
void _operational(CO_Data* d);
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    92
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    93
/** 
530
458418d7e10f Third time, Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 529
diff changeset
    94
 * @ingroup statemachine
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    95
 * @brief Function that user app can overload
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    96
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    97
 */
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
    98
void _stopped(CO_Data* d);
149
fe50ada8020b Changes in the API:
etisserant
parents: 71
diff changeset
    99
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   100
#include "data.h"
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   101
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   102
/************************* prototypes ******************************/
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   103
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   104
/** 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   105
 * @brief Called by driver/app when receiving messages
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   106
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   107
 * @param *m Pointer on a CAN message structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   108
 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   109
void canDispatch(CO_Data* d, Message *m);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   110
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   111
/** 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   112
 * @ingroup statemachine
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   113
 * @brief Returns the state of the node
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   114
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   115
 * @return The node state
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   116
 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   117
e_nodeState getState (CO_Data* d);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   118
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   119
/** 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   120
 * @ingroup statemachine
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   121
 * @brief Change the state of the node 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   122
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   123
 * @param newState The state to assign
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   124
 * @return 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   125
 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   126
UNS8 setState (CO_Data* d, e_nodeState newState);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   127
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   128
/**
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   129
 * @ingroup statemachine 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   130
 * @brief Returns the nodId 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   131
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   132
 * @return
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   133
 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   134
UNS8 getNodeId (CO_Data* d);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   135
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   136
/** 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   137
 * @ingroup statemachine
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   138
 * @brief Define the node ID. Initialize the object dictionary
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   139
 * @param *d Pointer on a CAN object data structure
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   140
 * @param nodeId The node ID to assign
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   141
 */
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   142
void setNodeId (CO_Data* d, UNS8 nodeId);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   143
528
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   144
/** 
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   145
 * @brief Some stuff to do when the node enter in pre-operational mode
0a30e161d63c Re-write doxygen tags in headers files to generate User API documentation
greg
parents: 381
diff changeset
   146
 * @param *d Pointer on a CAN object data structure
0
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   147
 */
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   148
void initPreOperationalMode (CO_Data* d);
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   149
4472ee7c6c3e Commit a new cvs repo.
etisserant
parents:
diff changeset
   150
#endif