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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 __states_h__
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#define __states_h__
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#include <applicfg.h>
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71
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/* The nodes states
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* -----------------
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* values are choosen so, that they can be sent directly
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* for heartbeat messages...
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* Must be coded on 7 bits only
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* */
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0
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/* Should not be modified */
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enum enum_nodeState {
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Initialisation = 0x00,
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Disconnected = 0x01,
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Connecting = 0x02,
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Preparing = 0x02,
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Stopped = 0x04,
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Operational = 0x05,
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Pre_operational = 0x7F,
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Unknown_state = 0x0F
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};
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typedef enum enum_nodeState e_nodeState;
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typedef struct
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{
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UNS8 csBoot_Up;
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UNS8 csSDO;
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UNS8 csEmergency;
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UNS8 csSYNC;
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UNS8 csHeartbeat;
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UNS8 csPDO;
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} s_state_communication;
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/** Function that user app must provide
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*
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*/
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typedef void (*initialisation_t)(void);
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typedef void (*preOperational_t)(void);
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typedef void (*operational_t)(void);
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typedef void (*stopped_t)(void);
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#include "data.h"
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/************************* prototypes ******************************/
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/** Called by driver/app when receiving messages
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*/
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void canDispatch(CO_Data* d, Message *m);
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/** Returns the state of the node
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*/
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e_nodeState getState (CO_Data* d);
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/** Change the state of the node
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*/
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UNS8 setState (CO_Data* d, e_nodeState newState);
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/** Returns the nodId
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*/
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UNS8 getNodeId (CO_Data* d);
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/** Define the node ID. Initialize the object dictionary
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*/
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void setNodeId (CO_Data* d, UNS8 nodeId);
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/** Some stuff to do when the node enter in reset mode
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*
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*/
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/* void initResetMode (CO_Data* d); */
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0
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/** Some stuff to do when the node enter in pre-operational mode
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*
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*/
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void initPreOperationalMode (CO_Data* d);
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#endif
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