author | Edouard Tisserant |
Fri, 03 Feb 2012 15:43:44 +0100 | |
changeset 693 | e21822be8189 |
parent 635 | 30a0e926bb2e |
child 750 | bfb63ff7106e |
permissions | -rw-r--r-- |
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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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/** @defgroup heartbeato Heartbeat Object |
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* The heartbeat mechanism for a device is established through cyclically transmitting a message by a |
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* heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the |
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* heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be |
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* informed about that event. |
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* @ingroup comobj |
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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)(CO_Data*, UNS8); |
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void _heartbeatError(CO_Data* d, UNS8 heartbeatID); |
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typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8); |
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void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID); |
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typedef void (*post_SlaveStateChange_t)(CO_Data*, UNS8, e_nodeState); |
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void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState); |
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#include "data.h" |
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/************************************************************************* |
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* Functions |
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*************************************************************************/ |
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/** |
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* @ingroup statemachine |
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* @brief 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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* @param *d Pointer on a CAN object data structure |
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* @param nodeId Id of a node |
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* @return e_nodeState State of the node corresponding to the nodeId |
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*/ |
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e_nodeState getNodeState (CO_Data* d, UNS8 nodeId); |
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/** |
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* @brief 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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* @param *d Pointer on a CAN object data structure |
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void heartbeatInit(CO_Data* d); |
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/** |
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* @brief Stop heartbeat consumer and producer |
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* @param *d Pointer on a CAN object data structure |
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void heartbeatStop(CO_Data* d); |
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/** |
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* @brief 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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* If a BootUp message is detected, it will return the nodeId of the Slave who booted up |
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* @param *d Pointer on a CAN object data structure |
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* @param *m Pointer on the CAN-message which has to be analysed. |
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void proceedNODE_GUARD (CO_Data* d, Message* m); |
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#endif /*__lifegrd_h__ */ |