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 __lifegrd_h__

    24

#define __lifegrd_h__

    25

    26

    27

#include <applicfg.h>

    28

    29

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

    30

void _heartbeatError(CO_Data* d, UNS8 heartbeatID);

    31

    32

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

    33

void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);

    34

    35

#include "data.h"

    36

    37

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

    38

 * Functions

    39

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

    40

    41

    42

/** To read the state of a node

    43

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

    44

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

    45

 */

    46

e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);

    47

    48

/** Start heartbeat consumer and producer

    49

 *  with respect to 0x1016 and 0x1017

    50

 *  object dictionary entries

    51

 */

    52

void heartbeatInit(CO_Data* d);

    53

    54

/** Stop heartbeat consumer and producer

    55

 */

    56

void heartbeatStop(CO_Data* d);

    57

    58

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

    59

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

    60

 *  is a heartbeat message.

    61

 *  \param Message The CAN-message which has to be analysed.

    62

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

    63

 */

    64

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

    65

    66

#endif /*__lifegrd_h__ */