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 /* Should not be modified */

    34 enum enum_nodeState {

    35   Initialisation  = 0x00, 

    36   Disconnected    = 0x01,

    37   Connecting      = 0x02,

    38   Preparing       = 0x02,

    39   Stopped         = 0x04,

    40   Operational     = 0x05,

    41   Pre_operational = 0x7F,

    42   Unknown_state   = 0x0F

    43 };

    44 

    45 typedef enum enum_nodeState e_nodeState;

    46 

    47 typedef struct

    48 {

    49 	UNS8 csBoot_Up;

    50 	UNS8 csSDO;

    51 	UNS8 csEmergency;

    52 	UNS8 csSYNC;

    53 	UNS8 csHeartbeat;

    54 	UNS8 csPDO;

    55 } s_state_communication;

    56 

    57 /** Function that user app must provide

    58  * 

    59  */

    60 typedef void (*initialisation_t)(void);

    61 typedef void (*preOperational_t)(void);

    62 typedef void (*operational_t)(void);

    63 typedef void (*stopped_t)(void);

    64 

    65 #include "data.h"

    66 

    67 /************************* prototypes ******************************/

    68 

    69 /** Called by driver/app when receiving messages

    70 */

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

    72 

    73 /** Returns the state of the node 

    74 */

    75 e_nodeState getState (CO_Data* d);

    76 

    77 /** Change the state of the node 

    78 */

    79 UNS8 setState (CO_Data* d, e_nodeState newState);

    80 

    81 /** Returns the nodId 

    82 */

    83 UNS8 getNodeId (CO_Data* d);

    84 

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

    86 */

    87 void setNodeId (CO_Data* d, UNS8 nodeId);

    88 

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

    90  *

    91  */

    92 //void initResetMode (CO_Data* d);

    93 

    94 

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

    96  *

    97  */

    98 void initPreOperationalMode (CO_Data* d);

    99 

   100 #endif