--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/lifegrd.h	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,62 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#ifndef __lifegrd_h__
+#define __lifegrd_h__
+
+
+#include <applicfg.h>
+
+typedef void (*heartbeatError_t)(UNS8);
+
+#include "data.h"
+
+//*************************************************************************/
+//Functions
+//*************************************************************************/
+
+
+/** To read the state of a node
+ *  This can be used by the master after having sent a life guard request,
+ *  of by any node if it is waiting for heartbeat.
+ */
+e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);
+
+/** Start heartbeat consumer and producer
+ *  with respect to 0x1016 and 0x1017
+ *  object dictionary entries
+ */
+void heartbeatInit(CO_Data* d);
+
+/** Stop heartbeat consumer and producer
+ */
+void heartbeatStop(CO_Data* d);
+
+/** This function is responsible to process a canopen-message which seams to be an NMT Error Control
+ *  Messages. At them moment we assume that every NMT error control message
+ *  is a heartbeat message.
+ *  \param Message The CAN-message which has to be analysed.
+ *  If a BootUp message is detected, it will return the nodeId of the Slave who booted up
+ */
+void proceedNODE_GUARD (CO_Data* d, Message* m);
+
+#endif //__lifegrd_h__