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