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: 
greg@529: /** @defgroup heartbeato Heartbeat Object
greg@529:  *  The heartbeat mechanism for a device is established through cyclically transmitting a message by a
greg@529:  *	heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the
greg@529:  *	heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be
greg@529:  *	informed about that event.
greg@529:  *  @ingroup comobj
greg@529:  */
greg@529: 					 
etisserant@0: #ifndef __lifegrd_h__
etisserant@0: #define __lifegrd_h__
etisserant@0: 
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: 
etisserant@378: typedef void (*heartbeatError_t)(CO_Data*, UNS8);
etisserant@378: void _heartbeatError(CO_Data* d, UNS8 heartbeatID);
etisserant@0: 
etisserant@378: typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8);
etisserant@378: void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);
etisserant@343: 
Christian@635: typedef void (*post_SlaveStateChange_t)(CO_Data*, UNS8, e_nodeState);
Christian@635: void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState);
Christian@635: 
etisserant@0: #include "data.h"
etisserant@0: 
frdupin@71: /*************************************************************************
frdupin@71:  * Functions
frdupin@74:  *************************************************************************/
etisserant@0: 
greg@528: /** 
greg@529:  * @ingroup statemachine
greg@528:  * @brief To read the state of a node
greg@528:  * This can be used by the master after having sent a life guard request,
greg@528:  * of by any node if it is waiting for heartbeat.
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId Id of a node
greg@528:  * @return e_nodeState State of the node corresponding to the nodeId
etisserant@0:  */
etisserant@0: e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Start heartbeat consumer and producer
greg@528:  * with respect to 0x1016 and 0x1017
greg@528:  * object dictionary entries
greg@528:  * @param *d Pointer on a CAN object data structure
etisserant@0:  */
etisserant@0: void heartbeatInit(CO_Data* d);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Stop heartbeat consumer and producer
greg@528:  * @param *d Pointer on a CAN object data structure
etisserant@0:  */
etisserant@0: void heartbeatStop(CO_Data* d);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief This function is responsible to process a canopen-message which seams to be an NMT Error Control
greg@528:  * Messages. At them moment we assume that every NMT error control message
greg@528:  * is a heartbeat message.
greg@528:  * If a BootUp message is detected, it will return the nodeId of the Slave who booted up
greg@528:  * @param *d Pointer on a CAN object data structure 
greg@528:  * @param *m Pointer on the CAN-message which has to be analysed.
etisserant@0:  */
etisserant@0: void proceedNODE_GUARD (CO_Data* d, Message* m);
etisserant@0: 
frdupin@71: #endif /*__lifegrd_h__ */