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@528: /** @defgroup statemachine State Machine
greg@528:  *  @ingroup userapi
greg@528:  */
greg@528:  
etisserant@0: #ifndef __states_h__
etisserant@0: #define __states_h__
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: 
frdupin@71: /* The nodes states 
frdupin@71:  * -----------------
frdupin@71:  * values are choosen so, that they can be sent directly
frdupin@71:  * for heartbeat messages...
frdupin@71:  * Must be coded on 7 bits only
frdupin@71:  * */
etisserant@0: /* Should not be modified */
etisserant@0: enum enum_nodeState {
etisserant@0:   Initialisation  = 0x00, 
etisserant@0:   Disconnected    = 0x01,
etisserant@0:   Connecting      = 0x02,
etisserant@0:   Preparing       = 0x02,
etisserant@0:   Stopped         = 0x04,
etisserant@0:   Operational     = 0x05,
etisserant@0:   Pre_operational = 0x7F,
etisserant@357:   Unknown_state   = 0x0F
etisserant@0: };
etisserant@0: 
etisserant@0: typedef enum enum_nodeState e_nodeState;
etisserant@0: 
etisserant@0: typedef struct
etisserant@0: {
etisserant@291: 	INTEGER8 csBoot_Up;
etisserant@291: 	INTEGER8 csSDO;
etisserant@291: 	INTEGER8 csEmergency;
etisserant@291: 	INTEGER8 csSYNC;
mwildbolz@750: 	INTEGER8 csLifeGuard;
etisserant@291: 	INTEGER8 csPDO;
etisserant@343: 	INTEGER8 csLSS;
etisserant@0: } s_state_communication;
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Function that user app can overload
greg@529:  * @ingroup statemachine
etisserant@0:  */
etisserant@378: typedef void (*initialisation_t)(CO_Data*);
etisserant@378: typedef void (*preOperational_t)(CO_Data*);
etisserant@378: typedef void (*operational_t)(CO_Data*);
etisserant@378: typedef void (*stopped_t)(CO_Data*);
etisserant@0: 
greg@528: /** 
greg@530:  * @ingroup statemachine
greg@528:  * @brief Function that user app can overload
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  */
greg@528: void _initialisation(CO_Data* d);
greg@528: 
greg@528: /** 
greg@530:  * @ingroup statemachine
greg@528:  * @brief Function that user app can overload
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  */
greg@528: void _preOperational(CO_Data* d);
greg@528: 
greg@530: /**
greg@530:  * @ingroup statemachine 
greg@528:  * @brief Function that user app can overload
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  */
greg@528: void _operational(CO_Data* d);
greg@528: 
greg@528: /** 
greg@530:  * @ingroup statemachine
greg@528:  * @brief Function that user app can overload
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  */
greg@528: void _stopped(CO_Data* d);
etisserant@149: 
etisserant@0: #include "data.h"
etisserant@0: 
etisserant@0: /************************* prototypes ******************************/
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Called by driver/app when receiving messages
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param *m Pointer on a CAN message structure
greg@528:  */
etisserant@0: void canDispatch(CO_Data* d, Message *m);
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup statemachine
greg@528:  * @brief Returns the state of the node
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @return The node state
greg@528:  */
etisserant@0: e_nodeState getState (CO_Data* d);
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup statemachine
greg@528:  * @brief Change the state of the node 
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param newState The state to assign
greg@528:  * @return 
greg@528:  */
etisserant@0: UNS8 setState (CO_Data* d, e_nodeState newState);
etisserant@0: 
greg@528: /**
greg@528:  * @ingroup statemachine 
greg@528:  * @brief Returns the nodId 
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @return
greg@528:  */
etisserant@0: UNS8 getNodeId (CO_Data* d);
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup statemachine
greg@528:  * @brief Define the node ID. Initialize the object dictionary
greg@528:  * @param *d Pointer on a CAN object data structure
greg@528:  * @param nodeId The node ID to assign
greg@528:  */
etisserant@0: void setNodeId (CO_Data* d, UNS8 nodeId);
etisserant@0: 
greg@528: /** 
greg@528:  * @brief Some stuff to do when the node enter in pre-operational mode
greg@528:  * @param *d Pointer on a CAN object data structure
etisserant@0:  */
etisserant@0: void initPreOperationalMode (CO_Data* d);
etisserant@0: 
etisserant@0: #endif