CanFestival: include/states.h Source File

00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00023 #ifndef __states_h__
-00024 #define __states_h__
-00025 
-00026 #include <applicfg.h>
-00027 
-00028 /* The nodes states 
-00029  * -----------------
-00030  * values are choosen so, that they can be sent directly
-00031  * for heartbeat messages...
-00032  * Must be coded on 7 bits only
-00033  * */
-00034 /* Should not be modified */
-00035 enum enum_nodeState {
-00036   Initialisation  = 0x00, 
-00037   Disconnected    = 0x01,
-00038   Connecting      = 0x02,
-00039   Preparing       = 0x02,
-00040   Stopped         = 0x04,
-00041   Operational     = 0x05,
-00042   Pre_operational = 0x7F,
-00043   Unknown_state   = 0x0F
-00044 };
-00045 
-00046 typedef enum enum_nodeState e_nodeState;
-00047 
-00048 typedef struct
-00049 {
-00050         UNS8 csBoot_Up;
-00051         UNS8 csSDO;
-00052         UNS8 csEmergency;
-00053         UNS8 csSYNC;
-00054         UNS8 csHeartbeat;
-00055         UNS8 csPDO;
-00056 } s_state_communication;
-00057 
-00061 typedef void (*initialisation_t)(void);
-00062 typedef void (*preOperational_t)(void);
-00063 typedef void (*operational_t)(void);
-00064 typedef void (*stopped_t)(void);
-00065 
-00066 void _initialisation(void);
-00067 void _preOperational(void);
-00068 void _operational(void);
-00069 void _stopped(void);
-00070 
-00071 #include "data.h"
-00072 
-00073 /************************* prototypes ******************************/
-00074 
-00077 void canDispatch(CO_Data* d, Message *m);
-00078 
-00081 e_nodeState getState (CO_Data* d);
-00082 
-00085 UNS8 setState (CO_Data* d, e_nodeState newState);
-00086 
-00089 UNS8 getNodeId (CO_Data* d);
-00090 
-00093 void setNodeId (CO_Data* d, UNS8 nodeId);
-00094 
-00098 /* void initResetMode (CO_Data* d); */
-00099 
-00100 
-00104 void initPreOperationalMode (CO_Data* d);
-00105 
-00106 #endif
-