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
+