states.h File Reference

#include <applicfg.h>
#include "data.h"

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Data Structures
struct	s_state_communication
Typedefs
typedef enum enum_nodeState	e_nodeState
typedef void(*)	initialisation_t (void)
typedef void(*)	preOperational_t (void)
typedef void(*)	operational_t (void)
typedef void(*)	stopped_t (void)
Enumerations
enum	enum_nodeState {   Initialisation = 0x00, Disconnected = 0x01, Connecting = 0x02, Preparing = 0x02,   Stopped = 0x04, Operational = 0x05, Pre_operational = 0x7F, Unknown_state = 0x0F }
Functions
void	_initialisation (void)
void	_preOperational (void)
void	_operational (void)
void	_stopped (void)
void	canDispatch (CO_Data *d, Message *m)
e_nodeState	getState (CO_Data *d)
UNS8	setState (CO_Data *d, e_nodeState newState)
UNS8	getNodeId (CO_Data *d)
void	setNodeId (CO_Data *d, UNS8 nodeId)
void	initPreOperationalMode (CO_Data *d)

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Typedef Documentation

typedef enum enum_nodeState e_nodeState

Definition at line 46 of file states.h.

typedef void(*) initialisation_t(void)

Function that user app can overload

Definition at line 61 of file states.h.

typedef void(*) operational_t(void)

Definition at line 63 of file states.h.

typedef void(*) preOperational_t(void)

Definition at line 62 of file states.h.

typedef void(*) stopped_t(void)

Definition at line 64 of file states.h.

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Enumeration Type Documentation

enum enum_nodeState

Enumerator:

Initialisation
Disconnected
Connecting
Preparing
Stopped
Operational
Pre_operational
Unknown_state

Definition at line 35 of file states.h.

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Function Documentation

void _initialisation

(

void

)

Definition at line 285 of file states.c.

void _operational

(

void

)

Definition at line 287 of file states.c.

void _preOperational

(

void

)

Definition at line 286 of file states.c.

void _stopped

(

void

)

Definition at line 288 of file states.c.

void canDispatch	(	CO_Data *	d,
		Message *	m
	)

Parameters:

	d
	m

Definition at line 65 of file states.c.

References Message::cob_id, s_state_communication::csHeartbeat, s_state_communication::csPDO, s_state_communication::csSDO, s_state_communication::csSYNC, struct_CO_Data::CurrentCommunicationState, struct_s_timer_entry::d, struct_CO_Data::iam_a_slave, NMT, NODE_GUARD, PDO1rx, PDO1tx, PDO2rx, PDO2tx, PDO3rx, PDO3tx, PDO4rx, PDO4tx, proceedNMTstateChange(), proceedNODE_GUARD(), proceedPDO(), proceedSDO(), proceedSYNC(), SDOrx, SDOtx, SYNC, and SHORT_CAN::w.

Referenced by canReceiveLoop(), and main().

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UNS8 getNodeId

(

CO_Data *

d

)

Parameters:

d

Returns:

Definition at line 224 of file states.c.

References struct_CO_Data::bDeviceNodeId, and struct_s_timer_entry::d.

Referenced by initSensor().

e_nodeState getState

(

CO_Data *

d

)

Parameters:

d

Returns:

Definition at line 54 of file states.c.

References struct_s_timer_entry::d, and struct_CO_Data::nodeState.

void initPreOperationalMode

(

CO_Data *

d

)

Some stuff to do when the node enter in pre-operational mode

void setNodeId	(	CO_Data *	d,
		UNS8	nodeId
	)

Parameters:

	d
	nodeId

Definition at line 235 of file states.c.

References struct_CO_Data::bDeviceNodeId, struct_s_timer_entry::d, struct_CO_Data::firstIndex, struct_CO_Data::lastIndex, struct_CO_Data::objdict, s_quick_index::PDO_RCV, s_quick_index::PDO_TRS, td_subindex::pObject, td_indextable::pSubindex, s_quick_index::SDO_SVR, UNS16, UNS32, and UNS8.

Referenced by InitNodes(), initSensor(), and main().

UNS8 setState	(	CO_Data *	d,
		e_nodeState	newState
	)

Parameters:

	d
	newState

Returns:

Definition at line 138 of file states.c.

References struct_s_timer_entry::d, decompo_dcf(), struct_CO_Data::iam_a_slave, struct_CO_Data::initialisation, Initialisation, struct_CO_Data::nodeState, OD_SUCCESSFUL, struct_CO_Data::operational, Operational, Pre_operational, struct_CO_Data::preOperational, ptrTable, struct_CO_Data::scanIndexOD, struct_CO_Data::stopped, Stopped, switchCommunicationState(), UNS16, and UNS32.

Referenced by InitNodes(), main(), and proceedNMTstateChange().

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