lifegrd.c File Reference

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Functions
void	ConsumerHearbeatAlarm (CO_Data *d, UNS32 id)
void	ProducerHearbeatAlarm (CO_Data *d, UNS32 id)
e_nodeState	getNodeState (CO_Data *d, UNS8 nodeId)
	To read the state of a node This can be used by the master after having sent a life guard request, of by any node if it is waiting for heartbeat.
void	proceedNODE_GUARD (CO_Data *d, Message *m)
	This function is responsible to process a canopen-message which seams to be an NMT Error Control Messages.
UNS32	OnHeartbeatProducerUpdate (CO_Data *d, const indextable *unsused_indextable, UNS8 unsused_bSubindex)
void	heartbeatInit (CO_Data *d)
	Start heartbeat consumer and producer with respect to 0x1016 and 0x1017 object dictionary entries.
void	heartbeatStop (CO_Data *d)
	Stop heartbeat consumer and producer.
void	_heartbeatError (CO_Data *d, UNS8 heartbeatID)

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Detailed Description

Author:

Edouard TISSERANT

Date:

Mon Jun 4 17:19:24 2007

Definition in file lifegrd.c.

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Function Documentation

void _heartbeatError	(	CO_Data *	d,
		UNS8	heartbeatID
	)

Parameters:

heartbeatID

Definition at line 273 of file lifegrd.c.

void ConsumerHearbeatAlarm	(	CO_Data *	d,
		UNS32	id
	)

The Consumer Timer Callback

Parameters:

d
id

call heartbeat error with NodeId

Definition at line 69 of file lifegrd.c.

void heartbeatInit

(

CO_Data *

d )

Start heartbeat consumer and producer with respect to 0x1016 and 0x1017 object dictionary entries.

Parameters:

d

Definition at line 227 of file lifegrd.c.

void heartbeatStop

(

CO_Data *

d )

Stop heartbeat consumer and producer.

Parameters:

d

Definition at line 257 of file lifegrd.c.

UNS32 OnHeartbeatProducerUpdate	(	CO_Data *	d,
		const indextable *	unsused_indextable,
		UNS8	unsused_bSubindex
	)

This is called when Index 0x1017 is updated.

Parameters:

d
unsused_indextable
unsused_bSubindex

Returns:

Definition at line 215 of file lifegrd.c.

void proceedNODE_GUARD	(	CO_Data *	d,
		Message *	m
	)

This function is responsible to process a canopen-message which seams to be an NMT Error Control Messages.

Parameters:

d
m

Notice that only the master can have sent this node guarding request

Receiving a NMT NodeGuarding (request of the state by the master) Only answer to the NMT NodeGuarding request, the master is not checked (not implemented)

Definition at line 90 of file lifegrd.c.

void ProducerHearbeatAlarm	(	CO_Data *	d,
		UNS32	id
	)

The Consumer Timer Callback

Parameters:

d
id

Definition at line 182 of file lifegrd.c.