---

app.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <app.h>
#include <def.h>
#include <init.h>
#include <objacces.h>
#include <lifegrd.h>
#include <pdo.h>
#include <nmt.h>
#include <general.h>
#include <timer.h>

Functions
void	getTemperatures (void)
void	initialisation (void)
void	preOperational (void)
void	operational (void)
void	stopped (void)
void	InterruptHandlerHigh ()
Variables
BYTE	ledOutput
BYTE	temperature1
BYTE	temperature2
BYTE *	pLedOutput
BYTE *	pTemperature1
BYTE *	pTemperature2

---

Function Documentation

void getTemperatures (  void    )

a user-defined function which captures temperatures of two temp-sensors

void initialisation (  void    )

This function is called automatically by the statemachine, when the microcontroller powers up. after execution of this function the state machine automatically changes into pre-operational state. So don't make loops here (while( getState( ) == INITIALISATION_NODE) )

void InterruptHandlerHigh (  void    )

void operational (  void    )

The statemachine calles this function, if a NMT message was received from the NMT master that tells this node to change into operational state. in this state the CANopen device sends/receives PDOs and all other message types (but not: Boot-Up Object and LSS Objects) this function must contain a while-loop like this: while( bStateMachineState == OPERATIONAL ) { // because sending of heartbeat must start just after bootup, lets do that... processLifeGuard( ); proccessRxCanMessages( ); // user defined code follows here (or somewhere else in the while-loop) }

void preOperational (  void    )

This function is called automatically by the statemachine, when the microcontroller powers up. after execution of the function initialisation the state machine changes into pre-operational state. In this function you have to loop with a while-loop: while( bStateMachineState == PRE_OPERATIONAL ) { // because sending of heartbeat must start just after bootup, lets do that... processLifeGuard( ); proccessRxCanMessages( ); }

void stopped (  void    )

This function is called, when a remote node tells this node to stopp this node. in this state, no SDO, no PDO, no SYNC, no Time stamp, no emergency messages are allowed to send/receive --> only NMT, LSS, and (in some cases) Error control Objects can be processed In this function you have to loop with a while-loop: while( bStateMachineState == STOPPED ) { // because sending of heartbeat must start just after bootup, lets do that... processLifeGuard( ); proccessRxCanMessages( ); }

---

Variable Documentation

BYTE ledOutput

BYTE* pLedOutput

BYTE * pTemperature1

BYTE * pTemperature2

BYTE temperature1

BYTE temperature2

---