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app.h File Reference

Contains the user-code. More...

Go to the source code of this file.

Defines
#define	FOSC   4000
Functions
void	stopped (void)
void	preOperational (void)
void	operational (void)
void	initialisation (void)
void	InterruptHandlerHigh (void)

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Detailed Description

Contains the user-code.

This file contains the user-code. Therefore the user has to put his c-code into the correct state-machine functions.

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Define Documentation

#define FOSC   4000

This define is important especially for microcontrollers: it tells the slavelib the CPU speed. This is neccessary for setting up timers for heartbeat and the CAN controller (baudrate setting)

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Function Documentation

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( ); }

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