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init.h File Reference

Functions for initialisation of the SlaveLib & CAN-interface. More...

#include <def.h>

Go to the source code of this file.

Data Structures
struct	td_s_sInitParameter
Defines
#define	START_REMOTE_NODE   0x01
#define	STOP_REMOTE_NODE   0x02
#define	ENTER_PRE_OPERATIONAL_STATE   0x80
#define	RESET_REMOTE_NODE   0x81
#define	RESET_REMOTE_COMMUNICATION   0x82
#define	OPERATIONAL   (BYTE)0x05
#define	STOPPED   (BYTE)0x04
#define	PRE_OPERATIONAL   (BYTE)0x7F
#define	INITIALISATION_NODE   (BYTE)0x00
#define	INITIALISATION_COMMUNICATION   (BYTE)0x10
Typedefs
typedef td_s_sInitParameter	sInitParameter
Enumerations
enum	eBaudRate {   b10kBit = 10, b20k = 20, b50k = 50, b100k = 100,   b125k = 125, b250k = 250, b500k = 500, b800k = 800,   b1M = 1000 }
Functions
BYTE	initConnection (sInitParameter *initParameter)
void	closeConnection (void)
Variables
BYTE	bDeviceNodeId
BYTE	bStateMachineState

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Detailed Description

Functions for initialisation of the SlaveLib & CAN-interface.

Functions, vars and definitions which are canopen-lowlevel nature. such as init canopen, deinit canopen, ...

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Define Documentation

#define ENTER_PRE_OPERATIONAL_STATE   0x80

change state machine state into: pre-operational

#define INITIALISATION_COMMUNICATION   (BYTE)0x10

state machine is in state: initialisation of the communication

#define INITIALISATION_NODE   (BYTE)0x00

state machine is in state: initialisation of the node

#define OPERATIONAL   (BYTE)0x05

state machine is in state: operational

#define PRE_OPERATIONAL   (BYTE)0x7F

state machine is in state: pre-operational

#define RESET_REMOTE_COMMUNICATION   0x82

change state machine state into: reset communication

#define RESET_REMOTE_NODE   0x81

change state machine state into: reset node

#define START_REMOTE_NODE   0x01

change state machine state into: operational

#define STOP_REMOTE_NODE   0x02

change state machine state into: stopped

#define STOPPED   (BYTE)0x04

state machine is in state: stopped

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Typedef Documentation

typedef struct td_s_sInitParameter sInitParameter

This struct is used for initialising the CAN controller/interface. Therefore baudrate, node-id, processor- speed, irq and IO adress are needed (the latter two are only used for PC based can-controllers)

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Enumeration Type Documentation

enum eBaudRate

eBaudRate is an enumeration which defines all possible baudrates. Of course more baudrates could be defined here, if neccessary Enumeration values: b10kBit  b20k  b50k  b100k  b125k  b250k  b500k  b800k  b1M

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Function Documentation

void closeConnection (  void    )

Closes connection to the CANbus. Probably only needed for PC based CAN cards

BYTE initConnection (  sInitParameter *    initParameter )

Sets the ID of this node, initializes CAN-interface (by calling t platform dependent setupCanInterface from canop.h. Parameters: initParameter  Struct that contains all relevant data for initialising the slavelib and the CAN-interface.

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Variable Documentation

BYTE bDeviceNodeId

the node-id of this device

BYTE bStateMachineState

the actual state of this device: INITIALISATION, PRE_OPERATIONAL,OPERATIONAL or STOPPED

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