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lifegrd.h File Reference

Heartbeat and nodeguarding. More...

#include <def.h>
#include <objdict.h>
#include <canop.h>

Go to the source code of this file.

Data Structures
struct	td_s_heartbeat_entry
struct	td_s_ourHeartBeatValues
Typedefs
typedef td_s_heartbeat_entry	s_heartbeat_entry
typedef td_s_ourHeartBeatValues	s_ourHeartBeatValues
Functions
void	lifeguardInit (void)
void	processLifeGuard (void)
void	lifeguardCallback (BYTE bReason)
void	processReceivedNMTErrorControl (s_rx_buffer_message *canopenMessage)
Variables
BOOL	bErrorOccured
s_heartbeat_entry	heartBeatTable []
s_ourHeartBeatValues	ourHeartBeatValues

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Detailed Description

Heartbeat and nodeguarding.

Lifeguarding & Nodeguard related stuff, such as heartbeat and lifeguard messages

Warning:

Only Heartbeat is implemented yet.

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Typedef Documentation

typedef struct td_s_heartbeat_entry s_heartbeat_entry

Struct for creating a table where all cob_ids of our consumers are stored. inclusive the time since the last heartbeat...

typedef struct td_s_ourHeartBeatValues s_ourHeartBeatValues

Struct for creating a table where the needed heartbeat values for this CANopen node are stored. Thanks to this table, the heartbeat related functions don't have to access the object dictionary every time.

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Function Documentation

void lifeguardCallback (  BYTE    bReason )

This function is called by processLifeGuard( ) if one or more heartbeat message haven't arrived within the configured time. The argument is one of the following: CONNECTION_OK, CONNECTION_FAILED, GUARDING_MESSAGE_LOST, HEARTBEAT_MESSAGE_LOST, HEARTBEAT_CONSUMER_LOST defined in file def.h Parameters: bReason  can be one of the Error-states defined in def.h, such as CONNECTION_OK CONNECTION_FAILED GUARDING_MESSAGE_LOST HEARTBEAT_MESSAGE_LOST HEARTBEAT_CONSUMER_LOST

void lifeguardInit (  void    )

initialisates all neccessary values for lifeguarding. Therefore this function reads index 1016 and 1017 of the object dictionary and fills in the data into the variable heartBeatTable and ourHeartBeatValues. Everytime the indicies 1016 or 1017 have changed, this function must be called

void processLifeGuard (  void    )

Checks wheter all heartbeat messages (where this node is a heartbeat consumer) have arrived within the configured time (configuration in the object dictionary). if not all messages have arrived, lifeguardCallback is called, so the user can perform any error-handling. This function also sends the heartbeat messages of this node, if neccessary.

void processReceivedNMTErrorControl (  s_rx_buffer_message *    canopenMessage )

This function is called by proccessRxCanMessages( ). it is responsible to process a canopen-message which seams to be an NMT Error Control Messages. At them moment we assume that every NMT error control message is a heartbeat message. Parameters: canopenMessage  The CAN-message which has to be analysed.

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Variable Documentation

BOOL bErrorOccured

This variable indicates wheter the device is in the Notfall-state (this means that one of its heartbeatproducers hasn't send a heartbeat message.

s_heartbeat_entry heartBeatTable[]

This variable holds all heartbeat related values for our hearbeat consumers.

s_ourHeartBeatValues ourHeartBeatValues

This variable holds the values about the heartbeat settings of this node

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