Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
+/** @defgroup heartbeato Heartbeat Object
+ * The heartbeat mechanism for a device is established through cyclically transmitting a message by a
+ * heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the
+ * heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be
+ * informed about that event.
+ * @ingroup comobj
+ */
+
#ifndef __lifegrd_h__
#define __lifegrd_h__
#include <applicfg.h>
-typedef void (*heartbeatError_t)(UNS8);
-void _heartbeatError(UNS8 heartbeatID);
+typedef void (*heartbeatError_t)(CO_Data*, UNS8);
+void _heartbeatError(CO_Data* d, UNS8 heartbeatID);
+
+typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8);
+void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);
#include "data.h"
* Functions
*************************************************************************/
-
-/** 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.
+/**
+ * @ingroup statemachine
+ * @brief 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.
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId Id of a node
+ * @return e_nodeState State of the node corresponding to the nodeId
*/
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);
-/** Start heartbeat consumer and producer
- * with respect to 0x1016 and 0x1017
- * object dictionary entries
+/**
+ * @brief Start heartbeat consumer and producer
+ * with respect to 0x1016 and 0x1017
+ * object dictionary entries
+ * @param *d Pointer on a CAN object data structure
*/
void heartbeatInit(CO_Data* d);
-/** Stop heartbeat consumer and producer
+/**
+ * @brief Stop heartbeat consumer and producer
+ * @param *d Pointer on a CAN object data structure
*/
void heartbeatStop(CO_Data* d);
-/** This function 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.
- * \param Message The CAN-message which has to be analysed.
- * If a BootUp message is detected, it will return the nodeId of the Slave who booted up
+/**
+ * @brief This function 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.
+ * If a BootUp message is detected, it will return the nodeId of the Slave who booted up
+ * @param *d Pointer on a CAN object data structure
+ * @param *m Pointer on the CAN-message which has to be analysed.
*/
void proceedNODE_GUARD (CO_Data* d, Message* m);