app.h

This library is Copyright (c) Raphael Zulliger <[e-mail]>. It is licensed under the GNU L

/***************************************************************************
                          app.h  -  description
                             -------------------
    begin                : Fri May 17 2002
    copyright            : (C) 2002 by Raphael Zulliger
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This library is Copyright (c) Raphael Zulliger <[e-mail]>.       *
 *   It is licensed under the GNU Library General Public License (LGPL).   *
 *                                                                         *
 ***************************************************************************/

/** \file
 *  \brief 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.
 */

#ifndef __app_h__
#define __app_h__

#include <def.h>

/** 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)
 */
#define FOSC 4000				// in kHz


/** 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( );
 *  }
 */
void stopped( 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 preOperational( 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 operational( 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 initialisation( void );


// user defined functions
void Setup(void);  

void InterruptHandlerHigh(void);


// at this I/O the CAN-transceiver device is connected to the pic
#define SILENT_MODE PORTBbits.RB0


#endif // __app_h__