application.h

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#include <errno.h>
#include <fcntl.h>
#include <linux/reboot.h>
#include <net/if.h>
#include <pthread.h>
#include <sched.h>
#include <signal.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/epoll.h>
#include <sys/reboot.h>
#include <sys/time.h>
#include <termios.h>
#include <unistd.h>

#include "CANopen.h"
#include "CO_Linux_tasks.h"
#include "CO_OD_storage.h"
#include "CO_command.h"
#include "CO_time.h"
#include "ExoRobot.h"
#include "ExoTestMachine.h"
#include "stdio.h"

#ifndef CO_APPLICATION_H
#define CO_APPLICATION_H

#define NSEC_PER_SEC (1000000000)      /* The number of nanoseconds per second. */
#define NSEC_PER_MSEC (1000000)        /* The number of nanoseconds per millisecond. */
#define TMR_TASK_INTERVAL_NS (1000000) /* Interval of taskTmr in nanoseconds */
#define TMR_TASK_OVERFLOW_US (5000)    /* Overflow detect limit for taskTmr in microseconds */
#define INCREMENT_1MS(var) (var++)     /* Increment 1ms variable in taskTmr */
#define NODEID (100)

void app_programStart(void);

void app_communicationReset(void);

void app_programEnd(void);

void app_programAsync(uint16_t timer1msDiff);

void app_programControlLoop(void);

#endif /*APP_H*/