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Can_open_slavenode
Diff: framework/include/nmtMaster.h
- Revision:
- 0:6219434a0cb5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/include/nmtMaster.h Mon May 30 07:14:41 2011 +0000 @@ -0,0 +1,93 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +/** @defgroup networkmanagement Network Management + * @ingroup userapi + */ +/** @defgroup nmtmaster NMT Master + * @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network. + * @ingroup networkmanagement + */ + +#ifndef __nmtMaster_h__ +#define __nmtMaster_h__ + +#include "data.h" + +#ifdef __cplusplus +extern "C"{ +#endif + +/** + * @ingroup nmtmaster + * @brief Transmit a NMT message on the network to the slave whose nodeId is node ID. + * + * @param *d Pointer to a CAN object data structure + * @param nodeId Id of the slave node + * @param cs The order of state changement \n\n + * + * Allowed states : + * - cs = NMT_Start_Node // Put the node in operational mode + * - cs = NMT_Stop_Node // Put the node in stopped mode + * - cs = NMT_Enter_PreOperational // Put the node in pre_operational mode + * - cs = NMT_Reset_Node // Put the node in initialization mode + * - cs = NMT_Reset_Comunication // Put the node in initialization mode + * + * The mode is changed according to the slave state machine mode : + * - initialisation ---> pre-operational (Automatic transition) + * - pre-operational <--> operational + * - pre-operational <--> stopped + * - pre-operational, operational, stopped -> initialisation + * \n\n + * @return errorcode + * - 0 if the NMT message was send + * - 1 if an error occurs + */ +UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs); + +/** + * @ingroup nmtmaster + * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID + * + * @param *d Pointer to a CAN object data structure + * @param nodeId Id of the slave node + * @return + * - 0 is returned if the NodeGuard message was send. + * - 1 is returned if an error occurs. + */ +UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId); + +/** + * @ingroup nmtmaster + * @brief Ask the state of the slave node whose nodeId is node Id. + * + * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0 + * @param *d Pointer to a CAN object data structure + * @param nodeId Id of the slave node + */ +UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId); + +#ifdef __cplusplus +} +#endif + +#endif /* __nmtMaster_h__ */