![](/media/cache/profiles/IMG_2753.JPG.50x50_q85.jpg)
Can_open_slavenode
framework/include/nmtMaster.h
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:6219434a0cb5
File content as of revision 0:6219434a0cb5:
/* 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__ */