nmtMaster.h

00001 /*
00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
00003 
00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
00005 
00006 See COPYING file for copyrights details.
00007 
00008 This library is free software; you can redistribute it and/or
00009 modify it under the terms of the GNU Lesser General Public
00010 License as published by the Free Software Foundation; either
00011 version 2.1 of the License, or (at your option) any later version.
00012 
00013 This library is distributed in the hope that it will be useful,
00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 Lesser General Public License for more details.
00017 
00018 You should have received a copy of the GNU Lesser General Public
00019 License along with this library; if not, write to the Free Software
00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00021 */
00022 
00023 /** @defgroup networkmanagement Network Management
00024  *  @ingroup userapi
00025  */
00026 /** @defgroup nmtmaster NMT Master
00027  *  @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.
00028  *  @ingroup networkmanagement
00029  */
00030  
00031 #ifndef __nmtMaster_h__
00032 #define __nmtMaster_h__
00033 
00034 #include "data.h"
00035 
00036 #ifdef __cplusplus
00037 extern "C"{
00038 #endif
00039 
00040 /** 
00041  * @ingroup nmtmaster
00042  * @brief Transmit a NMT message on the network to the slave whose nodeId is node ID.
00043  * 
00044  * @param *d Pointer to a CAN object data structure
00045  * @param nodeId Id of the slave node
00046  * @param cs The order of state changement \n\n
00047  * 
00048  * Allowed states :
00049  *  - cs =  NMT_Start_Node               // Put the node in operational mode             
00050  *  - cs =    NMT_Stop_Node                 // Put the node in stopped mode
00051  *  - cs =    NMT_Enter_PreOperational     // Put the node in pre_operational mode  
00052  *  - cs =  NMT_Reset_Node                 // Put the node in initialization mode 
00053  *  - cs =  NMT_Reset_Comunication         // Put the node in initialization mode
00054  *  
00055  * The mode is changed according to the slave state machine mode :
00056  *  - initialisation  ---> pre-operational (Automatic transition)
00057  *  - pre-operational <--> operational
00058  *  - pre-operational <--> stopped
00059  *  - pre-operational, operational, stopped -> initialisation
00060  * \n\n
00061  * @return errorcode
00062  *                   - 0 if the NMT message was send
00063  *                   - 1 if an error occurs 
00064  */
00065 UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs);
00066 
00067 /**
00068  * @ingroup nmtmaster 
00069  * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID
00070  * 
00071  * @param *d Pointer to a CAN object data structure
00072  * @param nodeId Id of the slave node
00073  * @return
00074  *         - 0 is returned if the NodeGuard message was send.
00075  *         - 1 is returned if an error occurs.
00076  */
00077 UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);
00078 
00079 /** 
00080  * @ingroup nmtmaster
00081  * @brief Ask the state of the slave node whose nodeId is node Id.
00082  * 
00083  * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0
00084  * @param *d Pointer to a CAN object data structure
00085  * @param nodeId Id of the slave node
00086  */
00087 UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId);
00088 
00089 #ifdef __cplusplus
00090 }
00091 #endif
00092 
00093 #endif /* __nmtMaster_h__ */