nmtSlave.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 nmtslave NMT Slave
00024  *  @brief The NMT Slave methods are called automatically when a NMT message from Master are received. 
00025  *  @ingroup networkmanagement
00026  */
00027  
00028 #ifndef __nmtSlave_h__
00029 #define __nmtSlave_h__
00030 
00031 #include <applicfg.h>
00032 #include "data.h"
00033 
00034 #ifdef __cplusplus
00035 extern "C"{
00036 #endif
00037 
00038 /** 
00039  * @brief Threat the reception of a NMT message from the master.
00040  * @param *d Pointer to the CAN data structure
00041  * @param *m Pointer to the message received
00042  * @return 
00043  *  -  0 if OK 
00044  *  - -1 if the slave is not allowed, by its state, to receive the message
00045  */
00046 void proceedNMTstateChange (CO_Data* d, Message * m);
00047 
00048 /** 
00049  * @brief Transmit the boot-Up frame when the slave is moving from initialization
00050  * state to pre_operational state.
00051  * @param *d Pointer on the CAN data structure
00052  * @return canSend(bus_id,&m)
00053  */
00054 UNS8 slaveSendBootUp (CO_Data* d);
00055 
00056 #ifdef __cplusplus
00057 }
00058 #endif
00059 
00060 #endif /* __nmtSlave_h__ */