Sam Grove / Mbed 2 deprecated canopen_slavenode

CANfestival - an open source CANopen framework

Dependencies:   mbed

framework/include/nmtMaster.h@0:6219434a0cb5, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:14:41 2011 +0000
Revision:
0:6219434a0cb5
Initial public release of slave node framework port

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5
sam_grove 0:6219434a0cb5 6 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 7
sam_grove 0:6219434a0cb5 8 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 10 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 12
sam_grove 0:6219434a0cb5 13 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 16 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 17
sam_grove 0:6219434a0cb5 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 19 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
sam_grove 0:6219434a0cb5 21 */
sam_grove 0:6219434a0cb5 22
sam_grove 0:6219434a0cb5 23 /** @defgroup networkmanagement Network Management
sam_grove 0:6219434a0cb5 24 * @ingroup userapi
sam_grove 0:6219434a0cb5 25 */
sam_grove 0:6219434a0cb5 26 /** @defgroup nmtmaster NMT Master
sam_grove 0:6219434a0cb5 27 * @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.
sam_grove 0:6219434a0cb5 28 * @ingroup networkmanagement
sam_grove 0:6219434a0cb5 29 */
sam_grove 0:6219434a0cb5 30
sam_grove 0:6219434a0cb5 31 #ifndef __nmtMaster_h__
sam_grove 0:6219434a0cb5 32 #define __nmtMaster_h__
sam_grove 0:6219434a0cb5 33
sam_grove 0:6219434a0cb5 34 #include "data.h"
sam_grove 0:6219434a0cb5 35
sam_grove 0:6219434a0cb5 36 #ifdef __cplusplus
sam_grove 0:6219434a0cb5 37 extern "C"{
sam_grove 0:6219434a0cb5 38 #endif
sam_grove 0:6219434a0cb5 39
sam_grove 0:6219434a0cb5 40 /**
sam_grove 0:6219434a0cb5 41 * @ingroup nmtmaster
sam_grove 0:6219434a0cb5 42 * @brief Transmit a NMT message on the network to the slave whose nodeId is node ID.
sam_grove 0:6219434a0cb5 43 *
sam_grove 0:6219434a0cb5 44 * @param *d Pointer to a CAN object data structure
sam_grove 0:6219434a0cb5 45 * @param nodeId Id of the slave node
sam_grove 0:6219434a0cb5 46 * @param cs The order of state changement \n\n
sam_grove 0:6219434a0cb5 47 *
sam_grove 0:6219434a0cb5 48 * Allowed states :
sam_grove 0:6219434a0cb5 49 * - cs = NMT_Start_Node // Put the node in operational mode
sam_grove 0:6219434a0cb5 50 * - cs = NMT_Stop_Node // Put the node in stopped mode
sam_grove 0:6219434a0cb5 51 * - cs = NMT_Enter_PreOperational // Put the node in pre_operational mode
sam_grove 0:6219434a0cb5 52 * - cs = NMT_Reset_Node // Put the node in initialization mode
sam_grove 0:6219434a0cb5 53 * - cs = NMT_Reset_Comunication // Put the node in initialization mode
sam_grove 0:6219434a0cb5 54 *
sam_grove 0:6219434a0cb5 55 * The mode is changed according to the slave state machine mode :
sam_grove 0:6219434a0cb5 56 * - initialisation ---> pre-operational (Automatic transition)
sam_grove 0:6219434a0cb5 57 * - pre-operational <--> operational
sam_grove 0:6219434a0cb5 58 * - pre-operational <--> stopped
sam_grove 0:6219434a0cb5 59 * - pre-operational, operational, stopped -> initialisation
sam_grove 0:6219434a0cb5 60 * \n\n
sam_grove 0:6219434a0cb5 61 * @return errorcode
sam_grove 0:6219434a0cb5 62 * - 0 if the NMT message was send
sam_grove 0:6219434a0cb5 63 * - 1 if an error occurs
sam_grove 0:6219434a0cb5 64 */
sam_grove 0:6219434a0cb5 65 UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs);
sam_grove 0:6219434a0cb5 66
sam_grove 0:6219434a0cb5 67 /**
sam_grove 0:6219434a0cb5 68 * @ingroup nmtmaster
sam_grove 0:6219434a0cb5 69 * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID
sam_grove 0:6219434a0cb5 70 *
sam_grove 0:6219434a0cb5 71 * @param *d Pointer to a CAN object data structure
sam_grove 0:6219434a0cb5 72 * @param nodeId Id of the slave node
sam_grove 0:6219434a0cb5 73 * @return
sam_grove 0:6219434a0cb5 74 * - 0 is returned if the NodeGuard message was send.
sam_grove 0:6219434a0cb5 75 * - 1 is returned if an error occurs.
sam_grove 0:6219434a0cb5 76 */
sam_grove 0:6219434a0cb5 77 UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);
sam_grove 0:6219434a0cb5 78
sam_grove 0:6219434a0cb5 79 /**
sam_grove 0:6219434a0cb5 80 * @ingroup nmtmaster
sam_grove 0:6219434a0cb5 81 * @brief Ask the state of the slave node whose nodeId is node Id.
sam_grove 0:6219434a0cb5 82 *
sam_grove 0:6219434a0cb5 83 * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0
sam_grove 0:6219434a0cb5 84 * @param *d Pointer to a CAN object data structure
sam_grove 0:6219434a0cb5 85 * @param nodeId Id of the slave node
sam_grove 0:6219434a0cb5 86 */
sam_grove 0:6219434a0cb5 87 UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId);
sam_grove 0:6219434a0cb5 88
sam_grove 0:6219434a0cb5 89 #ifdef __cplusplus
sam_grove 0:6219434a0cb5 90 }
sam_grove 0:6219434a0cb5 91 #endif
sam_grove 0:6219434a0cb5 92
sam_grove 0:6219434a0cb5 93 #endif /* __nmtMaster_h__ */