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__ */