File content as of revision 6:bc64031ac849:

/*
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__ */