Sam Grove / Mbed 2 deprecated canopen_slavenode

CANfestival - an open source CANopen framework

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NMT Master
Functions

NMT Master
[Network Management]

NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network. More...

Functions

UNS8 masterSendNMTstateChange (CO_Data *d, UNS8 nodeId, UNS8 cs)
 Transmit a NMT message on the network to the slave whose nodeId is node ID.
UNS8 masterSendNMTnodeguard (CO_Data *d, UNS8 nodeId)
 Transmit a NodeGuard message on the network to the slave whose nodeId is node ID.
UNS8 masterRequestNodeState (CO_Data *d, UNS8 nodeId)
 Ask the state of the slave node whose nodeId is node Id.

Detailed Description

NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.

Function Documentation

UNS8 masterRequestNodeState ( CO_Data *  d,
UNS8  nodeId 
)

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

Parameters:
*dPointer to a CAN object data structure
nodeIdId of the slave node
d
nodeId
Returns:

Definition at line 94 of file nmtMaster.c.

UNS8 masterSendNMTnodeguard ( CO_Data *  d,
UNS8  nodeId 
)

Transmit a NodeGuard message on the network to the slave whose nodeId is node ID.

Parameters:
*dPointer to a CAN object data structure
nodeIdId of the slave node
Returns:
  • 0 is returned if the NodeGuard message was send.
  • 1 is returned if an error occurs.
Parameters:
d
nodeId
Returns:

Definition at line 71 of file nmtMaster.c.

UNS8 masterSendNMTstateChange ( CO_Data *  d,
UNS8  Node_ID,
UNS8  cs 
)

Transmit a NMT message on the network to the slave whose nodeId is node ID.

Parameters:
*dPointer to a CAN object data structure
nodeIdId of the slave node
csThe order of state changement

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

    Returns:
    errorcode
    • 0 if the NMT message was send
    • 1 if an error occurs
    Parameters:
    d
    Node_ID
    cs
    Returns:

Definition at line 46 of file nmtMaster.c.

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