include/nmtSlave.h
author fbeaulier
Mon, 29 Aug 2011 17:31:55 +0200
changeset 665 90e6cf84a0d7
parent 561 f9be4262c68d
permissions -rwxr-xr-x
patch from Christian Taedcke <hacking@taedcke.com> : fix-wrong-resetSDOline-for-sdo-timeout.patch
FIXED: - The sdo line must not be closed at the end of SDOTimeoutAlarm() if the same sdo line is closed and reopened for a new transfer inside the callback. (Patch from Jaroslav Fojtik)
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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/** @defgroup nmtslave NMT Slave
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 *  @brief The NMT Slave methods are called automatically when a NMT message from Master are received. 
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 *  @ingroup networkmanagement
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 */
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#ifndef __nmtSlave_h__
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#define __nmtSlave_h__
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#include <applicfg.h>
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#include "data.h"
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/** 
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 * @brief Threat the reception of a NMT message from the master.
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 * @param *d Pointer to the CAN data structure
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 * @param *m Pointer to the message received
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 * @return 
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 *  -  0 if OK 
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 *  - -1 if the slave is not allowed, by its state, to receive the message
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 */
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void proceedNMTstateChange (CO_Data* d, Message * m);
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/** 
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 * @brief Transmit the boot-Up frame when the slave is moving from initialization
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 * state to pre_operational state.
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 * @param *d Pointer on the CAN data structure
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 * @return canSend(bus_id,&m)
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 */
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UNS8 slaveSendBootUp (CO_Data* d);
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#endif /* __nmtSlave_h__ */