1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#ifndef __nmtMaster_h__

    24

#define __nmtMaster_h__

    25

    26

#include "data.h"

    27

    28

/** Transmit a NMT message on the bus number bus_id

    29

 * to the slave whose node_id is ID

    30

 * bus_id is hardware dependant

    31

 * cs represents the order of state changement:

    32

 * cs =  NMT_Start_Node            // Put the node in operational mode             

    33

 * cs =	 NMT_Stop_Node		   // Put the node in stopped mode

    34

 * cs =	 NMT_Enter_PreOperational  // Put the node in pre_operational mode  

    35

 * cs =  NMT_Reset_Node		   // Put the node in initialization mode 

    36

 * cs =  NMT_Reset_Comunication	   // Put the node in initialization mode 

    37

 * The mode is changed according to the slave state machine mode :

    38

 *        initialisation  ---> pre-operational (Automatic transition)

    39

 *        pre-operational <--> operational

    40

 *        pre-operational <--> stopped

    41

 *        pre-operational, operational, stopped -> initialisation

    42

 *

    43

 * return canSend(bus_id,&m)               

    44

 */

    45

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

    46

    47

/** Transmit a Node_Guard message on the bus number bus_id

    48

 * to the slave whose node_id is nodeId

    49

 * bus_id is hardware dependant

    50

 * return canSend(bus_id,&m)

    51

 */

    52

UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);

    53

    54

    55

/** Prepare a Node_Guard message transmission on the bus number bus_id

    56

 * to the slave whose node_id is nodeId

    57

 * Put nodeId = 0 to send an NMT broadcast.

    58

 * This message will ask for the slave, whose node_id is nodeId, its state

    59

 * bus_id is hardware dependant

    60

 */

    61

void masterRequestNodeState (CO_Data* d, UNS8 nodeId);

    62

    63