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

/** @defgroup networkmanagement Network Management

    24

 *  @ingroup userapi

    25

 */

    26

/** @defgroup nmtmaster NMT Master

    27

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

    28

 *  @ingroup networkmanagement

    29

 */

    30

    31

#ifndef __nmtMaster_h__

    32

#define __nmtMaster_h__

    33

    34

#include "data.h"

    35

    36

/** 

    37

 * @ingroup nmtmaster

    38

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

    39

 * 

    40

 * @param *d Pointer to a CAN object data structure

    41

 * @param nodeId Id of the slave node

    42

 * @param cs The order of state changement \n\n

    43

 * 

    44

 * Allowed states :

    45

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

    46

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

    47

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

    48

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

    49

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

    50

 *  

    51

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

    52

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

    53

 *  - pre-operational <--> operational

    54

 *  - pre-operational <--> stopped

    55

 *  - pre-operational, operational, stopped -> initialisation

    56

 * \n\n

    57

 * @return errorcode

    58

 *                   - 0 if the NMT message was send

    59

 *                   - 1 if an error occurs 

    60

 */

    61

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

    62

    63

/**

    64

 * @ingroup nmtmaster 

    65

 * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID

    66

 * 

    67

 * @param *d Pointer to a CAN object data structure

    68

 * @param nodeId Id of the slave node

    69

 * @return

    70

 *         - 0 is returned if the NodeGuard message was send.

    71

 *         - 1 is returned if an error occurs.

    72

 */

    73

UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);

    74

    75

/** 

    76

 * @ingroup nmtmaster

    77

 * @brief Ask the state of the slave node whose nodeId is node Id.

    78

 * 

    79

 * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0

    80

 * @param *d Pointer to a CAN object data structure

    81

 * @param nodeId Id of the slave node

    82

 */

    83

UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId);

    84

    85

    86

#endif /* __nmtMaster_h__ */