etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #ifndef __nmtMaster_h__
etisserant@0: #define __nmtMaster_h__
etisserant@0: 
etisserant@0: #include "data.h"
etisserant@0: 
etisserant@0: /** Transmit a NMT message on the bus number bus_id
etisserant@0:  * to the slave whose node_id is ID
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * cs represents the order of state changement:
etisserant@0:  * cs =  NMT_Start_Node            // Put the node in operational mode             
etisserant@0:  * cs =	 NMT_Stop_Node		   // Put the node in stopped mode
etisserant@0:  * cs =	 NMT_Enter_PreOperational  // Put the node in pre_operational mode  
etisserant@0:  * cs =  NMT_Reset_Node		   // Put the node in initialization mode 
etisserant@0:  * cs =  NMT_Reset_Comunication	   // Put the node in initialization mode 
etisserant@0:  * The mode is changed according to the slave state machine mode :
etisserant@0:  *        initialisation  ---> pre-operational (Automatic transition)
etisserant@0:  *        pre-operational <--> operational
etisserant@0:  *        pre-operational <--> stopped
etisserant@0:  *        pre-operational, operational, stopped -> initialisation
etisserant@0:  *
etisserant@0:  * return canSend(bus_id,&m)               
etisserant@0:  */
etisserant@0: UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 Node_ID, UNS8 cs);
etisserant@0: 
etisserant@0: /** Transmit a Node_Guard message on the bus number bus_id
etisserant@0:  * to the slave whose node_id is nodeId
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  * return canSend(bus_id,&m)
etisserant@0:  */
etisserant@0: UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);
etisserant@0: 
etisserant@0: 
etisserant@0: /** Prepare a Node_Guard message transmission on the bus number bus_id
etisserant@0:  * to the slave whose node_id is nodeId
etisserant@0:  * Put nodeId = 0 to send an NMT broadcast.
etisserant@0:  * This message will ask for the slave, whose node_id is nodeId, its state
etisserant@0:  * bus_id is hardware dependant
etisserant@0:  */
etisserant@0: void masterRequestNodeState (CO_Data* d, UNS8 nodeId);
etisserant@0: 
etisserant@0: 
frdupin@71: #endif /* __nmtMaster_h__ */