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: 
greg@528: /** @defgroup networkmanagement Network Management
greg@528:  *  @ingroup userapi
greg@528:  */
greg@528: /** @defgroup nmtmaster NMT Master
greg@529:  *  @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.
greg@528:  *  @ingroup networkmanagement
greg@528:  */
greg@528:  
etisserant@0: #ifndef __nmtMaster_h__
etisserant@0: #define __nmtMaster_h__
etisserant@0: 
etisserant@0: #include "data.h"
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup nmtmaster
greg@561:  * @brief Transmit a NMT message on the network to the slave whose nodeId is node ID.
greg@528:  * 
greg@561:  * @param *d Pointer to a CAN object data structure
greg@561:  * @param nodeId Id of the slave node
greg@561:  * @param cs The order of state changement \n\n
greg@561:  * 
greg@561:  * Allowed states :
greg@561:  *  - cs =  NMT_Start_Node               // Put the node in operational mode             
greg@561:  *  - cs =	NMT_Stop_Node		         // Put the node in stopped mode
greg@561:  *  - cs =	NMT_Enter_PreOperational     // Put the node in pre_operational mode  
greg@561:  *  - cs =  NMT_Reset_Node		         // Put the node in initialization mode 
greg@561:  *  - cs =  NMT_Reset_Comunication	     // Put the node in initialization mode
greg@561:  *  
etisserant@0:  * The mode is changed according to the slave state machine mode :
greg@528:  *  - initialisation  ---> pre-operational (Automatic transition)
greg@528:  *  - pre-operational <--> operational
greg@528:  *  - pre-operational <--> stopped
greg@561:  *  - pre-operational, operational, stopped -> initialisation
greg@561:  * \n\n
greg@561:  * @return errorcode
greg@561:  *                   - 0 if the NMT message was send
greg@561:  *                   - 1 if an error occurs 
etisserant@0:  */
greg@561: UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs);
etisserant@0: 
greg@528: /**
greg@528:  * @ingroup nmtmaster 
greg@561:  * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID
greg@528:  * 
greg@561:  * @param *d Pointer to a CAN object data structure
greg@528:  * @param nodeId Id of the slave node
greg@561:  * @return
greg@561:  *         - 0 is returned if the NodeGuard message was send.
greg@561:  *         - 1 is returned if an error occurs.
etisserant@0:  */
etisserant@0: UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);
etisserant@0: 
greg@528: /** 
greg@528:  * @ingroup nmtmaster
greg@561:  * @brief Ask the state of the slave node whose nodeId is node Id.
greg@528:  * 
greg@561:  * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0
greg@561:  * @param *d Pointer to a CAN object data structure
greg@528:  * @param nodeId Id of the slave node
etisserant@0:  */
edouard@631: UNS8 masterRequestNodeState (CO_Data* d, UNS8 nodeId);
etisserant@0: 
etisserant@0: 
frdupin@71: #endif /* __nmtMaster_h__ */