nmt_cfg.c File Reference
This file is part of the CANopen library; it contains the implementation of the NMT 'configuration request' functions. More...
#include "co.h"#include "nmt_cfg.h"#include <lely/co/dev.h>#include <lely/util/errnum.h>#include <assert.h>#include <stdlib.h>
Include dependency graph for nmt_cfg.c:
Go to the source code of this file.
Data Structures | |
| struct | __co_nmt_cfg |
| A CANopen NMT 'configuration request' service. More... | |
| struct | __co_nmt_cfg_state |
| A CANopen NMT 'configuration request' state. More... | |
Typedefs | |
| typedef const struct __co_nmt_cfg_state | co_nmt_cfg_state_t |
| An opaque CANopen NMT 'configuration request' state type. | |
Functions | |
| static void | co_nmt_cfg_dn_con (co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac, void *data) |
| The CANopen SDO download confirmation callback function for a 'configuration request'. More... | |
| static void | co_nmt_cfg_enter (co_nmt_cfg_t *cfg, co_nmt_cfg_state_t *next) |
| Enters the specified state of a 'configuration request; and invokes the exit and entry functions. | |
| static void | co_nmt_cfg_emit_dn_con (co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac) |
| Invokes the 'SDO download confirmation' transition function of the current state of a 'boot slave' service. More... | |
| static void | co_nmt_cfg_emit_res (co_nmt_cfg_t *cfg, co_unsigned32_t ac) |
| Invokes the 'result received' transition function of the current state of a 'configuration request'. More... | |
| static co_nmt_cfg_state_t * | co_nmt_cfg_init_on_enter (co_nmt_cfg_t *cfg) |
| The entry function of the 'initialization' state. | |
| static co_nmt_cfg_state_t * | co_nmt_cfg_init_on_res (co_nmt_cfg_t *cfg, co_unsigned32_t ac) |
| The 'result received' function of the 'initialization' state. | |
| static co_nmt_cfg_state_t * | co_nmt_cfg_abort_on_enter (co_nmt_cfg_t *cfg) |
| The entry function of the 'abort' state. | |
| static co_nmt_cfg_state_t * | co_nmt_cfg_restore_on_enter (co_nmt_cfg_t *cfg) |
| The entry function of the 'restore configuration' state. | |
| static co_nmt_cfg_state_t * | co_nmt_cfg_restore_on_dn_con (co_nmt_cfg_t *cfg, co_unsigned16_t idx, co_unsigned8_t subidx, co_unsigned32_t ac) |
| The 'SDO download confirmation' transition function of the 'restore configuration' state. | |
| co_nmt_cfg_t * | co_nmt_cfg_create (can_net_t *net, co_dev_t *dev, co_nmt_t *nmt) |
| Creates a new CANopen NMT 'configuration request'. More... | |
| void | co_nmt_cfg_destroy (co_nmt_cfg_t *cfg) |
| Destroys a CANopen NMT 'configuration request'. More... | |
| int | co_nmt_cfg_cfg_req (co_nmt_cfg_t *cfg, co_unsigned8_t id, int timeout, co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data) |
| Starts a CANopen NMT 'configuration request'. More... | |
| int | co_nmt_cfg_cfg_res (co_nmt_cfg_t *cfg, co_unsigned32_t ac) |
| Indicates the result of the 'update configuration' step of an NMT 'configuration request'. More... | |
Detailed Description
This file is part of the CANopen library; it contains the implementation of the NMT 'configuration request' functions.
- See also
- src/nmt_cfg.h
- Copyright
- 2017-2018 Lely Industries N.V.
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
Definition in file nmt_cfg.c.
Function Documentation
◆ co_nmt_cfg_dn_con()
|
static |
The CANopen SDO download confirmation callback function for a 'configuration request'.
- See also
- co_csdo_dn_con_t
◆ co_nmt_cfg_emit_dn_con()
|
inlinestatic |
◆ co_nmt_cfg_emit_res()
|
inlinestatic |
◆ co_nmt_cfg_create()
| co_nmt_cfg_t* co_nmt_cfg_create | ( | can_net_t * | net, |
| co_dev_t * | dev, | ||
| co_nmt_t * | nmt | ||
| ) |
Creates a new CANopen NMT 'configuration request'.
- Parameters
-
net a pointer to a CAN network. dev a pointer to a CANopen device. nmt a pointer to an NMT master service.
- Returns
- a pointer to a new NMT 'configuration request', or NULL on error. In the latter case, the error number can be obtained with get_errc().
- See also
- co_nmt_cfg_destroy()
◆ co_nmt_cfg_destroy()
| void co_nmt_cfg_destroy | ( | co_nmt_cfg_t * | boot | ) |
Destroys a CANopen NMT 'configuration request'.
- See also
- co_nmt_cfg_create()
◆ co_nmt_cfg_cfg_req()
| int co_nmt_cfg_cfg_req | ( | co_nmt_cfg_t * | cfg, |
| co_unsigned8_t | id, | ||
| int | timeout, | ||
| co_csdo_ind_t * | dn_ind, | ||
| co_csdo_ind_t * | up_ind, | ||
| void * | data | ||
| ) |
Starts a CANopen NMT 'configuration request'.
- Parameters
-
cfg a pointer to an NMT 'configuration request'. id the node-ID. timeout the SDO timeout (in milliseconds). See co_csdo_set_timeout(). dn_ind a pointer to the SDO download progress indication function (can be NULL). up_ind a pointer to the SDO upload progress indication function (can be NULL). data a pointer to user-specified data (can be NULL). data is passed as the last parameter to dn_ind and up_ind.
- Returns
- 0 on success, or -1 on error. In the latter case, the error number can be obtained with get_errc().
◆ co_nmt_cfg_cfg_res()
| int co_nmt_cfg_cfg_res | ( | co_nmt_cfg_t * | cfg, |
| co_unsigned32_t | ac | ||
| ) |
Indicates the result of the 'update configuration' step of an NMT 'configuration request'.
- Parameters
-
cfg a pointer to an NMT 'configuration request'. ac the SDO abort code (0 on success).
- Returns
- 0 on success, or -1 on error. In the latter case, the error number can be obtained with get_errc().
