A CANopen NMT master/slave service. More...

Collaboration diagram for __co_nmt:

Data Fields
can_net_t *	net
	A pointer to a CAN network interface.

co_dev_t *	dev
	A pointer to a CANopen device.

co_unsigned8_t	id
	The pending node-ID.

void *	dcf_node
	The concise DCF of the application parameters.

void *	dcf_comm
	The concise DCF of the communication parameters.

co_nmt_state_t *	state
	The current state.

struct co_nmt_srv	srv
	The NMT service manager.

co_unsigned32_t	startup
	The NMT startup value (object 1F80).

int	master
	A flag specifying whether the NMT service is a master or a slave.

can_recv_t *	recv_000
	A pointer to the CAN frame receiver for NMT messages.

co_nmt_cs_ind_t *	cs_ind
	A pointer to the NMT command indication function.

void *	cs_data
	A pointer to user-specified data for cs_ind.

can_recv_t *	recv_700
	A pointer to the CAN frame receiver for NMT error control messages.

co_nmt_ng_ind_t *	ng_ind
	A pointer to the node guarding event indication function.

void *	ng_data
	A pointer to user-specified data for ng_ind.

can_timer_t *	ec_timer
	A pointer to the CAN timer for life guarding or heartbeat production.

co_unsigned8_t	st
	The state of the NMT service (including the toggle bit).

co_unsigned16_t	gt
	The guard time (in milliseconds).

co_unsigned8_t	ltf
	The lifetime factor.

int	lg_state
	Indicates whether a life guarding error occurred (CO_NMT_EC_OCCURRED or CO_NMT_EC_RESOLVED).

co_nmt_lg_ind_t *	lg_ind
	A pointer to the life guarding event indication function.

void *	lg_data
	A pointer to user-specified data for lg_ind.

co_unsigned16_t	ms
	The producer heartbeat time (in milliseconds).

co_nmt_hb_t **	hbs
	An array of pointers to the heartbeat consumers.

co_unsigned8_t	nhb
	The number of heartbeat consumers.

co_nmt_hb_ind_t *	hb_ind
	A pointer to the heartbeat event indication function.

void *	hb_data
	A pointer to user-specified data for hb_ind.

co_nmt_st_ind_t *	st_ind
	A pointer to the state change event indication function.

void *	st_data
	A pointer to user-specified data for st_ind.

struct can_buf	buf
	A pointer to the CAN frame buffer for NMT messages.

struct timespec	inhibit
	The time at which the next NMT message may be sent.

can_timer_t *	cs_timer
	A pointer to the CAN timer for sending buffered NMT messages.

co_nmt_lss_req_t *	lss_req
	A pointer to the LSS request function.

void *	lss_data
	A pointer to user-specified data for lss_req.

int	halt
	A flag indicating if the startup procedure was halted because of a mandatory slave boot failure.

struct co_nmt_slave	slaves [CO_NUM_NODES]
	An array containing the state of each NMT slave.

int	timeout
	The default SDO timeout (in milliseconds) used during the NMT 'boot slave' and 'check configuration' processes.

co_nmt_boot_ind_t *	boot_ind
	A pointer to the NMT 'boot slave' indication function.

void *	boot_data
	A pointer to user-specified data for boot_ind.

co_nmt_cfg_ind_t *	cfg_ind
	A pointer to the NMT 'configuration request' indication function.

void *	cfg_data
	A pointer to user-specified data for cfg_ind.

co_nmt_sdo_ind_t *	dn_ind
	A pointer to the SDO download progress indication function.

void *	dn_data
	A pointer to user-specified data for dn_ind.

co_nmt_sdo_ind_t *	up_ind
	A pointer to the SDO upload progress indication function.

void *	up_data
	A pointer to user-specified data for up_ind.

co_nmt_sync_ind_t *	sync_ind
	A pointer to the SYNC indication function.

void *	sync_data
	A pointer to user-specified data for sync_ind.

Detailed Description

A CANopen NMT master/slave service.

Definition at line 104 of file nmt.c.

The documentation for this struct was generated from the following file:

src/co/nmt.c

Data Fields

Detailed Description