Lely core libraries
2.2.5
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A CANopen NMT master/slave service. More...
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. | |
size_t | tpdo_event_wait |
The number of calls to co_nmt_on_tpdo_event_lock() minus the number of calls to co_nmt_on_tpdo_event_unlock(). | |
unsigned long | tpdo_event_mask [512/LONG_BIT] |
A bit mask tracking all Transmit-PDO events indicated by co_nmt_on_tpdo_event() that have been postponed because tpdo_event_wait > 0. | |