Lely core libraries  2.2.5
nmt_boot.h
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1 
23 #ifndef LELY_CO_INTERN_NMT_BOOT_H_
24 #define LELY_CO_INTERN_NMT_BOOT_H_
25 
26 #include "co.h"
27 #include <lely/co/csdo.h>
28 #include <lely/co/nmt.h>
29 
30 struct __co_nmt_boot;
31 #ifndef __cplusplus
33 typedef struct __co_nmt_boot co_nmt_boot_t;
34 #endif
35 
36 #ifdef __cplusplus
37 extern "C" {
38 #endif
39 
49 void co_nmt_boot_con(
50  co_nmt_t *nmt, co_unsigned8_t id, co_unsigned8_t st, char es);
51 
52 void *__co_nmt_boot_alloc(void);
53 void __co_nmt_boot_free(void *ptr);
54 struct __co_nmt_boot *__co_nmt_boot_init(struct __co_nmt_boot *boot,
56 void __co_nmt_boot_fini(struct __co_nmt_boot *boot);
57 
70 
73 
91 int co_nmt_boot_boot_req(co_nmt_boot_t *boot, co_unsigned8_t id, int timeout,
92  co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data);
93 
94 #ifdef __cplusplus
95 }
96 #endif
97 
98 #endif // !LELY_CO_INTERN_NMT_BOOT_H_
This header file is part of the CANopen library; it contains the Client-SDO declarations.
void co_csdo_ind_t(const co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx, size_t size, size_t nbyte, void *data)
The type of a CANopen Client-SDO request progress indication function, used to notify the user of the...
Definition: csdo.h:79
This header file is part of the CANopen library; it contains the network management (NMT) declaration...
void co_nmt_boot_destroy(co_nmt_boot_t *boot)
Destroys a CANopen NMT 'boot slave' service.
Definition: nmt_boot.c:902
co_nmt_boot_t * co_nmt_boot_create(can_net_t *net, co_dev_t *dev, co_nmt_t *nmt)
Creates a new CANopen NMT 'boot slave' service.
Definition: nmt_boot.c:877
int co_nmt_boot_boot_req(co_nmt_boot_t *boot, co_unsigned8_t id, int timeout, co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data)
Starts a CANopen NMT 'boot slave' service.
Definition: nmt_boot.c:911
void co_nmt_boot_con(co_nmt_t *nmt, co_unsigned8_t id, co_unsigned8_t st, char es)
The CANopen NMT 'boot slave' confirmation function, invoked when the 'boot slave' process completes.
Definition: nmt.c:1977
This is the internal header file of the CANopen library.
A CAN network interface.
Definition: net.c:37
A CANopen device.
Definition: dev.c:41
A CANopen NMT 'boot slave' service.
Definition: nmt_boot.c:75
co_nmt_t * nmt
A pointer to an NMT master service.
Definition: nmt_boot.c:81
can_net_t * net
A pointer to a CAN network interface.
Definition: nmt_boot.c:77
co_dev_t * dev
A pointer to a CANopen device.
Definition: nmt_boot.c:79
char es
The error status.
Definition: nmt_boot.c:107
int timeout
The SDO timeout (in milliseconds).
Definition: nmt_boot.c:91
co_unsigned8_t st
The state of the node (including the toggle bit).
Definition: nmt_boot.c:105
A CANopen NMT master/slave service.
Definition: nmt.c:104