Lely core libraries  2.2.5
__co_nmt_boot Struct Reference

A CANopen NMT 'boot slave' service. More...

Collaboration diagram for __co_nmt_boot:

Data Fields

can_net_tnet
 A pointer to a CAN network interface.
 
co_dev_tdev
 A pointer to a CANopen device.
 
co_nmt_tnmt
 A pointer to an NMT master service.
 
co_nmt_boot_state_tstate
 A pointer to the current state.
 
can_recv_trecv
 A pointer to the CAN frame receiver.
 
can_timer_ttimer
 A pointer to the CAN timer.
 
co_unsigned8_t id
 The node-ID.
 
int timeout
 The SDO timeout (in milliseconds).
 
co_csdo_tsdo
 A pointer to the Client-SDO used to access slave objects.
 
struct timespec start
 The time at which the 'boot slave' request was received.
 
co_unsigned32_t assignment
 The NMT slave assignment (object 1F81).
 
co_unsigned16_t ms
 The consumer heartbeat time (in milliseconds).
 
struct co_sdo_req req
 The CANopen SDO upload request used for reading sub-objects.
 
int retry
 The number of SDO retries remaining.
 
co_unsigned8_t st
 The state of the node (including the toggle bit).
 
char es
 The error status.
 

Detailed Description

A CANopen NMT 'boot slave' service.

Definition at line 75 of file nmt_boot.c.


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