Lely core libraries 2.3.4
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A struct containing the state of an NMT slave. More...
Data Fields | |
co_nmt_t * | nmt |
A pointer to the NMT master service. | |
can_recv_t * | recv |
A pointer to the CAN frame receiver for the boot-up event and node guarding messages. | |
can_timer_t * | timer |
A pointer to the CAN timer for node guarding. | |
co_unsigned32_t | assignment |
The NMT slave assignment (object 1F81). | |
co_unsigned8_t | est |
The expected state of the slave (excluding the toggle bit). | |
co_unsigned8_t | rst |
The received state of the slave (including the toggle bit). | |
char | es |
The error status of the 'boot slave' process. | |
unsigned | booting: 1 |
A flag specifying whether the 'boot slave' process is in progress. | |
unsigned | configuring: 1 |
A flag specifying whether an NMT 'configuration request' is in progress. | |
unsigned | bootup: 1 |
A flag specifying whether NMT boot-up message was received from a slave. | |
unsigned | booted: 1 |
A flag specifying whether the 'boot slave' process has ended. | |
co_nmt_boot_t * | boot |
A pointer to the NMT 'boot slave' service. | |
co_nmt_cfg_t * | cfg |
A pointer to the NMT 'update configuration' service. | |
co_nmt_cfg_con_t * | cfg_con |
A pointer to the NMT 'configuration request' confirmation function. | |
void * | cfg_data |
A pointer to user-specified data for cfg_con. | |
co_unsigned16_t | gt |
The guard time (in milliseconds). | |
co_unsigned8_t | ltf |
The lifetime factor. | |
co_unsigned8_t | rtr |
The number of unanswered node guarding RTRs. | |
int | ng_state |
Indicates whether a node guarding error occurred (CO_NMT_EC_OCCURRED or CO_NMT_EC_RESOLVED). | |