Lely core libraries 2.3.4
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
30struct __co_nmt_boot;
31#ifndef __cplusplus
34#endif
35
36#ifdef __cplusplus
37extern "C" {
38#endif
39
50 co_nmt_t *nmt, co_unsigned8_t id, co_unsigned8_t st, char es);
51
52void *__co_nmt_boot_alloc(void);
53void __co_nmt_boot_free(void *ptr);
54struct __co_nmt_boot *__co_nmt_boot_init(struct __co_nmt_boot *boot,
56void __co_nmt_boot_fini(struct __co_nmt_boot *boot);
57
70
73
91int 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:910
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:919
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:885
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:2297
This is the internal header file of the CANopen library.
A CAN network interface.
Definition net.c:37
A CANopen device.
Definition dev.h:30
A CANopen NMT 'boot slave' service.
Definition nmt_boot.c:79
co_nmt_t * nmt
A pointer to an NMT master service.
Definition nmt_boot.c:85
can_net_t * net
A pointer to a CAN network interface.
Definition nmt_boot.c:81
co_dev_t * dev
A pointer to a CANopen device.
Definition nmt_boot.c:83
char es
The error status.
Definition nmt_boot.c:111
int timeout
The SDO timeout (in milliseconds).
Definition nmt_boot.c:95
co_unsigned8_t st
The state of the node (including the toggle bit).
Definition nmt_boot.c:109
A CANopen NMT master/slave service.
Definition nmt.c:148