Lely core libraries 2.3.4
__co_nmt Struct Reference

A CANopen NMT master/slave service. More...

Collaboration diagram for __co_nmt:

Data Fields

can_net_tnet
 A pointer to a CAN network interface.
 
co_dev_tdev
 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_tstate
 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_trecv_000
 A pointer to the CAN frame receiver for NMT messages.
 
co_nmt_cs_ind_tcs_ind
 A pointer to the NMT command indication function.
 
void * cs_data
 A pointer to user-specified data for cs_ind.
 
can_recv_trecv_700
 A pointer to the CAN frame receiver for NMT error control messages.
 
co_nmt_ng_ind_tng_ind
 A pointer to the node guarding event indication function.
 
void * ng_data
 A pointer to user-specified data for ng_ind.
 
can_timer_tec_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_tlg_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_thb_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_tst_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_tcs_timer
 A pointer to the CAN timer for sending buffered NMT messages.
 
co_nmt_lss_req_tlss_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_tboot_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_tcfg_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_tdn_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_tup_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_tsync_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 [CO_NUM_PDOS/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.
 

Detailed Description

A CANopen NMT master/slave service.

Definition at line 148 of file nmt.c.


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