Lely core libraries 2.3.4
nmt_cfg.h
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1
24#ifndef LELY_CO_INTERN_NMT_CFG_H_
25#define LELY_CO_INTERN_NMT_CFG_H_
26
27#include "co.h"
28#include <lely/co/csdo.h>
29#include <lely/co/nmt.h>
30
31struct __co_nmt_cfg;
32#ifndef __cplusplus
35#endif
36
37#ifdef __cplusplus
38extern "C" {
39#endif
40
49void co_nmt_cfg_ind(co_nmt_t *nmt, co_unsigned8_t id, co_csdo_t *sdo);
50
59void co_nmt_cfg_con(co_nmt_t *nmt, co_unsigned8_t id, co_unsigned32_t ac);
60
61void *__co_nmt_cfg_alloc(void);
62void __co_nmt_cfg_free(void *ptr);
63struct __co_nmt_cfg *__co_nmt_cfg_init(struct __co_nmt_cfg *boot,
65void __co_nmt_cfg_fini(struct __co_nmt_cfg *boot);
66
80
83
101int co_nmt_cfg_cfg_req(co_nmt_cfg_t *cfg, co_unsigned8_t id, int timeout,
102 co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data);
103
114int co_nmt_cfg_cfg_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac);
115
116#ifdef __cplusplus
117}
118#endif
119
120#endif // !LELY_CO_INTERN_NMT_CFG_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_cfg_ind(co_nmt_t *nmt, co_unsigned8_t id, co_csdo_t *sdo)
The CANopen NMT 'update configuration' indication function, invoked when a configuration request is r...
Definition nmt.c:2375
int co_nmt_cfg_cfg_req(co_nmt_cfg_t *cfg, co_unsigned8_t id, int timeout, co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data)
Starts a CANopen NMT 'configuration request'.
Definition nmt_cfg.c:435
void co_nmt_cfg_destroy(co_nmt_cfg_t *boot)
Destroys a CANopen NMT 'configuration request'.
Definition nmt_cfg.c:426
void co_nmt_cfg_con(co_nmt_t *nmt, co_unsigned8_t id, co_unsigned32_t ac)
The CANopen NMT 'configuration request' confirmation function, invoked when a configuration request c...
Definition nmt.c:2389
co_nmt_cfg_t * co_nmt_cfg_create(can_net_t *net, co_dev_t *dev, co_nmt_t *nmt)
Creates a new CANopen NMT 'configuration request'.
Definition nmt_cfg.c:401
int co_nmt_cfg_cfg_res(co_nmt_cfg_t *cfg, co_unsigned32_t ac)
Indicates the result of the 'update configuration' step of an NMT 'configuration request'.
Definition nmt_cfg.c:466
This is the internal header file of the CANopen library.
A CAN network interface.
Definition net.c:37
A CANopen Client-SDO.
Definition csdo.c:71
A CANopen device.
Definition dev.h:30
A CANopen NMT 'configuration request' service.
Definition nmt_cfg.c:56
co_nmt_t * nmt
A pointer to an NMT master service.
Definition nmt_cfg.c:62
co_unsigned32_t ac
The SDO abort code.
Definition nmt_cfg.c:76
co_dev_t * dev
A pointer to a CANopen device.
Definition nmt_cfg.c:60
can_net_t * net
A pointer to a CAN network interface.
Definition nmt_cfg.c:58
co_csdo_t * sdo
A pointer to the Client-SDO used to access slave objects.
Definition nmt_cfg.c:74
A CANopen NMT master/slave service.
Definition nmt.c:148