Lely core libraries  2.3.4
nmt_cfg.h File Reference
#include "co.h"
#include <lely/co/csdo.h>
#include <lely/co/nmt.h>
Include dependency graph for nmt_cfg.h:
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Go to the source code of this file.

Typedefs

typedef struct __co_nmt_cfg co_nmt_cfg_t
 An opaque CANopen NMT 'configuration request' type.
 

Functions

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 received. More...
 
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 completes (with success or failure). More...
 
co_nmt_cfg_tco_nmt_cfg_create (can_net_t *net, co_dev_t *dev, co_nmt_t *nmt)
 Creates a new CANopen NMT 'configuration request'. More...
 
void co_nmt_cfg_destroy (co_nmt_cfg_t *boot)
 Destroys a CANopen NMT 'configuration request'. More...
 
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'. More...
 
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'. More...
 

Detailed Description

This is the internal header file of the NMT 'configuration request' declarations.

See also
lely/co/nmt.h
Author
J. S. Seldenthuis jseld.nosp@m.enth.nosp@m.uis@l.nosp@m.ely..nosp@m.com

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file nmt_cfg.h.

Function Documentation

◆ co_nmt_cfg_ind()

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 received.

Parameters
nmta pointer to an NMT master service.
idthe node-ID of the slave (in the range [1..127]).
sdoa pointer to a Client-SDO connected to the slave.

Definition at line 2375 of file nmt.c.

◆ co_nmt_cfg_con()

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 completes (with success or failure).

Parameters
nmta pointer to an NMT master service.
idthe node-ID of the slave (in the range [1..127]).
acthe SDO abort code (0 on success).

Definition at line 2389 of file nmt.c.

◆ co_nmt_cfg_create()

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'.

Parameters
neta pointer to a CAN network.
deva pointer to a CANopen device.
nmta pointer to an NMT master service.
Returns
a pointer to a new NMT 'configuration request', or NULL on error. In the latter case, the error number can be obtained with get_errc().
See also
co_nmt_cfg_destroy()

Definition at line 401 of file nmt_cfg.c.

◆ co_nmt_cfg_destroy()

void co_nmt_cfg_destroy ( co_nmt_cfg_t boot)

Destroys a CANopen NMT 'configuration request'.

See also
co_nmt_cfg_create()

Definition at line 426 of file nmt_cfg.c.

◆ co_nmt_cfg_cfg_req()

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'.

Parameters
cfga pointer to an NMT 'configuration request'.
idthe node-ID.
timeoutthe SDO timeout (in milliseconds). See co_csdo_set_timeout().
dn_inda pointer to the SDO download progress indication function (can be NULL).
up_inda pointer to the SDO upload progress indication function (can be NULL).
dataa pointer to user-specified data (can be NULL). data is passed as the last parameter to dn_ind and up_ind.
Returns
0 on success, or -1 on error. In the latter case, the error number can be obtained with get_errc().

Definition at line 435 of file nmt_cfg.c.

◆ co_nmt_cfg_cfg_res()

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'.

Parameters
cfga pointer to an NMT 'configuration request'.
acthe SDO abort code (0 on success).
Returns
0 on success, or -1 on error. In the latter case, the error number can be obtained with get_errc().

Definition at line 466 of file nmt_cfg.c.