Functions
void	ComNmtEventActiveMaster (uint8_t ubNetV, uint8_t ubPriorityV, uint8_t ubNodeIdV)

void	ComNmtEventHeartbeat (uint8_t ubNetV, uint8_t ubNodeIdV)

void	ComNmtEventStateChange (uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubNmtStateV)

void	ComNmtEventIdCollision (uint8_t ubNetV)

void	ComNmtEventMasterDetection (uint8_t ubNetV, uint8_t ubResultV)

void	ComNmtEventResetNode (uint8_t ubNetV)

void	ComNmtEventResetCommunication (uint8_t ubNetV)

ComStatus_tv	ComNmtGetHbProdTime (uint8_t ubNetV, uint16_t *puwTimeV)

ComStatus_tv	ComNmtGetInhibit (uint8_t ubNetV, uint32_t *pulTimeV)

ComStatus_tv	ComNmtGetNodeState (uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t *pubStateV)

ComStatus_tv	ComNmtIsMaster (uint8_t ubNetV)

ComStatus_tv	ComNmtMasterDetection (uint8_t ubNetV, uint8_t ubBootupV)

ComStatus_tv	ComNmtSetHbProdTime (uint8_t ubNetV, uint16_t uwTimeV)

ComStatus_tv	ComNmtSetInhibit (uint8_t ubNetV, uint32_t ulTimeV)

ComStatus_tv	ComNmtSetNodeState (uint8_t ubNetV, uint8_t ubNodeIdV, uint8_t ubStateV)

Detailed Description

The CANopen Network Management (NMT) is used to change the state of a CANopen slave node. This module holds functions for the protocol stack to behave in both ways: as Master or as Slave. If the protocol stack is started in Slave mode (refer to the ComMgrInit() function), the protocol stack must react on NMT messages. If started in Master mode, the protocol stack holds the NMT resource and is allowed to send NMT messages.

Function Documentation

◆ ComNmtEventActiveMaster()

void ComNmtEventActiveMaster	(	uint8_t	ubNetV,
		uint8_t	ubPriorityV,
		uint8_t	ubNodeIdV
	)

NMT event callback - Active NMT master.

Parameters

ubNetV	- CANopen Network channel
ubPriorityV	- NMT master priority
ubNodeIdV	- Node-ID value

This function is called by the stack on a NMT active master indication. The action on this function is application specific.

◆ ComNmtEventHeartbeat()

void ComNmtEventHeartbeat	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV
	)

NMT event callback - Heartbeat.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value

This function is called by the stack on a NMT heartbeat event. The action on this function is application specific.

◆ ComNmtEventIdCollision()

void ComNmtEventIdCollision ( uint8_t ubNetV )

NMT event callback - ID collision.

Parameters

ubNetV - CANopen Network channel

This function is called by the stack on a NMT identifier collision. The action on this function is application specific.

◆ ComNmtEventMasterDetection()

void ComNmtEventMasterDetection	(	uint8_t	ubNetV,
		uint8_t	ubResultV
	)

NMT master detection callback.

Parameters

ubNetV	- CANopen Network channel
ubResultV	- Result of NMT master detection

See also: ComNmtMasterDetection()

This function is called by the stack as result on a NMT master detection procedure. Possible values for the parameter ubResultV are

eCOM_NMT_DETECT_SUCCESS
eCOM_NMT_DETECT_TIMEOUT

The value eCOM_NMT_DETECT_SUCCESS means that a NMT master device is available in the network. The CANopen master stack shall not be used as NMT master in that case. The values eCOM_NMT_DETECT_TIMEOUT denotes that there was no response from another NMT master in the network and the CANopen master stack may be used as NMT master.

The action on this function is application specific.

◆ ComNmtEventResetCommunication()

void ComNmtEventResetCommunication ( uint8_t ubNetV )

NMT reset event callback.

Parameters

ubNetV - CANopen Network channel

This function is called by the stack on a NMT reset communication command. The action on this function is application specific.

◆ ComNmtEventResetNode()

void ComNmtEventResetNode ( uint8_t ubNetV )

NMT reset event callback.

Parameters

ubNetV - CANopen Network channel

This function is called by the stack on a NMT reset remote node command. The action on this function is application specific.

◆ ComNmtEventStateChange()

void ComNmtEventStateChange	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint8_t	ubNmtStateV
	)

NMT event callback - State change.

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value
ubNmtStateV	- New NMT state

This function is called by the stack on a NMT state change event. Possible values for ubNmtStateV are listed in the ComNmtState_e enumeration. The action on this function is application specific.

◆ ComNmtGetHbProdTime()

ComStatus_tv ComNmtGetHbProdTime	(	uint8_t	ubNetV,
		uint16_t *	puwTimeV
	)

Parameters

ubNetV	- CANopen Network channel
puwTimeV	- Pointer to heartbeat timer value

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtSetHbProdTime()

This function retrieves the heartbeat producer time for the CANopen Master. The value passed to the pointer puwTimeV is given in multiples of 1 millisecond.

◆ ComNmtGetInhibit()

ComStatus_tv ComNmtGetInhibit	(	uint8_t	ubNetV,
		uint32_t *	pulTimeV
	)

Parameters

ubNetV	- CANopen Network channel
pulTimeV	- Pointer to NMT inhibit time

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtSetInhibit()

This function retrieves the inhibit time between two subsequent NMT messages. The pointer pulTimeV points to a variable that holds the time value in multiples of one microsecond.

◆ ComNmtGetNodeState()

ComStatus_tv ComNmtGetNodeState	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint8_t *	pubStateV
	)

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value
pubStateV	- Pointer to NMT state variable

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtSetNodeState()

This function retrieves the NMT state of the CANopen device with the Node-ID ubNodeIdV. Possible values for ubNodeIdV are 1 .. 127. The value passed to the pointer pubStateV is taken from the ComNmtState_e enumeration.

◆ ComNmtIsMaster()

ComStatus_tv ComNmtIsMaster ( uint8_t ubNetV )

Parameters

ubNetV - CANopen Network channel

Returns: 1 if NMT master, 0 if NMT slave

This function checks if the device is the NMT master or not.

◆ ComNmtMasterDetection()

ComStatus_tv ComNmtMasterDetection	(	uint8_t	ubNetV,
		uint8_t	ubBootupV
	)

Parameters

ubNetV	- CANopen Network channel
ubBootupV	- set to 1 if run upon bootup

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtEventMasterDetection()

This function starts the NMT master detection.

◆ ComNmtSetHbProdTime()

ComStatus_tv ComNmtSetHbProdTime	(	uint8_t	ubNetV,
		uint16_t	uwTimeV
	)

Parameters

ubNetV	- CANopen Network channel
uwTimeV	- Heartbeat timer value

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtGetHbProdTime()

This function sets the heartbeat producer time for the CANopen Master. The value passed to uwTimeV is given in multiples of 1 millisecond.

◆ ComNmtSetInhibit()

ComStatus_tv ComNmtSetInhibit	(	uint8_t	ubNetV,
		uint32_t	ulTimeV
	)

Parameters

ubNetV	- CANopen Network channel
ulTimeV	- NMT inhibit time

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtGetInhibit()

This function sets the inhibit time between two subsequent NMT messages. The parameter ulTimeV is given in multiples of 1 microsecond.

◆ ComNmtSetNodeState()

ComStatus_tv ComNmtSetNodeState	(	uint8_t	ubNetV,
		uint8_t	ubNodeIdV,
		uint8_t	ubStateV
	)

Parameters

ubNetV	- CANopen Network channel
ubNodeIdV	- Node-ID value
ubStateV	- New NMT state

Returns: eCOM_ERR_NONE on success, negative ComErr_e value on failure

See also: ComNmtGetNodeState()

This function changes the NMT state of the CANopen device with the Node-ID ubNodeIdV. Possible values for ubNodeIdV are 0 .. 127. A value of 0 addresses all devices in the network. Passing the address of the CANopen Master to ubNodeIdV will change the NMT state of the Master.

The value passed to ubStateV is taken from the ComNmtState_e enumeration.

Functions

Detailed Description

Function Documentation

◆ ComNmtEventActiveMaster()

◆ ComNmtEventHeartbeat()

◆ ComNmtEventIdCollision()

◆ ComNmtEventMasterDetection()

◆ ComNmtEventResetCommunication()

◆ ComNmtEventResetNode()

◆ ComNmtEventStateChange()

◆ ComNmtGetHbProdTime()

◆ ComNmtGetInhibit()

◆ ComNmtGetNodeState()

◆ ComNmtIsMaster()

◆ ComNmtMasterDetection()

◆ ComNmtSetHbProdTime()

◆ ComNmtSetInhibit()

◆ ComNmtSetNodeState()