com_demo_nmt.c

---

//============================================================================//
// File:          com_demo_nmt.c                                              //
// Description:   Examples for NMT service in CANopen Master stack            //
//                                                                            //
// Copyright (C) MicroControl GmbH & Co. KG                                   //
// 53844 Troisdorf - Germany                                                  //
// www.microcontrol.net                                                       //
//                                                                            //
//----------------------------------------------------------------------------//
// The copyright to the computer program(s) herein is the property of         //
// MicroControl GmbH & Co. KG, Germany. The program(s) may be used            //
// and/or copied only with the written permission of MicroControl GmbH &      //
// Co. KG or in accordance with the terms and conditions stipulated in        //
// the agreement/contract under which the program(s) have been supplied.      //
//                                                                            //
//============================================================================//



#include <com_nmt.h>       // CANopen Master NMT service
#include <stdio.h>         // for sprintf() function

//----------------------------------------------------------------------------//
// DemoComNmtStartNet()                                                       //
// Start all nodes in the network                                             //
//----------------------------------------------------------------------------//
ComStatus_tv DemoComNmtStartNodes(uint8_t ubNetV)
{
   ComStatus_tv   tvStatusT;

   //----------------------------------------------------------------
   // set NMT inhibit time to 500 ms
   //
   tvStatusT = ComNmtSetInhibit(eCOM_NET_1, 500000);
   if(tvStatusT != eCOM_ERR_OK)
   {
      return(tvStatusT);
   }

   //----------------------------------------------------------------
   // send "Reset all Nodes" command
   //
   ComNmtSetNodeState(ubNetV, 0, eCOM_NMT_STATE_RESET_NODE);

   //----------------------------------------------------------------
   // now send "Operational" command, wait until inhibit time
   // is over
   //
   do {
         tvStatusT = ComNmtSetNodeState(  ubNetV, 0,
                                          eCOM_NMT_STATE_OPERATIONAL);
   } while (tvStatusT == eCOM_ERR_SERVICE_MODE);

   return (tvStatusT);
}  // DemoComNmtStartNodes


//----------------------------------------------------------------------------//
// DemoComNmtPrintNodeState()                                                 //
// Print node state in text buffer                                            //
//----------------------------------------------------------------------------//
ComStatus_tv DemoComNmtPrintNodeState( uint8_t ubNetV, uint8_t ubNodeIdV,
                                       char * szBufferV)
{
   uint8_t           ubNodeStateT;
   ComStatus_tv   tvStatusT;

   tvStatusT = ComNmtGetNodeState(ubNetV, ubNodeIdV, &ubNodeStateT);
   if(tvStatusT != eCOM_ERR_OK)
   {
      sprintf(szBufferV, "COM-ERR: %d", (int) tvStatusT);
      return(tvStatusT);
   }


   switch(ubNodeStateT)
   {
      case eCOM_NMT_STATE_STOPPED:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "Stopped     ");
         break;

      case eCOM_NMT_STATE_PREOPERATIONAL:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "Pre-Op.     ");
         break;

      case eCOM_NMT_STATE_OPERATIONAL:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "Operational ");
         break;

      case eCOM_NMT_STATE_RESET_NODE:
      case eCOM_NMT_STATE_RESET_COM:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "Reset       ");
         break;

      case eCOM_NMT_STATE_BOOTUP:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "Booted      ");
         break;

      default:
         sprintf(szBufferV, "NID %d: %s", ubNodeIdV, "Unknown     ");
         break;
   }

   return(eCOM_ERR_OK);
}  // DemoComNmtPrintNodeState