cbl_nmt.h File Reference

Detailed Description

The CANopen Network Management (NMT) is used to change the state of a CANopen slave node. In addition, the network state can be monitored via the Network Management Error Control (NMT-EC) service. This module provides the following functionality:

• NMT state change
• NMT Error Control (heartbeat)
• Send boot-up message
• Callbacks for NMT state change

Include dependency graph for cbl_nmt.h:

Macros
#define	NODE_STATE_BOOTUP   0x00
#define	NODE_STATE_STOPPED   0x04
#define	NODE_STATE_OPERATIONAL   0x05
#define	NODE_STATE_PREOPERATIONAL   0x7F
#define	NODE_STATE_BUS_OFF   0xFF

Functions
uint8_t	CblNmtGetNodeState (void)
void	CblNmtEventStart (void)
void	CblNmtEventStop (void)
void	CblNmtEventPreOperational (void)
void	CblNmtSetHeartbeatProd (uint16_t uwTimeV)

Function Documentation

CblNmtEventPreOperational()

void CblNmtEventPreOperational

(

void

)

Note

Adopt this function to the application if required. The function implementation is located in the file cbl_user.c.

This service routine is called when the NMT state machine changes into NMT pre-operational state (NODE_STATE_PREOPERATIONAL). It can be used to perform device specific routines after reception of the NMT command.

CblNmtEventStart()

void CblNmtEventStart

(

void

)

Note

Adopt this function to the application if required. The function implementation is located in the file cbl_user.c.

This service routine is called when the NMT state machine changes into NMT operational state (NODE_STATE_OPERATIONAL). It can be used to perform device specific routines after reception of the NMT command.

CblNmtEventStop()

void CblNmtEventStop

(

void

)

Note

Adopt this function to the application if required. The function implementation is located in the file cbl_user.c.

This service routine is called when the NMT state machine changes into NMT stopped state (NODE_STATE_STOPPED). It can be used to perform device specific routines after reception of the NMT command.

CblNmtGetNodeState()

uint8_t CblNmtGetNodeState

(

void

)

Returns

NMT node state

This function returns the current NMT state of the node. Possible return values are defined by NMT node state.

CblNmtSetHeartbeatProd()

void CblNmtSetHeartbeatProd

(

uint16_t

uwTimeV

)

Parameters

[in]

uwTimeV

heartbeat cycle time

This function sets the heartbeat producer time. The parameter uwTimeV denotes the time in milli-seconds. By default, the heartbeat producer time is set to 0 during initialization.