---

nmt.h File Reference

Functions for handling NMT-Messages. More...

#include <canop.h>

Go to the source code of this file.

Functions
void	bootNode (BYTE bNode)
void	stopNode (BYTE bNode)
void	resetNode (BYTE bNode)
void	resetNodeCommunication (BYTE bNode)
void	sendBootUp (void)
void	processReceivedNMT (s_rx_buffer_message *)

---

Detailed Description

Functions for handling NMT-Messages.

By the functions of this file, the slavelib is able to hanle (and send) NMT messages by the NMT-Master. NMT-Messages can cause the slavelib to change into an other state (e.g. from pre-operational to operational)

---

Function Documentation

void bootNode (  BYTE    bNode )

Starts a remote node. Parameters: bNode  The CANopen node-id of the device to be started (value: 1..127)

void processReceivedNMT (  s_rx_buffer_message *    )

Called by proccessRxCanMessages( ). It is responsible to check an incoming message wheter this is an NMT Object. If it is, then this function changes the state of the statemachine of this device

void resetNode (  BYTE    bNode )

Resets a remote node. Parameters: bNode  The CANopen node-id of the device to be resetted (value: 1..127)

void resetNodeCommunication (  BYTE    bNode )

Resets a remote node's communication. Parameters: bNode  The CANopen node-id of the device which's communication has to be resetted (value: 1..127)

void sendBootUp (  void    )

This function sends a boot-up message (0x700 + node-id) with databyte 1 set to 0

void stopNode (  BYTE    bNode )

stops a remote node. Parameters: bNode  The CANopen node-id of the device to stop (value: 1..127)

---