/*----------------------------------------------------------------------------- nmtm.h -- NMT Master Interface Copyright (c) 1994 JANZ Computer AG All Rights Reserved Created 95/02/23 by Soenke Hansen Version 1.16 of 99/10/26 Prototype declarations of functions defined in nmtm.c. -----------------------------------------------------------------------------*/ #ifndef nmtm_DEFINED #define nmtm_DEFINED #ifdef __cplusplus extern "C" { #endif #include "defs.h" #include "msg.h" #include "cal.h" #include "nmts.h" /*--------- Indication and Confirmation Primitives --------------------------*/ /* Origin of status/error confirmation */ #define NMTM_LOCAL 0 /* on NMT Master */ #define NMTM_REMOTE 1 /* on NMT Slave */ /* NMT error code for locally generated errors */ #define LOC_ERR 1 /* Components of service confirmation message (spec == M_NMTM_*) */ #define nmtm_nid u.m2.b[0] /* Node ID */ #define nmtm_org u.m2.b[1] /* origin (local or remote) */ #define nmtm_err u.m2.b[2] /* error code */ #define nmtm_errs u.m2.b[3] /* error specifier */ #define nmtm_xpct u.m2.b[4] /* toggle/state expected */ #define nmtm_download u.m2.b[4] /* download expected by slave*/ #define nmtm_real u.m2.b[5] /* toggle/state real */ #define NMTM_TIMEOUT_ERROR TIMEOUT_ERR /* value of nmtm_errs */ #define NMTM_TOGGLE_ERROR TOGGLE_ERR /* value of nmtm_errs */ #define NMTM_STATE_ERROR STATE_ERR /* value of nmtm_errs */ /* Components of configuration message (spec == M_NMTM_*) */ #define nmtm_conf_nid u.m2.b[0] /* Node ID */ #define nmtm_conf_subspec_lo u.m2.b[1] /* subspec lo */ #define nmtm_conf_subspec_hi u.m2.b[2] /* subspec hi */ #define nmtm_conf_errspec u.m2.b[3] /* error specifier */ #define nmtm_conf_fail_reason u.m1.w[3] /* failure reason */ #define nmtm_conf_verify_result u.m1.w[3] /* verify result */ #define nmtm_conf_verify_reason u.m1.w[4] /* verify failure reason */ #define nmtm_conf_appl_spec_a u.m1.w[4] /* application specific a */ #define nmtm_conf_appl_spec_b u.m1.w[5] /* application specific b */ #define nmtm_conf_appl_spec_c u.m1.w[6] /* application specific c */ #define nmtm_conf_appl_spec_d u.m1.w[7] /* application specific d */ /*--------- Remote Node Objects ---------------------------------------------*/ /* Remote Node type definition */ struct rnode { NmtAddr addr; /* NMT Address */ int state; /* remote node state */ WORD_t ugt; /* guard time in 100 usecs */ WORD_t userGuardId; /* user def. guard ID at CANopen remote nodes */ BYTE_t nclass; /* node class */ BYTE_t flags; /* flags related to error control */ OBJECT obj; /* associated CAL object */ BYTE_t type; /* CANopen (1) / CAL (0) node */ BYTE_t guardErrType; /* flags related to guard error type */ BYTE_t xpctTogState; /* rnode expected state/togglebit */ BYTE_t realTogState; /* rnodes real state/togglebit */ BYTE_t downloadRqd; /* rnode requires download if set 1 */ }; #define NIL_RNODE (struct rnode *)0 /* Table of all Remote Nodes */ extern struct rnode *RemoteNodes[]; /* Remote Node States */ #define RN_NON_EXISTENT (-1) #define RN_DISCONNECTED 0 #define RN_CONNECTED PREPARING #define RN_PREPARED PREPARED #define RN_OPERATIONAL OPERATIONAL #define RN_PRE_OPERATIONAL PRE_OPERATIONAL /*--------- Some guarding stuff -------------------------------------------*/ /* Values for error control flags */ #define ARRIVED 0x01 /* guarding COB from remote node arrived */ #define RAISED 0x02 /* timeout error raised at current grd period */ #define INDICATED 0x04 /* timeout error occ. and was ind. to user */ #define INHIBIT_GUARD 0x08 /* Node guarding was inhibited */ #define STATE_CH_RAISED 0x10 /* signals a state change error */ #define STATE_CH_INDICATED 0x20 /* state change error was indicated...*/ #define TOGGLE_RAISED 0x40 /* signals a toggle error */ /* TOGGLE (0x80) from bit-representation (see below) is used */ /* for error control, too. */ /* Values for error report flags */ #define TIMEOUT_ERR 0x01 /* error reported to user was timeout-error */ #define TOGGLE_ERR 0x02 /* error reported to user was tgl.-bit-error */ #define STATE_ERR 0x04 /* error reported to user was state-error */ /* guarding protocols bit representation */ #define TOGGLE 0x80 /* toggle bit of guarding protocol */ #define STATE_MASK 0x7f /* state relevant bits of guarding prot. */ /*--------- Prototypes ------------------------------------------------------*/ /* Create and initialize the NMT Master. */ extern void InitNmtM(WORD_t, WORD_t, int, void (*)()); /* Configure NMT master. */ extern void ConfigNmtM(WORD_t, WORD_t, int, WORD_t); /* Remove the NMT Master. Free the resources it holds. */ extern void DeleteNmtM(void); /* Add Remote Node service */ extern int CreateRemoteNode(NmtAddr *); extern int AddRemoteNode(NmtAddr *); /* Add Remote CANopen Node service */ extern int CreateRemoteCOPNode(NmtAddr *, WORD_t, BYTE_t); extern int CreateRemoteCOPNodeDefGuardId(NmtAddr *, WORD_t, BYTE_t, WORD_t); extern int AddRemoteCOPNode(NmtAddr *, WORD_t, BYTE_t); extern int AddRemoteCOPNodeDefGuardId(NmtAddr *, WORD_t, BYTE_t, WORD_t); /* Request Guarding the CANopen Remote Nodes */ extern int GuardingRemoteCOPNodeReq(int); /* Remove Remote Node service */ extern void RemoveRemoteNode(NmtAddr *); /* Get a remote node state */ extern int GetRemoteNodeState(NmtAddr *); /* Request Connect Remote Node */ extern int ConnectRemoteNodeReq(NmtAddr *, int); /* Request Prepare Remote Node */ extern int PrepareRemoteNodeReq(int); /* Request enter pre-operational state of Remote Node */ extern int EnterPreOperationalStateReq(int); /* Request Reset_Node state of Remote Node */ extern int ResetNodeReq(int); /* Request Reset_Communication state of Remote Node */ extern int ResetCommunicationReq(int); /* Request Start Remote Node */ extern int StartRemoteNodeReq(int); /* Request Stop Remote Node */ extern int StopRemoteNodeReq(int); /* Request Disconnect Remote Node */ extern int DisconnectRemoteNodeReq(int); /* Request Identify Remote Nodes */ extern int IdentifyRemoteNodesReq(int, int); /* Request Initiate Config Download */ extern int ConfDownloadStartReq(int, int, int, int, BYTE_t *); /* Response Continue Config Download */ extern int ConfDownloadContReq(int, int, int, BYTE_t *); /* Request Abort Configuration */ extern int NmAbortConfigTransferReq(int, int, int); /* Request Verify Configuration */ extern int NmVerifyConfigTransferReq(int, int); #if DEBUG>0 extern void guard_node(int); #endif #ifdef __cplusplus } #endif #endif /* !nmtm_DEFINED */