NMT master/slave and HB producer/consumer

Specified in standard CiA 301 More...

Collaboration diagram for NMT master/slave and HB producer/consumer:

Macros
#define	CO_CONFIG_NMT   (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)
	Configuration of NMT and Heartbeat.
#define	CO_CONFIG_HB_CONS
	Configuration of Heartbeat consumer.

Detailed Description

Specified in standard CiA 301

Macro Definition Documentation

CO_CONFIG_NMT

#define CO_CONFIG_NMT   (CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT)

Configuration of NMT and Heartbeat.

Possible flags, can be ORed:

• CO_CONFIG_NMT_CALLBACK_CHANGE - Enable custom callback after NMT state changes. Callback is configured by CO_NMT_initCallbackChanged().
• CO_CONFIG_NMT_MASTER - Enable simple NMT master
• CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing received NMT CAN message. Callback is configured by CO_NMT_initCallbackPre().
• CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable inside CO_NMT_process().

CO_CONFIG_HB_CONS

#define CO_CONFIG_HB_CONS

Value:

    (CO_CONFIG_HB_CONS_ENABLE | CO_CONFIG_GLOBAL_FLAG_CALLBACK_PRE | CO_CONFIG_GLOBAL_FLAG_TIMERNEXT                   \
     | CO_CONFIG_GLOBAL_FLAG_OD_DYNAMIC)

Configuration of Heartbeat consumer.

Possible flags, can be ORed:

• CO_CONFIG_HB_CONS_ENABLE - Enable heartbeat consumer.
• CO_CONFIG_HB_CONS_CALLBACK_CHANGE - Enable custom common callback after NMT state of the monitored node changes. Callback is configured by CO_HBconsumer_initCallbackNmtChanged().
• CO_CONFIG_HB_CONS_CALLBACK_MULTI - Enable multiple custom callbacks, which can be configured individually for each monitored node. Callbacks are configured by CO_HBconsumer_initCallbackNmtChanged(), CO_HBconsumer_initCallbackHeartbeatStarted(), CO_HBconsumer_initCallbackTimeout() and CO_HBconsumer_initCallbackRemoteReset() functions.
• CO_CONFIG_HB_CONS_QUERY_FUNCT - Enable functions for query HB state or NMT state of the specific monitored node.
• CO_CONFIG_FLAG_CALLBACK_PRE - Enable custom callback after preprocessing received heartbeat CAN message. Callback is configured by CO_HBconsumer_initCallbackPre().
• CO_CONFIG_FLAG_TIMERNEXT - Enable calculation of timerNext_us variable inside CO_HBconsumer_process().
• CO_CONFIG_FLAG_OD_DYNAMIC - Enable dynamic configuration of monitored nodes (Writing to object 0x1016 re-configures the monitored nodes).

Warning

CO_CONFIG_HB_CONS_CALLBACK_CHANGE and CO_CONFIG_HB_CONS_CALLBACK_MULTI cannot be set simultaneously.