Network Management

This area describes the API functions of the CANopen network management module. Furthermore, this module includes the heartbeat producer and consumer. These functions are implemented within the source file: co_nmt.c/h, co_hbprod.c/h and co_hbcons.c/h

The class CO_NMT is defined within co_nmt.h and is responsible for the CANopen network slave management. The following data members are in this class:

Data Member Type Description
Node CO_NODE* pointer to parent node
Mode CO_MODE current NMT mode
Tmr int16_t heartpeat producer timer identifier
Allowed uint8_t encoding of allowed CAN messages

Note: The data within this structure must never be manipulated without the corresponding class member functions. This can lead to unpredictable behavior of the node.