CANopen Manager / Slave Manual - esd electronics, Inc.

4.3 Optional node control functions
CANopen Manager
The following functions are optional node control functions that can be called by an application to
monitor the state of the remote nodes.
mcanOpenEvent()
Name: mcanOpenEvent() - Receive events from the manager
Call: int mcanOpenEvent
(
EVENT_T *event,
int wait
);
Description: This functions has to be called by the application to receive errors, warnings and
indications from the manager daemons. The application can either block until the
manager indicates an event to the application by setting parameter wait to 1 which
is typically done with a separate task or can poll for events by setting parameter
wait to 0. In the structure EVENT_T which is initialized by the manager the event
type and additional parameter is stored:
typedef struct {
long event;
int net;
int node;
union {
char c;
unsigned char uc;
short s;
unsigned short us;
int i;
unsigned int ui;
long l;
unsigned long ul;
struct {
unsigned short index;
unsigned short subindex;
ERROR_T err;
} write;
char str[64];
} para;
} EVENT_T;
CANopen Manager Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 25 of 47