CANopen Manager / Slave Manual - esd electronics, Inc.

CANopen-Slave
The node event handler that is defined in canOpenCreateNodeEx() is called every time the CANopen
slave has to indicate an event or error to the application. The application can define an event mask with
events that are to be indicated using the parameter ulEventMask of the structure SLAVE_NODE_INFO
which is a parameter of canOpenCreateNodeEx().
The event handler itself has to follow the syntax:
int EventHandler(SLAVE_EVENT *pEvent);
The handler should always return SCANOPEN_OK and shouldn’t block. The argument of the event
handler is a pointer to the following structure:
typedef struct {
unsigned short usNetNo;
unsigned short usModId;
unsigned long ulEvent;
unsigned long ulArg1;
union {
unsigned long ulArg2;
void * pArg2;
} arg;
} SLAVE_EVENT;
The member variable usNetNo and usModId describe the logical net number and the local slave Node-
ID of the event source, so a common event handler might be used for all local slaves on all configured
networks. The member variable ulEvent is the event type. The event types are the same that are used
to define the event mask in the structure SLAVE_NODE_INFO mentioned above. The argument ulArg1
is the first subargument of the event type. The second subargument is either another decimal or a
pointer to a data structure whose type depends on the main event type.
The following table summarizes the possible event types with their subarguments.
ulEvent ulArg1 ulArg2/pArg2 Event reason
EV_GUARDING EV_START --- Node/Lifeguarding is started
EV_TIMEOUT --- Lifeguarding timed out
EV_STOP --- Node/Lifeguarding is stopped
EV_STATE_CHANGE state --- node has changed into state
EV_RESET
EV_COMMUNICATION EV_BEGIN Enter Reset Communication state
EV_COMMUNICATION EV_END Leave Reset Communication state
EV_APPLICATION EV_BEGIN
EV_APPLICATION EV_BEGIN
Enter Reset Application started state
Leave Reset Application state
EV_CONFIGURATION EV_STORE - Store configuration request
EV_RESTORE - Restore configuration request
CANopen Slave Software Manual • Doc. No.: C.2002.21 / Rev. 2.2 Page 49 of 65