CONmtGetMode

Description

This function returns the current CANopen NMT state machine mode.

Prototype

CO_MODE CONmtGetMode(CO_NMT *nmt);

Parameter	Description
`nmt`	reference to NMT structure

Returned Value

>0 The current NMT mode

=0 An error is detected

Additional Information

The following table shows the possible values of the type CO.MODE:

Value	Description
CO_INVALID	Device in INVALID mode, e.g. not initialized
CO_INIT	Device in INIT mode
CO_PREOP	Device in PRE-OPERATIONAL mode
CO_OPERATIONAL	Device in OPERATIONAL mode
CO_STOP	Device in STOP mode

Example

The following example shows how to perform operations only in operational mode of the CANopen node AppNode:

    CO_MODE mode;
    :
    mode = CONmtGetMode (&(AppNode.Nmt));
    if (mode == CO_OPERATIONAL) {
        /* perform actions in operational mode */
    }
    :