Software » Campo

h1. NMT

h2. Actuator introduction

When introduction is requested by system command, each device must send Its UID (function code "NMT introduce") and an description.

The NodeId may conflict due to an network error. But the master can detect different UUIDs with same NodeId.

h2. Function codes

|_. Code |_. Decription    |_. Examples             |

| 0x0    | NMT-Write       |                        |

| 0x1    | NMT-Send        |                        |

| 0x2    | NMT-Introduce   | Device sends UID only  |

| 0x3    | NMT-setId       | Set NodeId on Device   |

h2. Write/Send

|_. Size |_. Decription          |

|2       | Object                |

|6       | Data                  |

h2. Objects

|_. Object |_. Decription     |_. Examples             |

| 0x0      | Command channel  | Send introducion       |

| 0x1      | Firmware version | v0.1.1                 |

| 0x1      | TDT version      | v0.1.1                 |

| 0x2      | NMT version      | v0.2.2                 |

| 0x3      | Blob version     | v0.3.3                 |

h2. NMT-Introduce

When controller sends the command "send introducion", all nodes shall send their UID and other NMT information.

|_. Size |_. Decription            |

|64 Bit  | UID                     |

h2. Usecase: Setting Node-ID

Two nodes may have the same Node-ID. When scanning the network, the nodes will overwrite the counterparts information.

The "NMT-Introduce"-function code is used by the nodes to send theyr complete UID. NMT can then send 

The new NodeID can not be part of the CAN-ID because the device may be filtering it out. (The whole NMT )