10 

    10 

    11 static int init_level=0;

    11 static int init_level=0;

    12 extern int common_ticktime__;

    12 extern int common_ticktime__;

    13 

    13 

    14 

    14 

    16 {

    16 {

    17     /* Put the master in operational mode */

    17     /* Put the master in operational mode */

    18     setState(d, Operational);

    18     setState(d, Operational);

    19       

    19       

    20     /* Ask slave node to go in operational mode */

    20     /* Ask slave node to go in operational mode */

    21     masterSendNMTstateChange (d, 0, NMT_Start_Node);

    21     masterSendNMTstateChange (d, 0, NMT_Start_Node);

    22 }

    22 }

    32 

    23 

    33 #define NODE_INIT(nodename, nodeid) \

    24 #define NODE_INIT(nodename, nodeid) \

    34     /* Artificially force sync state to 1 so that it is not started */\

    25     /* Artificially force sync state to 1 so that it is not started */\

    35     nodename##_Data.CurrentCommunicationState.csSYNC = -1;\

    26     nodename##_Data.CurrentCommunicationState.csSYNC = -1;\

    36     /* Force sync period to common_ticktime__ so that other node can read it*/\

    27     /* Force sync period to common_ticktime__ so that other node can read it*/\

    52 

    43 

    53 #define NODE_CLOSE(nodename) \

    44 #define NODE_CLOSE(nodename) \

    54     if(init_level-- > 0)\

    45     if(init_level-- > 0)\

    55     {\

    46     {\

    56         EnterMutex();\

    47         EnterMutex();\

    57         setState(&nodename##_Data, Stopped);\

    49         setState(&nodename##_Data, Stopped);\

    58         LeaveMutex();\

    50         LeaveMutex();\

    59         canClose(&nodename##_Data);\

    51         canClose(&nodename##_Data);\

    60     }

    52     }

    61 

    53 

    71    		TimerCleanup();

    63    		TimerCleanup();

    72     #endif

    64     #endif

    73 }

    65 }

    74 

    66 

    75 #define NODE_OPEN(nodename)\

    67 #define NODE_OPEN(nodename)\

    77     if(!canOpen(&nodename##Board,&nodename##_Data)){\

    69     if(!canOpen(&nodename##Board,&nodename##_Data)){\

    78         printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\

    70         printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\

    79         return -1;\

    71         return -1;\

    80     }\

    72     }\

    81     init_level++;

    73     init_level++;