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/*

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  This file is part of CanFestival, a library implementing CanOpen

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  Stack.

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  Copyright (C): Edouard TISSERANT and Francis DUPIN

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  See COPYING file for copyrights details.

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  This library is free software; you can redistribute it and/or

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  modify it under the terms of the GNU Lesser General Public

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  License as published by the Free Software Foundation; either

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  version 2.1 of the License, or (at your option) any later version.

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  This library is distributed in the hope that it will be useful,

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  but WITHOUT ANY WARRANTY; without even the implied warranty of

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  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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  Lesser General Public License for more details.

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  You should have received a copy of the GNU Lesser General Public

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  License along with this library; if not, write to the Free Software

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  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307

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  USA

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*/

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/*!

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** @file   nmtSlave.c

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** @author Edouard TISSERANT and Francis DUPIN

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** @date   Tue Jun  5 08:50:53 2007

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**

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** @brief

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**

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**

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*/

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#include "nmtSlave.h"

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#include "states.h"

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#include "canfestival.h"

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#include "sysdep.h"

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/*!

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** put the slave in the state wanted by the master

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**

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** @param d

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** @param m

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**/

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void proceedNMTstateChange(CO_Data* d, Message *m)

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{

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  if( d->nodeState == Pre_operational ||

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      d->nodeState == Operational ||

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      d->nodeState == Stopped ) {

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    MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);

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    /* Check if this NMT-message is for this node */

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    /* byte 1 = 0 : all the nodes are concerned (broadcast) */

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    if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){

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      switch( (*m).data[0]){ /* command specifier (cs) */

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      case NMT_Start_Node:

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        if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )

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          setState(d,Operational);

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        break;

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      case NMT_Stop_Node:

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        if ( d->nodeState == Pre_operational ||

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             d->nodeState == Operational )

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          setState(d,Stopped);

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        break;

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      case NMT_Enter_PreOperational:

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        if ( d->nodeState == Operational ||

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             d->nodeState == Stopped )

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          setState(d,Pre_operational);

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        break;

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      case NMT_Reset_Node:

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         if(d->NMT_Slave_Node_Reset_Callback != NULL)

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            d->NMT_Slave_Node_Reset_Callback(d);

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        setState(d,Initialisation);

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        break;

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      case NMT_Reset_Comunication:

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         {

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         UNS8 newNodeId = getNodeId(d);

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            if(d->NMT_Slave_Communications_Reset_Callback != NULL)

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               d->NMT_Slave_Communications_Reset_Callback(d);

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#ifdef CO_ENABLE_LSS

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            // LSS changes NodeId here in case lss_transfer.nodeID doesn't 

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            // match current getNodeId()

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            if(newNodeId!=d->lss_transfer.nodeID && newNodeId>0 && newNodeId<=127 )

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               newNodeId = d->lss_transfer.nodeID;

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#endif

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            // clear old NodeId to make SetNodeId reinitializing

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            // SDO, EMCY and other COB Ids

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            *d->bDeviceNodeId = 0xFF; 

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            setNodeId(d, newNodeId);

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         }

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         setState(d,Initialisation);

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         break;

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      }/* end switch */

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    }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==

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        bDeviceNodeId ) ) */

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  }

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}

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/*!

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**

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**

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** @param d

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**

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** @return

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**/

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UNS8 slaveSendBootUp(CO_Data* d)

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{

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  Message m;

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#ifdef CO_ENABLE_LSS

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  if(*d->bDeviceNodeId==0xFF)return 0;

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#endif

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  MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);

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  /* message configuration */

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  {

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	  UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId; 

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	  m.cob_id = UNS16_LE(tmp);

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  }

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  m.rtr = NOT_A_REQUEST;

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  m.len = 1;

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  m.data[0] = 0x00;

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  return canSend(d->canHandle,&m);

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}

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