src/nmtMaster.c
author edouard
Fri, 10 Sep 2010 13:44:06 +0200
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child 631 08b6b903f84a
permissions -rw-r--r--
Wrong check on PDO inhibit bit fixed.
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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   nmtMaster.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 08:47:18 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 "nmtMaster.h"
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#include "canfestival.h"
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#include "sysdep.h"
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/*!
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**
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**
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** @param d
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** @param Node_ID
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** @param cs
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**
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** @return
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**/
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UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
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{
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  Message m;
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  MSG_WAR(0x3501, "Send_NMT cs : ", cs);
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  MSG_WAR(0x3502, "    to node : ", Node_ID);
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  /* message configuration */
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  m.cob_id = 0x0000; /*(NMT) << 7*/
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  m.rtr = NOT_A_REQUEST;
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  m.len = 2;
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  m.data[0] = cs;
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  m.data[1] = Node_ID;
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  return canSend(d->canHandle,&m);
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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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** @param nodeId
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**
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** @return
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**/
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UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
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{
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  Message m;
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  /* message configuration */
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  UNS16 tmp = nodeId | (NODE_GUARD << 7); 
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  m.cob_id = UNS16_LE(tmp);
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  m.rtr = REQUEST;
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  m.len = 0;
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  MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
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  return canSend(d->canHandle,&m);
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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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** @param nodeId
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**/
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void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
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{
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  /* FIXME: should warn for bad toggle bit. */
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  /* NMTable configuration to indicate that the master is waiting
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    for a Node_Guard frame from the slave whose node_id is ID
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  */
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  d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
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                                       */
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  if (nodeId == 0) { /* NMT broadcast */
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    UNS8 i = 0;
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    for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
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      d->NMTable[i] = Unknown_state;
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    }
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  }
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  masterSendNMTnodeguard(d,nodeId);
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}
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