|
207
|
1 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
|
|
|
2 |
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
|
|
|
3 |
<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/nmtSlave.c Source File</title>
|
|
|
4 |
<link href="doxygen.css" rel="stylesheet" type="text/css">
|
|
|
5 |
<link href="tabs.css" rel="stylesheet" type="text/css">
|
|
|
6 |
</head><body>
|
|
|
7 |
<!-- Generated by Doxygen 1.5.1 -->
|
|
|
8 |
<div class="tabs">
|
|
|
9 |
<ul>
|
|
|
10 |
<li><a href="main.html"><span>Main Page</span></a></li>
|
|
|
11 |
<li id="current"><a href="files.html"><span>Files</span></a></li>
|
|
|
12 |
</ul></div>
|
|
|
13 |
<div class="tabs">
|
|
|
14 |
<ul>
|
|
|
15 |
<li><a href="files.html"><span>File List</span></a></li>
|
|
|
16 |
<li><a href="globals.html"><span>Globals</span></a></li>
|
|
|
17 |
</ul></div>
|
|
|
18 |
<h1>/home/epimerde/documents/tc11/CanFestival-3/src/nmtSlave.c</h1><a href="nmtSlave_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
|
|
|
19 |
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
|
|
|
20 |
<a name="l00003"></a>00003 <span class="comment"></span>
|
|
|
21 |
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
|
|
|
22 |
<a name="l00005"></a>00005 <span class="comment"></span>
|
|
|
23 |
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
|
|
|
24 |
<a name="l00007"></a>00007 <span class="comment"></span>
|
|
|
25 |
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
|
|
|
26 |
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
|
|
|
27 |
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
|
|
|
28 |
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
|
|
|
29 |
<a name="l00012"></a>00012 <span class="comment"></span>
|
|
|
30 |
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
|
|
|
31 |
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
|
|
|
32 |
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
|
|
|
33 |
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
|
|
|
34 |
<a name="l00017"></a>00017 <span class="comment"></span>
|
|
|
35 |
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
|
|
|
36 |
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
|
|
|
37 |
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
|
|
|
38 |
<a name="l00021"></a>00021 <span class="comment">*/</span>
|
|
|
39 |
<a name="l00022"></a>00022
|
|
|
40 |
<a name="l00023"></a>00023 <span class="preprocessor">#include "nmtSlave.h"</span>
|
|
|
41 |
<a name="l00024"></a>00024 <span class="preprocessor">#include "states.h"</span>
|
|
|
42 |
<a name="l00025"></a>00025 <span class="preprocessor">#include "canfestival.h"</span>
|
|
|
43 |
<a name="l00026"></a>00026
|
|
|
44 |
<a name="l00027"></a>00027 <span class="comment">/*******************************************************************)*********/</span>
|
|
|
45 |
<a name="l00028"></a>00028 <span class="comment">/* put the slave in the state wanted by the master */</span>
|
|
|
46 |
<a name="l00029"></a><a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">00029</a> <span class="keywordtype">void</span> <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(CO_Data* d, Message *m)
|
|
|
47 |
<a name="l00030"></a>00030 {
|
|
|
48 |
<a name="l00031"></a>00031 <span class="keywordflow">if</span>( d->nodeState == Pre_operational ||
|
|
|
49 |
<a name="l00032"></a>00032 d->nodeState == Operational ||
|
|
|
50 |
<a name="l00033"></a>00033 d->nodeState == Stopped ) {
|
|
|
51 |
<a name="l00034"></a>00034
|
|
|
52 |
<a name="l00035"></a>00035 MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node : "</span>, (*m).data[1]);
|
|
|
53 |
<a name="l00036"></a>00036
|
|
|
54 |
<a name="l00037"></a>00037 <span class="comment">/* Check if this NMT-message is for this node */</span>
|
|
|
55 |
<a name="l00038"></a>00038 <span class="comment">/* byte 1 = 0 : all the nodes are concerned (broadcast) */</span>
|
|
|
56 |
<a name="l00039"></a>00039
|
|
|
57 |
<a name="l00040"></a>00040 <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
|
|
|
58 |
<a name="l00041"></a>00041
|
|
|
59 |
<a name="l00042"></a>00042 <span class="keywordflow">switch</span>( (*m).data[0]){ <span class="comment">/* command specifier (cs) */</span>
|
|
|
60 |
<a name="l00043"></a>00043 <span class="keywordflow">case</span> NMT_Start_Node:
|
|
|
61 |
<a name="l00044"></a>00044 <span class="keywordflow">if</span> ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
|
|
|
62 |
<a name="l00045"></a>00045 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational);
|
|
|
63 |
<a name="l00046"></a>00046 <span class="keywordflow">break</span>;
|
|
|
64 |
<a name="l00047"></a>00047
|
|
|
65 |
<a name="l00048"></a>00048 <span class="keywordflow">case</span> NMT_Stop_Node:
|
|
|
66 |
<a name="l00049"></a>00049 <span class="keywordflow">if</span> ( d->nodeState == Pre_operational ||
|
|
|
67 |
<a name="l00050"></a>00050 d->nodeState == Operational )
|
|
|
68 |
<a name="l00051"></a>00051 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped);
|
|
|
69 |
<a name="l00052"></a>00052 <span class="keywordflow">break</span>;
|
|
|
70 |
<a name="l00053"></a>00053
|
|
|
71 |
<a name="l00054"></a>00054 <span class="keywordflow">case</span> NMT_Enter_PreOperational:
|
|
|
72 |
<a name="l00055"></a>00055 <span class="keywordflow">if</span> ( d->nodeState == Operational ||
|
|
|
73 |
<a name="l00056"></a>00056 d->nodeState == Stopped )
|
|
|
74 |
<a name="l00057"></a>00057 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational);
|
|
|
75 |
<a name="l00058"></a>00058 <span class="keywordflow">break</span>;
|
|
|
76 |
<a name="l00059"></a>00059
|
|
|
77 |
<a name="l00060"></a>00060 <span class="keywordflow">case</span> NMT_Reset_Node:
|
|
|
78 |
<a name="l00061"></a>00061 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
|
|
|
79 |
<a name="l00062"></a>00062 <span class="keywordflow">break</span>;
|
|
|
80 |
<a name="l00063"></a>00063
|
|
|
81 |
<a name="l00064"></a>00064 <span class="keywordflow">case</span> NMT_Reset_Comunication:
|
|
|
82 |
<a name="l00065"></a>00065 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
|
|
|
83 |
<a name="l00066"></a>00066 <span class="keywordflow">break</span>;
|
|
|
84 |
<a name="l00067"></a>00067
|
|
|
85 |
<a name="l00068"></a>00068 }<span class="comment">/* end switch */</span>
|
|
|
86 |
<a name="l00069"></a>00069
|
|
|
87 |
<a name="l00070"></a>00070 }<span class="comment">/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */</span>
|
|
|
88 |
<a name="l00071"></a>00071 }
|
|
|
89 |
<a name="l00072"></a>00072 }
|
|
|
90 |
<a name="l00073"></a>00073
|
|
|
91 |
<a name="l00074"></a>00074
|
|
|
92 |
<a name="l00075"></a>00075 <span class="comment">/*****************************************************************************/</span>
|
|
|
93 |
<a name="l00076"></a><a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">00076</a> UNS8 <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(CO_Data* d)
|
|
|
94 |
<a name="l00077"></a>00077 {
|
|
|
95 |
<a name="l00078"></a>00078 Message m;
|
|
|
96 |
<a name="l00079"></a>00079
|
|
|
97 |
<a name="l00080"></a>00080 MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
|
|
|
98 |
<a name="l00081"></a>00081
|
|
|
99 |
<a name="l00082"></a>00082 <span class="comment">/* message configuration */</span>
|
|
|
100 |
<a name="l00083"></a>00083 m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
|
|
|
101 |
<a name="l00084"></a>00084 m.rtr = NOT_A_REQUEST;
|
|
|
102 |
<a name="l00085"></a>00085 m.len = 1;
|
|
|
103 |
<a name="l00086"></a>00086 m.data[0] = 0x00;
|
|
|
104 |
<a name="l00087"></a>00087
|
|
|
105 |
<a name="l00088"></a>00088 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
|
|
|
106 |
<a name="l00089"></a>00089 }
|
|
|
107 |
<a name="l00090"></a>00090
|
|
|
108 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by
|
|
|
109 |
<a href="http://www.doxygen.org/index.html">
|
|
|
110 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
|
|
|
111 |
</body>
|
|
|
112 |
</html>
|