doc/doxygen/html/nmtSlave_8c-source.html
author lbessard
Tue, 05 Jun 2007 17:34:33 +0200
changeset 209 2cb34a4ac65a
parent 207 b6572d0336c3
child 210 6b5a4c21e061
permissions -rw-r--r--
Bug on RefreshStatusBar corrected
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<title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/nmtSlave.c Source File</title>
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<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>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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<a name="l00022"></a>00022 
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<a name="l00023"></a>00023 <span class="preprocessor">#include "nmtSlave.h"</span>
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<a name="l00024"></a>00024 <span class="preprocessor">#include "states.h"</span>
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<a name="l00025"></a>00025 <span class="preprocessor">#include "canfestival.h"</span>
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<a name="l00026"></a>00026 
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<a name="l00027"></a>00027 <span class="comment">/*******************************************************************)*********/</span>
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<a name="l00028"></a>00028 <span class="comment">/* put the slave in the state wanted by the master */</span>   
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<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)
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<a name="l00030"></a>00030 {
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<a name="l00031"></a>00031   <span class="keywordflow">if</span>( d-&gt;nodeState == Pre_operational ||
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<a name="l00032"></a>00032       d-&gt;nodeState == Operational ||
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<a name="l00033"></a>00033       d-&gt;nodeState == Stopped ) {
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<a name="l00034"></a>00034     
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<a name="l00035"></a>00035     MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node :  "</span>, (*m).data[1]);
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<a name="l00036"></a>00036     
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<a name="l00037"></a>00037     <span class="comment">/* Check if this NMT-message is for this node */</span>
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<a name="l00038"></a>00038     <span class="comment">/* byte 1 = 0 : all the nodes are concerned (broadcast) */</span>
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<a name="l00039"></a>00039         
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<a name="l00040"></a>00040     <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d-&gt;bDeviceNodeId ) ){
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<a name="l00041"></a>00041       
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<a name="l00042"></a>00042       <span class="keywordflow">switch</span>( (*m).data[0]){ <span class="comment">/* command specifier (cs) */</span>                       
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<a name="l00043"></a>00043       <span class="keywordflow">case</span> NMT_Start_Node:
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<a name="l00044"></a>00044         <span class="keywordflow">if</span> ( (d-&gt;nodeState == Pre_operational) || (d-&gt;nodeState == Stopped) )
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<a name="l00045"></a>00045           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational);
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<a name="l00046"></a>00046         <span class="keywordflow">break</span>; 
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<a name="l00047"></a>00047         
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<a name="l00048"></a>00048       <span class="keywordflow">case</span> NMT_Stop_Node:
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<a name="l00049"></a>00049         <span class="keywordflow">if</span> ( d-&gt;nodeState == Pre_operational ||
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<a name="l00050"></a>00050              d-&gt;nodeState == Operational )
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<a name="l00051"></a>00051           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped);
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<a name="l00052"></a>00052         <span class="keywordflow">break</span>;
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<a name="l00053"></a>00053         
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<a name="l00054"></a>00054       <span class="keywordflow">case</span> NMT_Enter_PreOperational:
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<a name="l00055"></a>00055         <span class="keywordflow">if</span> ( d-&gt;nodeState == Operational || 
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<a name="l00056"></a>00056              d-&gt;nodeState == Stopped )
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<a name="l00057"></a>00057           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational);
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<a name="l00058"></a>00058         <span class="keywordflow">break</span>;
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<a name="l00059"></a>00059         
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<a name="l00060"></a>00060       <span class="keywordflow">case</span> NMT_Reset_Node:
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<a name="l00061"></a>00061           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
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<a name="l00062"></a>00062         <span class="keywordflow">break</span>;
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<a name="l00063"></a>00063         
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<a name="l00064"></a>00064       <span class="keywordflow">case</span> NMT_Reset_Comunication:
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<a name="l00065"></a>00065           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
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<a name="l00066"></a>00066         <span class="keywordflow">break</span>;
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<a name="l00067"></a>00067         
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<a name="l00068"></a>00068       }<span class="comment">/* end switch */</span>
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<a name="l00069"></a>00069       
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<a name="l00070"></a>00070     }<span class="comment">/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */</span>
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<a name="l00071"></a>00071   }
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<a name="l00072"></a>00072 }
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<a name="l00073"></a>00073 
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<a name="l00074"></a>00074 
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<a name="l00075"></a>00075 <span class="comment">/*****************************************************************************/</span>
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<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)
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<a name="l00077"></a>00077 {
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<a name="l00078"></a>00078   Message m;
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<a name="l00079"></a>00079         
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<a name="l00080"></a>00080   MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
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<a name="l00081"></a>00081         
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<a name="l00082"></a>00082   <span class="comment">/* message configuration */</span>
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<a name="l00083"></a>00083   m.cob_id.w = NODE_GUARD &lt;&lt; 7 | *d-&gt;bDeviceNodeId;
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<a name="l00084"></a>00084   m.rtr = NOT_A_REQUEST;
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<a name="l00085"></a>00085   m.len = 1;
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<a name="l00086"></a>00086   m.data[0] = 0x00;
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<a name="l00087"></a>00087     
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<a name="l00088"></a>00088   <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);
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<a name="l00089"></a>00089 }
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<a name="l00090"></a>00090 
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</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by&nbsp;
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<a href="http://www.doxygen.org/index.html">
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<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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</body>
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