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/*

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This file is part of CanFestival, a library implementing CanOpen 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  USA

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*/

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#ifndef __nmtMaster_h__

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#define __nmtMaster_h__

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#include "data.h"

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/** Transmit a NMT message on the bus number bus_id

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 * to the slave whose node_id is ID

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 * bus_id is hardware dependant

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 * cs represents the order of state changement:

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 * cs =  NMT_Start_Node            // Put the node in operational mode             

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 * cs =	 NMT_Stop_Node		   // Put the node in stopped mode

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 * cs =	 NMT_Enter_PreOperational  // Put the node in pre_operational mode  

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 * cs =  NMT_Reset_Node		   // Put the node in initialization mode 

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 * cs =  NMT_Reset_Comunication	   // Put the node in initialization mode 

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 * The mode is changed according to the slave state machine mode :

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 *        initialisation  ---> pre-operational (Automatic transition)

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 *        pre-operational <--> operational

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 *        pre-operational <--> stopped

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 *        pre-operational, operational, stopped -> initialisation

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 *

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 * return canSend(bus_id,&m)               

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 */

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UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 Node_ID, UNS8 cs);

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/** Transmit a Node_Guard message on the bus number bus_id

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 * to the slave whose node_id is nodeId

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 * bus_id is hardware dependant

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 * return canSend(bus_id,&m)

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 */

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UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);

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/** Prepare a Node_Guard message transmission on the bus number bus_id

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 * to the slave whose node_id is nodeId

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 * Put nodeId = 0 to send an NMT broadcast.

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 * This message will ask for the slave, whose node_id is nodeId, its state

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 * bus_id is hardware dependant

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 */

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void masterRequestNodeState (CO_Data* d, UNS8 nodeId);

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#endif // __nmtMaster_h__