19

<a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>

    20

<a name="l00003"></a>00003 <span class="comment">  Stack.</span>

    21

<a name="l00004"></a>00004 <span class="comment"></span>

    22

<a name="l00005"></a>00005 <span class="comment">  Copyright (C): Edouard TISSERANT and Francis DUPIN</span>

    23

<a name="l00006"></a>00006 <span class="comment"></span>

    24

<a name="l00007"></a>00007 <span class="comment">  See COPYING file for copyrights details.</span>

    25

<a name="l00008"></a>00008 <span class="comment"></span>

    26

<a name="l00009"></a>00009 <span class="comment">  This library is free software; you can redistribute it and/or</span>

    27

<a name="l00010"></a>00010 <span class="comment">  modify it under the terms of the GNU Lesser General Public</span>

    28

<a name="l00011"></a>00011 <span class="comment">  License as published by the Free Software Foundation; either</span>

    29

<a name="l00012"></a>00012 <span class="comment">  version 2.1 of the License, or (at your option) any later version.</span>

    30

<a name="l00013"></a>00013 <span class="comment"></span>

    31

<a name="l00014"></a>00014 <span class="comment">  This library is distributed in the hope that it will be useful,</span>

    32

<a name="l00015"></a>00015 <span class="comment">  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>

    33

<a name="l00016"></a>00016 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>

    34

<a name="l00017"></a>00017 <span class="comment">  Lesser General Public License for more details.</span>

    35

<a name="l00018"></a>00018 <span class="comment"></span>

    36

<a name="l00019"></a>00019 <span class="comment">  You should have received a copy of the GNU Lesser General Public</span>

    37

<a name="l00020"></a>00020 <span class="comment">  License along with this library; if not, write to the Free Software</span>

    38

<a name="l00021"></a>00021 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307</span>

    39

<a name="l00022"></a>00022 <span class="comment">  USA</span>

    40

<a name="l00023"></a>00023 <span class="comment">*/</span>

    41

<a name="l00033"></a>00033 <span class="preprocessor">#include "nmtMaster.h"</span>

    42

<a name="l00034"></a>00034 <span class="preprocessor">#include "canfestival.h"</span>

    43

<a name="l00035"></a>00035 

    44

<a name="l00045"></a><a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">00045</a> UNS8 <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a>(CO_Data* d, UNS8 Node_ID, UNS8 cs)

    47

<a name="l00048"></a>00048 

    48

<a name="l00049"></a>00049   MSG_WAR(0x3501, <span class="stringliteral">"Send_NMT cs : "</span>, cs);

    49

<a name="l00050"></a>00050   MSG_WAR(0x3502, <span class="stringliteral">"    to node : "</span>, Node_ID);

    50

<a name="l00052"></a>00052   m.cob_id.w = 0x0000; <span class="comment">/*(NMT) &lt;&lt; 7*/</span>

    51

<a name="l00053"></a>00053   m.rtr = NOT_A_REQUEST;

    52

<a name="l00054"></a>00054   m.len = 2;

    53

<a name="l00055"></a>00055   m.data[0] = cs;

    54

<a name="l00056"></a>00056   m.data[1] = Node_ID;

    55

<a name="l00057"></a>00057 

    56

<a name="l00058"></a>00058   <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);

    57

<a name="l00059"></a>00059 }

    58

<a name="l00060"></a>00060 

    59

<a name="l00061"></a>00061 

    60

<a name="l00070"></a><a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">00070</a> UNS8 <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(CO_Data* d, UNS8 nodeId)

    61

<a name="l00071"></a>00071 {

    62

<a name="l00072"></a>00072   Message m;

    63

<a name="l00073"></a>00073 

    64

<a name="l00074"></a>00074   MSG_WAR(0x3503, <span class="stringliteral">"Send_NODE_GUARD to node : "</span>, nodeId);

    65

<a name="l00075"></a>00075 

    66

<a name="l00076"></a>00076   <span class="comment">/* message configuration */</span>

    67

<a name="l00077"></a>00077   m.cob_id.w = nodeId | (NODE_GUARD &lt;&lt; 7);

    68

<a name="l00078"></a>00078   m.rtr = REQUEST;

    69

<a name="l00079"></a>00079   m.len = 1;

    71

<a name="l00081"></a>00081   <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);

    72

<a name="l00082"></a>00082 }

    74

<a name="l00090"></a><a class="code" href="nmtMaster_8c.html#98bee3f402438056dbd653e752054796">00090</a> <span class="keywordtype">void</span> <a class="code" href="nmtMaster_8c.html#98bee3f402438056dbd653e752054796">masterRequestNodeState</a>(CO_Data* d, UNS8 nodeId)

    75

<a name="l00091"></a>00091 {

    76

<a name="l00097"></a>00097   d-&gt;NMTable[nodeId] = Unknown_state; 

    77

<a name="l00100"></a>00100   <span class="keywordflow">if</span> (nodeId == 0) { 

    78

<a name="l00101"></a>00101     UNS8 i = 0;

    79

<a name="l00102"></a>00102     <span class="keywordflow">for</span> (i = 0 ; i &lt; NMT_MAX_NODE_ID ; i++) {

    80

<a name="l00103"></a>00103       d-&gt;NMTable[i] = Unknown_state;

    81

<a name="l00104"></a>00104     }

    82

<a name="l00105"></a>00105   }

    83

<a name="l00106"></a>00106   <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(d,nodeId);

    84

<a name="l00107"></a>00107 }

    85

<a name="l00108"></a>00108 

    86

</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by&nbsp;