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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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#include "nmtMaster.h"

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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.w = 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 (*d->canSend)(&m);

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}

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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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  MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);

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  /* message configuration */

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  m.cob_id.w = nodeId | (NODE_GUARD << 7);

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  m.rtr = REQUEST;

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  m.len = 1;

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  return (*d->canSend)(&m);

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}

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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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  d->NMTable[nodeId] = Unknown_state; // A state that does not exist

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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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