src/nmtSlave.c
author edouard
Fri, 12 Nov 2010 22:02:32 +0100
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/*
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  This file is part of CanFestival, a library implementing CanOpen
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  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
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  USA
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*/
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/*!
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** @file   nmtSlave.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date   Tue Jun  5 08:50:53 2007
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**
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** @brief
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**
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**
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*/
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#include "nmtSlave.h"
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#include "states.h"
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#include "canfestival.h"
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#include "sysdep.h"
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/*!
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** put the slave in the state wanted by the master
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**
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** @param d
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** @param m
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**/
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void proceedNMTstateChange(CO_Data* d, Message *m)
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{
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  if( d->nodeState == Pre_operational ||
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      d->nodeState == Operational ||
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      d->nodeState == Stopped ) {
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    MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
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    /* Check if this NMT-message is for this node */
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    /* byte 1 = 0 : all the nodes are concerned (broadcast) */
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    if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
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      switch( (*m).data[0]){ /* command specifier (cs) */
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      case NMT_Start_Node:
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        if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
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          setState(d,Operational);
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        break;
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      case NMT_Stop_Node:
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        if ( d->nodeState == Pre_operational ||
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             d->nodeState == Operational )
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          setState(d,Stopped);
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        break;
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      case NMT_Enter_PreOperational:
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        if ( d->nodeState == Operational ||
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             d->nodeState == Stopped )
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          setState(d,Pre_operational);
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        break;
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      case NMT_Reset_Node:
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         if(d->NMT_Slave_Node_Reset_Callback != NULL)
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            d->NMT_Slave_Node_Reset_Callback(d);
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        setState(d,Initialisation);
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        break;
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      case NMT_Reset_Comunication:
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         {
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         UNS8 currentNodeId = getNodeId(d);
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            if(d->NMT_Slave_Communications_Reset_Callback != NULL)
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               d->NMT_Slave_Communications_Reset_Callback(d);
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#ifdef CO_ENABLE_LSS
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            // LSS changes NodeId here in case lss_transfer.nodeID doesn't 
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            // match current getNodeId()
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            if(currentNodeId!=d->lss_transfer.nodeID)
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               currentNodeId = d->lss_transfer.nodeID;
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#endif
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            // clear old NodeId to make SetNodeId reinitializing
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            // SDO, EMCY and other COB Ids
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            *d->bDeviceNodeId = 0xFF; 
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            setNodeId(d, currentNodeId);
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         }
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         setState(d,Initialisation);
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         break;
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      }/* end switch */
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    }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
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        bDeviceNodeId ) ) */
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  }
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}
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/*!
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**
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**
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** @param d
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**
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** @return
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**/
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UNS8 slaveSendBootUp(CO_Data* d)
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{
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  Message m;
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#ifdef CO_ENABLE_LSS
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  if(*d->bDeviceNodeId==0xFF)return 0;
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#endif
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  MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
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  /* message configuration */
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  {
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	  UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId; 
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	  m.cob_id = UNS16_LE(tmp);
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  }
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  m.rtr = NOT_A_REQUEST;
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  m.len = 1;
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  m.data[0] = 0x00;
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  return canSend(d->canHandle,&m);
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}
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