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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 "nmtSlave.h"
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#include "states.h"
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/*******************************************************************)*********/
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/* put the slave in the state wanted by the master */
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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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setState(d,Initialisation);
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break;
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case NMT_Reset_Comunication:
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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] == bDeviceNodeId ) )
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}
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}
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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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MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
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/* message configuration */
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m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
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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 (*d->canSend)(&m);
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}
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