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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 nmtMaster.c
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** @author Edouard TISSERANT and Francis DUPIN
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** @date Tue Jun 5 08:47:18 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 "nmtMaster.h"
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#include "canfestival.h"
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/*!
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**
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**
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** @param d
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** @param Node_ID
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** @param cs
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**
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** @return
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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 canSend(d->canHandle,&m);
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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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** @param nodeId
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**
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** @return
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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 canSend(d->canHandle,&m);
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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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** @param nodeId
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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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0
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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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*/
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d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
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*/
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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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