93 } |
93 } |
94 #define None |
94 #define None |
95 |
95 |
96 void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState) |
96 void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState) |
97 { |
97 { |
98 StartOrStop(csBoot_Up, None, slaveSendBootUp(d)) |
|
99 StartOrStop(csSDO, None, resetSDO(d)) |
98 StartOrStop(csSDO, None, resetSDO(d)) |
100 StartOrStop(csSYNC, startSYNC(d), stopSYNC(d)) |
99 StartOrStop(csSYNC, startSYNC(d), stopSYNC(d)) |
101 StartOrStop(csHeartbeat, heartbeatInit(d), heartbeatStop(d)) |
100 StartOrStop(csHeartbeat, heartbeatInit(d), heartbeatStop(d)) |
102 // StartOrStop(Emergency,,) |
101 // StartOrStop(Emergency,,) |
103 StartOrStop(csPDO, None, None) |
102 StartOrStop(csPDO, None, None) |
|
103 StartOrStop(csBoot_Up, None, slaveSendBootUp(d)) |
104 } |
104 } |
105 |
105 |
106 UNS8 setState(CO_Data* d, e_nodeState newState) |
106 UNS8 setState(CO_Data* d, e_nodeState newState) |
107 { |
107 { |
108 while(newState != d->nodeState){ |
108 while(newState != d->nodeState){ |