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    16   <ul>
 
    16   <ul>
 
    17     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
    17     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
    18     <li><a href="globals.html"><span>Globals</span></a></li>
 
    18     <li><a href="globals.html"><span>Globals</span></a></li>
 
    19   </ul></div>
 
    19   </ul></div>
 
    20 <div class="nav">
 
    20 <div class="nav">
 
    21 <a class="el" href="dir_c0a169d39c08973f879fd54f07b9e9f7.html">src</a></div>
 
    21 <a class="el" href="dir_0aa10e4f705947227e11e7ccb081fbe4.html">src</a></div>
 
    22 <h1>nmtMaster.c</h1><a href="nmtMaster_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
 
    22 <h1>nmtMaster.c</h1><a href="nmtMaster_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
 
    23 <a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>
 
    23 <a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>
 
    24 <a name="l00003"></a>00003 <span class="comment">  Stack.</span>
 
    24 <a name="l00003"></a>00003 <span class="comment">  Stack.</span>
 
    25 <a name="l00004"></a>00004 <span class="comment"></span>
 
    25 <a name="l00004"></a>00004 <span class="comment"></span>
 
    26 <a name="l00005"></a>00005 <span class="comment">  Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
 
    26 <a name="l00005"></a>00005 <span class="comment">  Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
 
    43 <a name="l00022"></a>00022 <span class="comment">  USA</span>
 
    43 <a name="l00022"></a>00022 <span class="comment">  USA</span>
 
    44 <a name="l00023"></a>00023 <span class="comment">*/</span>
 
    44 <a name="l00023"></a>00023 <span class="comment">*/</span>
 
    45 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span>
 
    45 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span>
 
    46 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
 
    46 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
 
    47 <a name="l00035"></a>00035 
    47 <a name="l00035"></a>00035 
    48 <a name="l00045"></a><a class="code" href="nmtMaster_8h.html#6170d95d9900ef756921a934c5fb37d2">00045</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Node_ID, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> cs)
 
    48 <a name="l00045"></a><a class="code" href="nmtMaster_8h.html#c1ba0feb792adfae21a4adb96593ab3b">00045</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="nmtMaster_8c.html#c1ba0feb792adfae21a4adb96593ab3b">masterSendNMTstateChange</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Node_ID, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> cs)
 
    49 <a name="l00046"></a>00046 {
 
    49 <a name="l00046"></a>00046 {
 
    50 <a name="l00047"></a>00047   <a class="code" href="structMessage.html">Message</a> m;
 
    50 <a name="l00047"></a>00047   <a class="code" href="structMessage.html">Message</a> m;
 
    51 <a name="l00048"></a>00048 
    51 <a name="l00048"></a>00048 
    52 <a name="l00049"></a>00049   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3501, <span class="stringliteral">"Send_NMT cs : "</span>, cs);
 
    52 <a name="l00049"></a>00049   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3501, <span class="stringliteral">"Send_NMT cs : "</span>, cs);
 
    53 <a name="l00050"></a>00050   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3502, <span class="stringliteral">"    to node : "</span>, Node_ID);
 
    53 <a name="l00050"></a>00050   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3502, <span class="stringliteral">"    to node : "</span>, Node_ID);
 
    54 <a name="l00051"></a>00051   <span class="comment">/* message configuration */</span>
 
    54 <a name="l00051"></a>00051   <span class="comment">/* message configuration */</span>
 
    55 <a name="l00052"></a>00052   m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = 0x0000; <span class="comment">/*(NMT) &lt;&lt; 7*/</span>
 
    55 <a name="l00052"></a>00052   m.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0x0000; <span class="comment">/*(NMT) &lt;&lt; 7*/</span>
 
    56 <a name="l00053"></a>00053   m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>;
 
    56 <a name="l00053"></a>00053   m.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>;
 
    57 <a name="l00054"></a>00054   m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 2;
 
    57 <a name="l00054"></a>00054   m.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 2;
 
    58 <a name="l00055"></a>00055   m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[0] = cs;
 
    58 <a name="l00055"></a>00055   m.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = cs;
 
    59 <a name="l00056"></a>00056   m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[1] = Node_ID;
 
    59 <a name="l00056"></a>00056   m.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[1] = Node_ID;
 
    60 <a name="l00057"></a>00057 
    60 <a name="l00057"></a>00057 
    61 <a name="l00058"></a>00058   <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&amp;m);
 
    61 <a name="l00058"></a>00058   <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;m);
 
    62 <a name="l00059"></a>00059 }
 
    62 <a name="l00059"></a>00059 }
 
    63 <a name="l00060"></a>00060 
    63 <a name="l00060"></a>00060 
    64 <a name="l00061"></a>00061 
    64 <a name="l00061"></a>00061 
    65 <a name="l00070"></a><a class="code" href="nmtMaster_8h.html#f63689baeabb15103c2b7afe8885c5c4">00070</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
 
    65 <a name="l00070"></a><a class="code" href="nmtMaster_8h.html#9f255d6b026de318c5181e1deb01bdd0">00070</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="nmtMaster_8c.html#9f255d6b026de318c5181e1deb01bdd0">masterSendNMTnodeguard</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
 
    66 <a name="l00071"></a>00071 {
 
    66 <a name="l00071"></a>00071 {
 
    67 <a name="l00072"></a>00072   <a class="code" href="structMessage.html">Message</a> m;
 
    67 <a name="l00072"></a>00072   <a class="code" href="structMessage.html">Message</a> m;
 
    68 <a name="l00073"></a>00073 
    68 <a name="l00073"></a>00073 
    69 <a name="l00074"></a>00074   <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3503, <span class="stringliteral">"Send_NODE_GUARD to node : "</span>, nodeId);
 
    69 <a name="l00074"></a>00074   <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3503, <span class="stringliteral">"Send_NODE_GUARD to node : "</span>, nodeId);
 
    70 <a name="l00075"></a>00075 
    70 <a name="l00075"></a>00075 
    71 <a name="l00076"></a>00076   <span class="comment">/* message configuration */</span>
 
    71 <a name="l00076"></a>00076   <span class="comment">/* message configuration */</span>
 
    72 <a name="l00077"></a>00077   m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = nodeId | (<a class="code" href="def_8h.html#78d5d3f71db9f360c9e3d3953707b0c1">NODE_GUARD</a> &lt;&lt; 7);
 
    72 <a name="l00077"></a>00077   m.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = nodeId | (<a class="code" href="def_8h.html#e7e02f70bb48a2747c6496fdcf0f1b95">NODE_GUARD</a> &lt;&lt; 7);
 
    73 <a name="l00078"></a>00078   m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#6baece8be8f9ab55223d41b535511b6f">REQUEST</a>;
 
    73 <a name="l00078"></a>00078   m.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a>;
 
    74 <a name="l00079"></a>00079   m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 1;
 
    74 <a name="l00079"></a>00079   m.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1;
 
    75 <a name="l00080"></a>00080 
    75 <a name="l00080"></a>00080 
    76 <a name="l00081"></a>00081   <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#b57b4b3c000e9f61135175495e874977">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&amp;m);
 
    76 <a name="l00081"></a>00081   <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&amp;m);
 
    77 <a name="l00082"></a>00082 }
 
    77 <a name="l00082"></a>00082 }
 
    78 <a name="l00083"></a>00083 
    78 <a name="l00083"></a>00083 
    79 <a name="l00090"></a><a class="code" href="nmtMaster_8h.html#98bee3f402438056dbd653e752054796">00090</a> <span class="keywordtype">void</span> <a class="code" href="nmtMaster_8c.html#98bee3f402438056dbd653e752054796">masterRequestNodeState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
 
    79 <a name="l00090"></a><a class="code" href="nmtMaster_8h.html#ed4b5c5175612deb4d3e9c328a645cfb">00090</a> <span class="keywordtype">void</span> <a class="code" href="nmtMaster_8c.html#ed4b5c5175612deb4d3e9c328a645cfb">masterRequestNodeState</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
 
    80 <a name="l00091"></a>00091 {
 
    80 <a name="l00091"></a>00091 {
 
    81 <a name="l00092"></a>00092   <span class="comment">/* FIXME: should warn for bad toggle bit. */</span>
 
    81 <a name="l00092"></a>00092   <span class="comment">/* FIXME: should warn for bad toggle bit. */</span>
 
    82 <a name="l00093"></a>00093 
    82 <a name="l00093"></a>00093 
    83 <a name="l00094"></a>00094   <span class="comment">/* NMTable configuration to indicate that the master is waiting</span>
 
    83 <a name="l00094"></a>00094   <span class="comment">/* NMTable configuration to indicate that the master is waiting</span>
 
    84 <a name="l00095"></a>00095 <span class="comment">    for a Node_Guard frame from the slave whose node_id is ID</span>
 
    84 <a name="l00095"></a>00095 <span class="comment">    for a Node_Guard frame from the slave whose node_id is ID</span>
 
    85 <a name="l00096"></a>00096 <span class="comment">  */</span>
 
    85 <a name="l00096"></a>00096 <span class="comment">  */</span>
 
    86 <a name="l00097"></a>00097   <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">NMTable</a>[nodeId] = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646cb4b5cb64be091d76f846380eb0afe59">Unknown_state</a>; <span class="comment">/* A state that does not exist</span>
 
    86 <a name="l00097"></a>00097   <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a>; <span class="comment">/* A state that does not exist</span>
 
    87 <a name="l00098"></a>00098 <span class="comment">                                       */</span>
 
    87 <a name="l00098"></a>00098 <span class="comment">                                       */</span>
 
    88 <a name="l00099"></a>00099 
    88 <a name="l00099"></a>00099 
    89 <a name="l00100"></a>00100   <span class="keywordflow">if</span> (nodeId == 0) { <span class="comment">/* NMT broadcast */</span>
 
    89 <a name="l00100"></a>00100   <span class="keywordflow">if</span> (nodeId == 0) { <span class="comment">/* NMT broadcast */</span>
 
    90 <a name="l00101"></a>00101     <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i = 0;
 
    90 <a name="l00101"></a>00101     <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i = 0;
 
    91 <a name="l00102"></a>00102     <span class="keywordflow">for</span> (i = 0 ; i &lt; <a class="code" href="config_8h.html#89f774dfdb67cc1f78c7e7d457a16fdc">NMT_MAX_NODE_ID</a> ; i++) {
 
    91 <a name="l00102"></a>00102     <span class="keywordflow">for</span> (i = 0 ; i &lt; <a class="code" href="config_8h.html#2ee1e815b40aa4cbd0acdc341d9214bd">NMT_MAX_NODE_ID</a> ; i++) {
 
    92 <a name="l00103"></a>00103       <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">NMTable</a>[i] = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646cb4b5cb64be091d76f846380eb0afe59">Unknown_state</a>;
 
    92 <a name="l00103"></a>00103       <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-&gt;<a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[i] = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a>;
 
    93 <a name="l00104"></a>00104     }
 
    93 <a name="l00104"></a>00104     }
 
    94 <a name="l00105"></a>00105   }
 
    94 <a name="l00105"></a>00105   }
 
    95 <a name="l00106"></a>00106   <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,nodeId);
 
    95 <a name="l00106"></a>00106   <a class="code" href="nmtMaster_8c.html#9f255d6b026de318c5181e1deb01bdd0">masterSendNMTnodeguard</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,nodeId);
 
    96 <a name="l00107"></a>00107 }
 
    96 <a name="l00107"></a>00107 }
 
    97 <a name="l00108"></a>00108 
    97 <a name="l00108"></a>00108 
    98 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by&nbsp;
 
    98 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by&nbsp;
 
    99 <a href="http://www.doxygen.org/index.html">
 
    99 <a href="http://www.doxygen.org/index.html">
 
   100 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
 
   100 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
 
   101 </body>
 
   101 </body>
 
   102 </html>
 
   102 </html>
canfestival