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1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #ifndef __nmtSlave_h__ |
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24 #define __nmtSlave_h__ |
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25 |
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26 #include <applicfg.h> |
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27 #include "data.h" |
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28 |
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29 /** Threat the reception of a NMT message from the master |
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30 * *m is a pointer to the message received |
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31 * bus_id is hardware dependant |
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32 * return 0 if OK, -1 if the slave is not allowed, by its state, |
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33 * to receive the message |
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34 */ |
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35 void proceedNMTstateChange (CO_Data* d, Message * m); |
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36 |
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37 /** Transmit the boot-Up frame when the slave is moving from initialization |
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38 * state to pre_operational state. |
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39 * bus_id is hardware dependant |
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40 * return canSend(bus_id,&m) |
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41 */ |
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42 UNS8 slaveSendBootUp (CO_Data* d); |
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43 |
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44 |
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45 #endif // __nmtSlave_h__ |