|
1 /* |
|
2 This file is part of CanFestival, a library implementing CanOpen Stack. |
|
3 |
|
4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
|
5 |
|
6 See COPYING file for copyrights details. |
|
7 |
|
8 This library is free software; you can redistribute it and/or |
|
9 modify it under the terms of the GNU Lesser General Public |
|
10 License as published by the Free Software Foundation; either |
|
11 version 2.1 of the License, or (at your option) any later version. |
|
12 |
|
13 This library is distributed in the hope that it will be useful, |
|
14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
16 Lesser General Public License for more details. |
|
17 |
|
18 You should have received a copy of the GNU Lesser General Public |
|
19 License along with this library; if not, write to the Free Software |
|
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
|
21 */ |
|
22 |
|
23 #include "nmtSlave.h" |
|
24 #include "states.h" |
|
25 |
|
26 /*******************************************************************)*********/ |
|
27 /* put the slave in the state wanted by the master */ |
|
28 void proceedNMTstateChange(CO_Data* d, Message *m) |
|
29 { |
|
30 if( d->nodeState == Pre_operational || |
|
31 d->nodeState == Operational || |
|
32 d->nodeState == Stopped ) { |
|
33 |
|
34 MSG_WAR(0x3400, "NMT received. for node : ", (*m).data[1]); |
|
35 |
|
36 // Check if this NMT-message is for this node |
|
37 // byte 1 = 0 : all the nodes are concerned (broadcast) |
|
38 |
|
39 if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){ |
|
40 |
|
41 switch( (*m).data[0]){ // command specifier (cs) |
|
42 case NMT_Start_Node: |
|
43 if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) ) |
|
44 setState(d,Operational); |
|
45 break; |
|
46 |
|
47 case NMT_Stop_Node: |
|
48 if ( d->nodeState == Pre_operational || |
|
49 d->nodeState == Operational ) |
|
50 setState(d,Stopped); |
|
51 break; |
|
52 |
|
53 case NMT_Enter_PreOperational: |
|
54 if ( d->nodeState == Operational || |
|
55 d->nodeState == Stopped ) |
|
56 setState(d,Pre_operational); |
|
57 break; |
|
58 |
|
59 case NMT_Reset_Node: |
|
60 setState(d,Initialisation); |
|
61 break; |
|
62 |
|
63 case NMT_Reset_Comunication: |
|
64 setState(d,Initialisation); |
|
65 break; |
|
66 |
|
67 }// end switch |
|
68 |
|
69 }// end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) |
|
70 } |
|
71 } |
|
72 |
|
73 |
|
74 /*****************************************************************************/ |
|
75 UNS8 slaveSendBootUp(CO_Data* d) |
|
76 { |
|
77 Message m; |
|
78 |
|
79 MSG_WAR(0x3407, "Send a Boot-Up msg ", 0); |
|
80 |
|
81 /* message configuration */ |
|
82 m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId; |
|
83 m.rtr = NOT_A_REQUEST; |
|
84 m.len = 1; |
|
85 m.data[0] = 0x00; |
|
86 |
|
87 return (*d->canSend)(&m); |
|
88 } |
|
89 |