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doc/doxygen/html/nmtSlave_8c-source.html
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parent 207 b6572d0336c3
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209:2cb34a4ac65a 210:6b5a4c21e061 
    14   <ul>
 
    14   <ul>
 
    15     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
    15     <li><a href="files.html"><span>File&nbsp;List</span></a></li>
 
    16     <li><a href="globals.html"><span>Globals</span></a></li>
 
    16     <li><a href="globals.html"><span>Globals</span></a></li>
 
    17   </ul></div>
 
    17   </ul></div>
 
    18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/nmtSlave.c</h1><a href="nmtSlave_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>
 
    18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/nmtSlave.c</h1><a href="nmtSlave_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>
 
    19 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
 
    19 <a name="l00002"></a>00002 <span class="comment">  This file is part of CanFestival, a library implementing CanOpen</span>
 
    20 <a name="l00003"></a>00003 <span class="comment"></span>
 
    20 <a name="l00003"></a>00003 <span class="comment">  Stack.</span>
 
    21 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
 
    21 <a name="l00004"></a>00004 <span class="comment"></span>
 
    22 <a name="l00005"></a>00005 <span class="comment"></span>
 
    22 <a name="l00005"></a>00005 <span class="comment">  Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
 
    23 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
 
    23 <a name="l00006"></a>00006 <span class="comment"></span>
 
    24 <a name="l00007"></a>00007 <span class="comment"></span>
 
    24 <a name="l00007"></a>00007 <span class="comment">  See COPYING file for copyrights details.</span>
 
    25 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
 
    25 <a name="l00008"></a>00008 <span class="comment"></span>
 
    26 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
 
    26 <a name="l00009"></a>00009 <span class="comment">  This library is free software; you can redistribute it and/or</span>
 
    27 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
 
    27 <a name="l00010"></a>00010 <span class="comment">  modify it under the terms of the GNU Lesser General Public</span>
 
    28 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
 
    28 <a name="l00011"></a>00011 <span class="comment">  License as published by the Free Software Foundation; either</span>
 
    29 <a name="l00012"></a>00012 <span class="comment"></span>
 
    29 <a name="l00012"></a>00012 <span class="comment">  version 2.1 of the License, or (at your option) any later version.</span>
 
    30 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
 
    30 <a name="l00013"></a>00013 <span class="comment"></span>
 
    31 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
 
    31 <a name="l00014"></a>00014 <span class="comment">  This library is distributed in the hope that it will be useful,</span>
 
    32 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
 
    32 <a name="l00015"></a>00015 <span class="comment">  but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
 
    33 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
 
    33 <a name="l00016"></a>00016 <span class="comment">  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
 
    34 <a name="l00017"></a>00017 <span class="comment"></span>
 
    34 <a name="l00017"></a>00017 <span class="comment">  Lesser General Public License for more details.</span>
 
    35 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
 
    35 <a name="l00018"></a>00018 <span class="comment"></span>
 
    36 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
 
    36 <a name="l00019"></a>00019 <span class="comment">  You should have received a copy of the GNU Lesser General Public</span>
 
    37 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
 
    37 <a name="l00020"></a>00020 <span class="comment">  License along with this library; if not, write to the Free Software</span>
 
    38 <a name="l00021"></a>00021 <span class="comment">*/</span>
 
    38 <a name="l00021"></a>00021 <span class="comment">  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307</span>
 
    39 <a name="l00022"></a>00022 
    39 <a name="l00022"></a>00022 <span class="comment">  USA</span>
 
    40 <a name="l00023"></a>00023 <span class="preprocessor">#include "nmtSlave.h"</span>
 
    40 <a name="l00023"></a>00023 <span class="comment">*/</span>
 
    41 <a name="l00024"></a>00024 <span class="preprocessor">#include "states.h"</span>
 
    41 <a name="l00033"></a>00033 <span class="preprocessor">#include "nmtSlave.h"</span>
 
    42 <a name="l00025"></a>00025 <span class="preprocessor">#include "canfestival.h"</span>
 
    42 <a name="l00034"></a>00034 <span class="preprocessor">#include "states.h"</span>
 
    43 <a name="l00026"></a>00026 
    43 <a name="l00035"></a>00035 <span class="preprocessor">#include "canfestival.h"</span>
 
    44 <a name="l00027"></a>00027 <span class="comment">/*******************************************************************)*********/</span>
 
    44 <a name="l00036"></a>00036 
    45 <a name="l00028"></a>00028 <span class="comment">/* put the slave in the state wanted by the master */</span>   
    45 <a name="l00043"></a><a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">00043</a> <span class="keywordtype">void</span> <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(CO_Data* d, Message *m)
 
    46 <a name="l00029"></a><a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">00029</a> <span class="keywordtype">void</span> <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</a>(CO_Data* d, Message *m)
 
    46 <a name="l00044"></a>00044 {
 
    47 <a name="l00030"></a>00030 {
 
    47 <a name="l00045"></a>00045   <span class="keywordflow">if</span>( d-&gt;nodeState == Pre_operational ||
 
    48 <a name="l00031"></a>00031   <span class="keywordflow">if</span>( d-&gt;nodeState == Pre_operational ||
 
    48 <a name="l00046"></a>00046       d-&gt;nodeState == Operational ||
 
    49 <a name="l00032"></a>00032       d-&gt;nodeState == Operational ||
 
    49 <a name="l00047"></a>00047       d-&gt;nodeState == Stopped ) {
 
    50 <a name="l00033"></a>00033       d-&gt;nodeState == Stopped ) {
 
    50 <a name="l00048"></a>00048 
    51 <a name="l00034"></a>00034     
    51 <a name="l00049"></a>00049     MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node :  "</span>, (*m).data[1]);
 
    52 <a name="l00035"></a>00035     MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node :  "</span>, (*m).data[1]);
 
    52 <a name="l00050"></a>00050 
    53 <a name="l00036"></a>00036     
    53 <a name="l00054"></a>00054     <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d-&gt;bDeviceNodeId ) ){
 
    54 <a name="l00037"></a>00037     <span class="comment">/* Check if this NMT-message is for this node */</span>
 
    54 <a name="l00055"></a>00055 
    55 <a name="l00038"></a>00038     <span class="comment">/* byte 1 = 0 : all the nodes are concerned (broadcast) */</span>
 
    55 <a name="l00056"></a>00056       <span class="keywordflow">switch</span>( (*m).data[0]){ 
    56 <a name="l00039"></a>00039         
    56 <a name="l00057"></a>00057       <span class="keywordflow">case</span> NMT_Start_Node:
 
    57 <a name="l00040"></a>00040     <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d-&gt;bDeviceNodeId ) ){
 
    57 <a name="l00058"></a>00058         <span class="keywordflow">if</span> ( (d-&gt;nodeState == Pre_operational) || (d-&gt;nodeState == Stopped) )
 
    58 <a name="l00041"></a>00041       
    58 <a name="l00059"></a>00059           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational);
 
    59 <a name="l00042"></a>00042       <span class="keywordflow">switch</span>( (*m).data[0]){ <span class="comment">/* command specifier (cs) */</span>                       
    59 <a name="l00060"></a>00060         <span class="keywordflow">break</span>;
 
    60 <a name="l00043"></a>00043       <span class="keywordflow">case</span> NMT_Start_Node:
 
    60 <a name="l00061"></a>00061 
    61 <a name="l00044"></a>00044         <span class="keywordflow">if</span> ( (d-&gt;nodeState == Pre_operational) || (d-&gt;nodeState == Stopped) )
 
    61 <a name="l00062"></a>00062       <span class="keywordflow">case</span> NMT_Stop_Node:
 
    62 <a name="l00045"></a>00045           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational);
 
    62 <a name="l00063"></a>00063         <span class="keywordflow">if</span> ( d-&gt;nodeState == Pre_operational ||
 
    63 <a name="l00046"></a>00046         <span class="keywordflow">break</span>; 
    63 <a name="l00064"></a>00064              d-&gt;nodeState == Operational )
 
    64 <a name="l00047"></a>00047         
    64 <a name="l00065"></a>00065           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped);
 
    65 <a name="l00048"></a>00048       <span class="keywordflow">case</span> NMT_Stop_Node:
 
       
    66 <a name="l00049"></a>00049         <span class="keywordflow">if</span> ( d-&gt;nodeState == Pre_operational ||
 
       
    67 <a name="l00050"></a>00050              d-&gt;nodeState == Operational )
 
       
    68 <a name="l00051"></a>00051           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped);
 
       
    69 <a name="l00052"></a>00052         <span class="keywordflow">break</span>;
 
       
    70 <a name="l00053"></a>00053         
       
    71 <a name="l00054"></a>00054       <span class="keywordflow">case</span> NMT_Enter_PreOperational:
 
       
    72 <a name="l00055"></a>00055         <span class="keywordflow">if</span> ( d-&gt;nodeState == Operational || 
       
    73 <a name="l00056"></a>00056              d-&gt;nodeState == Stopped )
 
       
    74 <a name="l00057"></a>00057           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational);
 
       
    75 <a name="l00058"></a>00058         <span class="keywordflow">break</span>;
 
       
    76 <a name="l00059"></a>00059         
       
    77 <a name="l00060"></a>00060       <span class="keywordflow">case</span> NMT_Reset_Node:
 
       
    78 <a name="l00061"></a>00061           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
 
       
    79 <a name="l00062"></a>00062         <span class="keywordflow">break</span>;
 
       
    80 <a name="l00063"></a>00063         
       
    81 <a name="l00064"></a>00064       <span class="keywordflow">case</span> NMT_Reset_Comunication:
 
       
    82 <a name="l00065"></a>00065           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
 
       
    83 <a name="l00066"></a>00066         <span class="keywordflow">break</span>;
 
    65 <a name="l00066"></a>00066         <span class="keywordflow">break</span>;
 
    84 <a name="l00067"></a>00067         
    66 <a name="l00067"></a>00067 
    85 <a name="l00068"></a>00068       }<span class="comment">/* end switch */</span>
 
    67 <a name="l00068"></a>00068       <span class="keywordflow">case</span> NMT_Enter_PreOperational:
 
    86 <a name="l00069"></a>00069       
    68 <a name="l00069"></a>00069         <span class="keywordflow">if</span> ( d-&gt;nodeState == Operational ||
 
    87 <a name="l00070"></a>00070     }<span class="comment">/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */</span>
 
    69 <a name="l00070"></a>00070              d-&gt;nodeState == Stopped )
 
    88 <a name="l00071"></a>00071   }
 
    70 <a name="l00071"></a>00071           <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational);
 
    89 <a name="l00072"></a>00072 }
 
    71 <a name="l00072"></a>00072         <span class="keywordflow">break</span>;
 
    90 <a name="l00073"></a>00073 
    72 <a name="l00073"></a>00073 
    91 <a name="l00074"></a>00074 
    73 <a name="l00074"></a>00074       <span class="keywordflow">case</span> NMT_Reset_Node:
 
    92 <a name="l00075"></a>00075 <span class="comment">/*****************************************************************************/</span>
 
    74 <a name="l00075"></a>00075         <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
 
    93 <a name="l00076"></a><a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">00076</a> UNS8 <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(CO_Data* d)
 
    75 <a name="l00076"></a>00076         <span class="keywordflow">break</span>;
 
    94 <a name="l00077"></a>00077 {
 
    76 <a name="l00077"></a>00077 
    95 <a name="l00078"></a>00078   Message m;
 
    77 <a name="l00078"></a>00078       <span class="keywordflow">case</span> NMT_Reset_Comunication:
 
    96 <a name="l00079"></a>00079         
    78 <a name="l00079"></a>00079         <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
 
    97 <a name="l00080"></a>00080   MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
 
    79 <a name="l00080"></a>00080         <span class="keywordflow">break</span>;
 
    98 <a name="l00081"></a>00081         
    80 <a name="l00081"></a>00081 
    99 <a name="l00082"></a>00082   <span class="comment">/* message configuration */</span>
 
    81 <a name="l00082"></a>00082       }
 
   100 <a name="l00083"></a>00083   m.cob_id.w = NODE_GUARD &lt;&lt; 7 | *d-&gt;bDeviceNodeId;
 
    82 <a name="l00084"></a>00084     }
 
   101 <a name="l00084"></a>00084   m.rtr = NOT_A_REQUEST;
 
    83 <a name="l00086"></a>00086   }
 
   102 <a name="l00085"></a>00085   m.len = 1;
 
    84 <a name="l00087"></a>00087 }
 
   103 <a name="l00086"></a>00086   m.data[0] = 0x00;
 
    85 <a name="l00088"></a>00088 
   104 <a name="l00087"></a>00087     
    86 <a name="l00089"></a>00089 
   105 <a name="l00088"></a>00088   <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);
 
    87 <a name="l00097"></a><a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">00097</a> UNS8 <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(CO_Data* d)
 
   106 <a name="l00089"></a>00089 }
 
    88 <a name="l00098"></a>00098 {
 
   107 <a name="l00090"></a>00090 
    89 <a name="l00099"></a>00099   Message m;
 
   108 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by&nbsp;
 
    90 <a name="l00100"></a>00100 
       
    91 <a name="l00101"></a>00101   MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
 
       
    92 <a name="l00102"></a>00102 
       
    93 <a name="l00104"></a>00104   m.cob_id.w = NODE_GUARD &lt;&lt; 7 | *d-&gt;bDeviceNodeId;
 
       
    94 <a name="l00105"></a>00105   m.rtr = NOT_A_REQUEST;
 
       
    95 <a name="l00106"></a>00106   m.len = 1;
 
       
    96 <a name="l00107"></a>00107   m.data[0] = 0x00;
 
       
    97 <a name="l00108"></a>00108 
       
    98 <a name="l00109"></a>00109   <span class="keywordflow">return</span> canSend(d-&gt;canHandle,&amp;m);
 
       
    99 <a name="l00110"></a>00110 }
 
       
   100 <a name="l00111"></a>00111 
       
   101 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by&nbsp;
 
   109 <a href="http://www.doxygen.org/index.html">
 
   102 <a href="http://www.doxygen.org/index.html">
 
   110 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
 
   103 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
 
   111 </body>
 
   104 </body>
 
   112 </html>
 
   105 </html>
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