1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> |
1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> |
2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> |
2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> |
3 <title>CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/nmtMaster.c Source File</title> |
3 <title>CanFestival: src/nmtMaster.c Source File</title> |
4 <link href="doxygen.css" rel="stylesheet" type="text/css"> |
4 <link href="doxygen.css" rel="stylesheet" type="text/css"> |
5 <link href="tabs.css" rel="stylesheet" type="text/css"> |
5 <link href="tabs.css" rel="stylesheet" type="text/css"> |
6 </head><body> |
6 </head><body> |
7 <!-- Generated by Doxygen 1.5.1 --> |
7 <!-- Generated by Doxygen 1.5.1 --> |
8 <div class="tabs"> |
8 <div class="tabs"> |
9 <ul> |
9 <ul> |
10 <li><a href="main.html"><span>Main Page</span></a></li> |
10 <li><a href="main.html"><span>Main Page</span></a></li> |
|
11 <li><a href="annotated.html"><span>Data Structures</span></a></li> |
11 <li id="current"><a href="files.html"><span>Files</span></a></li> |
12 <li id="current"><a href="files.html"><span>Files</span></a></li> |
|
13 <li><a href="dirs.html"><span>Directories</span></a></li> |
12 </ul></div> |
14 </ul></div> |
13 <div class="tabs"> |
15 <div class="tabs"> |
14 <ul> |
16 <ul> |
15 <li><a href="files.html"><span>File List</span></a></li> |
17 <li><a href="files.html"><span>File List</span></a></li> |
16 <li><a href="globals.html"><span>Globals</span></a></li> |
18 <li><a href="globals.html"><span>Globals</span></a></li> |
17 </ul></div> |
19 </ul></div> |
18 <h1>/home/epimerde/documents/tc11/CanFestival-3/src/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> |
20 <div class="nav"> |
|
21 <a class="el" href="dir_c0a169d39c08973f879fd54f07b9e9f7.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> |
19 <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> |
20 <a name="l00003"></a>00003 <span class="comment"> Stack.</span> |
24 <a name="l00003"></a>00003 <span class="comment"> Stack.</span> |
21 <a name="l00004"></a>00004 <span class="comment"></span> |
25 <a name="l00004"></a>00004 <span class="comment"></span> |
22 <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> |
23 <a name="l00006"></a>00006 <span class="comment"></span> |
27 <a name="l00006"></a>00006 <span class="comment"></span> |
36 <a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span> |
40 <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"> License along with this library; if not, write to the Free Software</span> |
41 <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"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span> |
42 <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 <span class="comment"> USA</span> |
43 <a name="l00022"></a>00022 <span class="comment"> USA</span> |
40 <a name="l00023"></a>00023 <span class="comment">*/</span> |
44 <a name="l00023"></a>00023 <span class="comment">*/</span> |
41 <a name="l00033"></a>00033 <span class="preprocessor">#include "nmtMaster.h"</span> |
45 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span> |
42 <a name="l00034"></a>00034 <span class="preprocessor">#include "canfestival.h"</span> |
46 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span> |
43 <a name="l00035"></a>00035 |
47 <a name="l00035"></a>00035 |
44 <a name="l00045"></a><a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">00045</a> UNS8 <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a>(CO_Data* d, UNS8 Node_ID, UNS8 cs) |
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) |
45 <a name="l00046"></a>00046 { |
49 <a name="l00046"></a>00046 { |
46 <a name="l00047"></a>00047 Message m; |
50 <a name="l00047"></a>00047 <a class="code" href="structMessage.html">Message</a> m; |
47 <a name="l00048"></a>00048 |
51 <a name="l00048"></a>00048 |
48 <a name="l00049"></a>00049 MSG_WAR(0x3501, <span class="stringliteral">"Send_NMT cs : "</span>, cs); |
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); |
49 <a name="l00050"></a>00050 MSG_WAR(0x3502, <span class="stringliteral">" to node : "</span>, Node_ID); |
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); |
50 <a name="l00052"></a>00052 m.cob_id.w = 0x0000; <span class="comment">/*(NMT) << 7*/</span> |
54 <a name="l00051"></a>00051 <span class="comment">/* message configuration */</span> |
51 <a name="l00053"></a>00053 m.rtr = NOT_A_REQUEST; |
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) << 7*/</span> |
52 <a name="l00054"></a>00054 m.len = 2; |
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>; |
53 <a name="l00055"></a>00055 m.data[0] = cs; |
57 <a name="l00054"></a>00054 m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 2; |
54 <a name="l00056"></a>00056 m.data[1] = Node_ID; |
58 <a name="l00055"></a>00055 m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[0] = cs; |
|
59 <a name="l00056"></a>00056 m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[1] = Node_ID; |
55 <a name="l00057"></a>00057 |
60 <a name="l00057"></a>00057 |
56 <a name="l00058"></a>00058 <span class="keywordflow">return</span> canSend(d->canHandle,&m); |
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>-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&m); |
57 <a name="l00059"></a>00059 } |
62 <a name="l00059"></a>00059 } |
58 <a name="l00060"></a>00060 |
63 <a name="l00060"></a>00060 |
59 <a name="l00061"></a>00061 |
64 <a name="l00061"></a>00061 |
60 <a name="l00070"></a><a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">00070</a> UNS8 <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(CO_Data* d, UNS8 nodeId) |
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) |
61 <a name="l00071"></a>00071 { |
66 <a name="l00071"></a>00071 { |
62 <a name="l00072"></a>00072 Message m; |
67 <a name="l00072"></a>00072 <a class="code" href="structMessage.html">Message</a> m; |
63 <a name="l00073"></a>00073 |
68 <a name="l00073"></a>00073 |
64 <a name="l00074"></a>00074 MSG_WAR(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#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3503, <span class="stringliteral">"Send_NODE_GUARD to node : "</span>, nodeId); |
65 <a name="l00075"></a>00075 |
70 <a name="l00075"></a>00075 |
66 <a name="l00076"></a>00076 <span class="comment">/* message configuration */</span> |
71 <a name="l00076"></a>00076 <span class="comment">/* message configuration */</span> |
67 <a name="l00077"></a>00077 m.cob_id.w = nodeId | (NODE_GUARD << 7); |
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> << 7); |
68 <a name="l00078"></a>00078 m.rtr = REQUEST; |
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>; |
69 <a name="l00079"></a>00079 m.len = 1; |
74 <a name="l00079"></a>00079 m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 1; |
70 <a name="l00080"></a>00080 |
75 <a name="l00080"></a>00080 |
71 <a name="l00081"></a>00081 <span class="keywordflow">return</span> canSend(d->canHandle,&m); |
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>-><a class="code" href="structstruct__CO__Data.html#c960c3c56e8389105c2853cfb393de0c">canHandle</a>,&m); |
72 <a name="l00082"></a>00082 } |
77 <a name="l00082"></a>00082 } |
73 <a name="l00083"></a>00083 |
78 <a name="l00083"></a>00083 |
74 <a name="l00090"></a><a class="code" href="nmtMaster_8c.html#98bee3f402438056dbd653e752054796">00090</a> <span class="keywordtype">void</span> <a class="code" href="nmtMaster_8c.html#98bee3f402438056dbd653e752054796">masterRequestNodeState</a>(CO_Data* d, UNS8 nodeId) |
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) |
75 <a name="l00091"></a>00091 { |
80 <a name="l00091"></a>00091 { |
76 <a name="l00097"></a>00097 d->NMTable[nodeId] = Unknown_state; |
81 <a name="l00092"></a>00092 <span class="comment">/* FIXME: should warn for bad toggle bit. */</span> |
77 <a name="l00100"></a>00100 <span class="keywordflow">if</span> (nodeId == 0) { |
82 <a name="l00093"></a>00093 |
78 <a name="l00101"></a>00101 UNS8 i = 0; |
83 <a name="l00094"></a>00094 <span class="comment">/* NMTable configuration to indicate that the master is waiting</span> |
79 <a name="l00102"></a>00102 <span class="keywordflow">for</span> (i = 0 ; i < NMT_MAX_NODE_ID ; i++) { |
84 <a name="l00095"></a>00095 <span class="comment"> for a Node_Guard frame from the slave whose node_id is ID</span> |
80 <a name="l00103"></a>00103 d->NMTable[i] = Unknown_state; |
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>-><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> |
|
87 <a name="l00098"></a>00098 <span class="comment"> */</span> |
|
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> |
|
90 <a name="l00101"></a>00101 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> i = 0; |
|
91 <a name="l00102"></a>00102 <span class="keywordflow">for</span> (i = 0 ; i < <a class="code" href="config_8h.html#89f774dfdb67cc1f78c7e7d457a16fdc">NMT_MAX_NODE_ID</a> ; i++) { |
|
92 <a name="l00103"></a>00103 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">NMTable</a>[i] = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646cb4b5cb64be091d76f846380eb0afe59">Unknown_state</a>; |
81 <a name="l00104"></a>00104 } |
93 <a name="l00104"></a>00104 } |
82 <a name="l00105"></a>00105 } |
94 <a name="l00105"></a>00105 } |
83 <a name="l00106"></a>00106 <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(d,nodeId); |
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); |
84 <a name="l00107"></a>00107 } |
96 <a name="l00107"></a>00107 } |
85 <a name="l00108"></a>00108 |
97 <a name="l00108"></a>00108 |
86 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by |
98 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by |
87 <a href="http://www.doxygen.org/index.html"> |
99 <a href="http://www.doxygen.org/index.html"> |
88 <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> |
89 </body> |
101 </body> |
90 </html> |
102 </html> |