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/nmtSlave.c Source File</title> |
3 <title>CanFestival: src/nmtSlave.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/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> |
20 <div class="nav"> |
|
21 <a class="el" href="dir_c0a169d39c08973f879fd54f07b9e9f7.html">src</a></div> |
|
22 <h1>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</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 "nmtSlave.h"</span> |
45 <a name="l00033"></a>00033 <span class="preprocessor">#include "<a class="code" href="nmtSlave_8h.html">nmtSlave.h</a>"</span> |
42 <a name="l00034"></a>00034 <span class="preprocessor">#include "states.h"</span> |
46 <a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="states_8h.html">states.h</a>"</span> |
43 <a name="l00035"></a>00035 <span class="preprocessor">#include "canfestival.h"</span> |
47 <a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span> |
44 <a name="l00036"></a>00036 |
48 <a name="l00036"></a>00036 |
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) |
49 <a name="l00043"></a><a class="code" href="nmtSlave_8h.html#97d175ea168c149c99b01dcde0989743">00043</a> <span class="keywordtype">void</span> <a class="code" href="nmtSlave_8c.html#97d175ea168c149c99b01dcde0989743">proceedNMTstateChange</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="structMessage.html">Message</a> *m) |
46 <a name="l00044"></a>00044 { |
50 <a name="l00044"></a>00044 { |
47 <a name="l00045"></a>00045 <span class="keywordflow">if</span>( d->nodeState == Pre_operational || |
51 <a name="l00045"></a>00045 <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a> || |
48 <a name="l00046"></a>00046 d->nodeState == Operational || |
52 <a name="l00046"></a>00046 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> || |
49 <a name="l00047"></a>00047 d->nodeState == Stopped ) { |
53 <a name="l00047"></a>00047 <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a> ) { |
50 <a name="l00048"></a>00048 |
54 <a name="l00048"></a>00048 |
51 <a name="l00049"></a>00049 MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node : "</span>, (*m).data[1]); |
55 <a name="l00049"></a>00049 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3400, <span class="stringliteral">"NMT received. for node : "</span>, (*m).data[1]); |
52 <a name="l00050"></a>00050 |
56 <a name="l00050"></a>00050 |
53 <a name="l00054"></a>00054 <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){ |
57 <a name="l00051"></a>00051 <span class="comment">/* Check if this NMT-message is for this node */</span> |
|
58 <a name="l00052"></a>00052 <span class="comment">/* byte 1 = 0 : all the nodes are concerned (broadcast) */</span> |
|
59 <a name="l00053"></a>00053 |
|
60 <a name="l00054"></a>00054 <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">bDeviceNodeId</a> ) ){ |
54 <a name="l00055"></a>00055 |
61 <a name="l00055"></a>00055 |
55 <a name="l00056"></a>00056 <span class="keywordflow">switch</span>( (*m).data[0]){ |
62 <a name="l00056"></a>00056 <span class="keywordflow">switch</span>( (*m).data[0]){ <span class="comment">/* command specifier (cs) */</span> |
56 <a name="l00057"></a>00057 <span class="keywordflow">case</span> NMT_Start_Node: |
63 <a name="l00057"></a>00057 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#9654207fdc32413aa792c8a2dc9d414f">NMT_Start_Node</a>: |
57 <a name="l00058"></a>00058 <span class="keywordflow">if</span> ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) ) |
64 <a name="l00058"></a>00058 <span class="keywordflow">if</span> ( (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a>) || (<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#a03a5121facf5b21d541f8566a8345d6">nodeState</a> == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>) ) |
58 <a name="l00059"></a>00059 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational); |
65 <a name="l00059"></a>00059 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>,<a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>); |
59 <a name="l00060"></a>00060 <span class="keywordflow">break</span>; |
66 <a name="l00060"></a>00060 <span class="keywordflow">break</span>; |
60 <a name="l00061"></a>00061 |
67 <a name="l00061"></a>00061 |
61 <a name="l00062"></a>00062 <span class="keywordflow">case</span> NMT_Stop_Node: |
68 <a name="l00062"></a>00062 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#7aae99c67e9ebd9491a246baf92570fa">NMT_Stop_Node</a>: |
62 <a name="l00063"></a>00063 <span class="keywordflow">if</span> ( d->nodeState == Pre_operational || |
69 <a name="l00063"></a>00063 <span class="keywordflow">if</span> ( d->nodeState == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a> || |
63 <a name="l00064"></a>00064 d->nodeState == Operational ) |
70 <a name="l00064"></a>00064 d->nodeState == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> ) |
64 <a name="l00065"></a>00065 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped); |
71 <a name="l00065"></a>00065 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,<a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>); |
65 <a name="l00066"></a>00066 <span class="keywordflow">break</span>; |
72 <a name="l00066"></a>00066 <span class="keywordflow">break</span>; |
66 <a name="l00067"></a>00067 |
73 <a name="l00067"></a>00067 |
67 <a name="l00068"></a>00068 <span class="keywordflow">case</span> NMT_Enter_PreOperational: |
74 <a name="l00068"></a>00068 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#bdbbb7ecbe41058f60f684c10e07e08e">NMT_Enter_PreOperational</a>: |
68 <a name="l00069"></a>00069 <span class="keywordflow">if</span> ( d->nodeState == Operational || |
75 <a name="l00069"></a>00069 <span class="keywordflow">if</span> ( d->nodeState == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a> || |
69 <a name="l00070"></a>00070 d->nodeState == Stopped ) |
76 <a name="l00070"></a>00070 d->nodeState == <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a> ) |
70 <a name="l00071"></a>00071 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational); |
77 <a name="l00071"></a>00071 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,<a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646c747c16a9c4d7dec65cdab6e38df99b7">Pre_operational</a>); |
71 <a name="l00072"></a>00072 <span class="keywordflow">break</span>; |
78 <a name="l00072"></a>00072 <span class="keywordflow">break</span>; |
72 <a name="l00073"></a>00073 |
79 <a name="l00073"></a>00073 |
73 <a name="l00074"></a>00074 <span class="keywordflow">case</span> NMT_Reset_Node: |
80 <a name="l00074"></a>00074 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b349b5574a1ea67ff0ef76b9f9b6319e">NMT_Reset_Node</a>: |
74 <a name="l00075"></a>00075 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation); |
81 <a name="l00075"></a>00075 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,<a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>); |
75 <a name="l00076"></a>00076 <span class="keywordflow">break</span>; |
82 <a name="l00076"></a>00076 <span class="keywordflow">break</span>; |
76 <a name="l00077"></a>00077 |
83 <a name="l00077"></a>00077 |
77 <a name="l00078"></a>00078 <span class="keywordflow">case</span> NMT_Reset_Comunication: |
84 <a name="l00078"></a>00078 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#fd16bdbe636d7c761a9e015a7d7653ce">NMT_Reset_Comunication</a>: |
78 <a name="l00079"></a>00079 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation); |
85 <a name="l00079"></a>00079 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,<a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>); |
79 <a name="l00080"></a>00080 <span class="keywordflow">break</span>; |
86 <a name="l00080"></a>00080 <span class="keywordflow">break</span>; |
80 <a name="l00081"></a>00081 |
87 <a name="l00081"></a>00081 |
81 <a name="l00082"></a>00082 } |
88 <a name="l00082"></a>00082 }<span class="comment">/* end switch */</span> |
82 <a name="l00084"></a>00084 } |
89 <a name="l00083"></a>00083 |
|
90 <a name="l00084"></a>00084 }<span class="comment">/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==</span> |
|
91 <a name="l00085"></a>00085 <span class="comment"> bDeviceNodeId ) ) */</span> |
83 <a name="l00086"></a>00086 } |
92 <a name="l00086"></a>00086 } |
84 <a name="l00087"></a>00087 } |
93 <a name="l00087"></a>00087 } |
85 <a name="l00088"></a>00088 |
94 <a name="l00088"></a>00088 |
86 <a name="l00089"></a>00089 |
95 <a name="l00089"></a>00089 |
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) |
96 <a name="l00097"></a><a class="code" href="nmtSlave_8h.html#aced28a97b2c256320dfde3c4b36a7d5">00097</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="nmtSlave_8c.html#aced28a97b2c256320dfde3c4b36a7d5">slaveSendBootUp</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>) |
88 <a name="l00098"></a>00098 { |
97 <a name="l00098"></a>00098 { |
89 <a name="l00099"></a>00099 Message m; |
98 <a name="l00099"></a>00099 <a class="code" href="structMessage.html">Message</a> m; |
90 <a name="l00100"></a>00100 |
99 <a name="l00100"></a>00100 |
91 <a name="l00101"></a>00101 MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0); |
100 <a name="l00101"></a>00101 <a class="code" href="hcs12_2applicfg_8h.html#5f4e5133c4c3113931684d3aba518bba">MSG_WAR</a>(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0); |
92 <a name="l00102"></a>00102 |
101 <a name="l00102"></a>00102 |
93 <a name="l00104"></a>00104 m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId; |
102 <a name="l00103"></a>00103 <span class="comment">/* message configuration */</span> |
94 <a name="l00105"></a>00105 m.rtr = NOT_A_REQUEST; |
103 <a name="l00104"></a>00104 m.<a class="code" href="structMessage.html#c5d40bde75d015beb48293c052a218b5">cob_id</a>.<a class="code" href="structSHORT__CAN.html#614e1c6a40f1261e2b15ad69b19e9698">w</a> = <a class="code" href="def_8h.html#78d5d3f71db9f360c9e3d3953707b0c1">NODE_GUARD</a> << 7 | *<a class="code" href="structstruct__s__timer__entry.html#c08f4de0f4a517ce2bb72f18251cd13c">d</a>-><a class="code" href="structstruct__CO__Data.html#e5c35e97a1061bb9737359cc12192269">bDeviceNodeId</a>; |
95 <a name="l00106"></a>00106 m.len = 1; |
104 <a name="l00105"></a>00105 m.<a class="code" href="structMessage.html#41c5a4e7eaeb2c2ae1af2b2c83129615">rtr</a> = <a class="code" href="def_8h.html#0c43b00ce49efc3586ad17dd80d73940">NOT_A_REQUEST</a>; |
96 <a name="l00107"></a>00107 m.data[0] = 0x00; |
105 <a name="l00106"></a>00106 m.<a class="code" href="structMessage.html#d1dd9a88dda088ff4c7073d49613613d">len</a> = 1; |
|
106 <a name="l00107"></a>00107 m.<a class="code" href="structMessage.html#229865b09691e658677ba76f2d82ce89">data</a>[0] = 0x00; |
97 <a name="l00108"></a>00108 |
107 <a name="l00108"></a>00108 |
98 <a name="l00109"></a>00109 <span class="keywordflow">return</span> canSend(d->canHandle,&m); |
108 <a name="l00109"></a>00109 <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); |
99 <a name="l00110"></a>00110 } |
109 <a name="l00110"></a>00110 } |
100 <a name="l00111"></a>00111 |
110 <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 |
111 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by |
102 <a href="http://www.doxygen.org/index.html"> |
112 <a href="http://www.doxygen.org/index.html"> |
103 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
113 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
104 </body> |
114 </body> |
105 </html> |
115 </html> |