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+<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>
+<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
+<a name="l00003"></a>00003 <span class="comment"></span>
+<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
+<a name="l00005"></a>00005 <span class="comment"></span>
+<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
+<a name="l00007"></a>00007 <span class="comment"></span>
+<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
+<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
+<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
+<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
+<a name="l00012"></a>00012 <span class="comment"></span>
+<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
+<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
+<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
+<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
+<a name="l00017"></a>00017 <span class="comment"></span>
+<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
+<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
+<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
+<a name="l00021"></a>00021 <span class="comment">*/</span>
+<a name="l00022"></a>00022
+<a name="l00023"></a>00023 <span class="preprocessor">#include "nmtSlave.h"</span>
+<a name="l00024"></a>00024 <span class="preprocessor">#include "states.h"</span>
+<a name="l00025"></a>00025 <span class="preprocessor">#include "canfestival.h"</span>
+<a name="l00026"></a>00026
+<a name="l00027"></a>00027 <span class="comment">/*******************************************************************)*********/</span>
+<a name="l00028"></a>00028 <span class="comment">/* put the slave in the state wanted by the master */</span>
+<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)
+<a name="l00030"></a>00030 {
+<a name="l00031"></a>00031 <span class="keywordflow">if</span>( d->nodeState == Pre_operational ||
+<a name="l00032"></a>00032 d->nodeState == Operational ||
+<a name="l00033"></a>00033 d->nodeState == Stopped ) {
+<a name="l00034"></a>00034
+<a name="l00035"></a>00035 MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node : "</span>, (*m).data[1]);
+<a name="l00036"></a>00036
+<a name="l00037"></a>00037 <span class="comment">/* Check if this NMT-message is for this node */</span>
+<a name="l00038"></a>00038 <span class="comment">/* byte 1 = 0 : all the nodes are concerned (broadcast) */</span>
+<a name="l00039"></a>00039
+<a name="l00040"></a>00040 <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
+<a name="l00041"></a>00041
+<a name="l00042"></a>00042 <span class="keywordflow">switch</span>( (*m).data[0]){ <span class="comment">/* command specifier (cs) */</span>
+<a name="l00043"></a>00043 <span class="keywordflow">case</span> NMT_Start_Node:
+<a name="l00044"></a>00044 <span class="keywordflow">if</span> ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
+<a name="l00045"></a>00045 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational);
+<a name="l00046"></a>00046 <span class="keywordflow">break</span>;
+<a name="l00047"></a>00047
+<a name="l00048"></a>00048 <span class="keywordflow">case</span> NMT_Stop_Node:
+<a name="l00049"></a>00049 <span class="keywordflow">if</span> ( d->nodeState == Pre_operational ||
+<a name="l00050"></a>00050 d->nodeState == Operational )
+<a name="l00051"></a>00051 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped);
+<a name="l00052"></a>00052 <span class="keywordflow">break</span>;
+<a name="l00053"></a>00053
+<a name="l00054"></a>00054 <span class="keywordflow">case</span> NMT_Enter_PreOperational:
+<a name="l00055"></a>00055 <span class="keywordflow">if</span> ( d->nodeState == Operational ||
+<a name="l00056"></a>00056 d->nodeState == Stopped )
+<a name="l00057"></a>00057 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational);
+<a name="l00058"></a>00058 <span class="keywordflow">break</span>;
+<a name="l00059"></a>00059
+<a name="l00060"></a>00060 <span class="keywordflow">case</span> NMT_Reset_Node:
+<a name="l00061"></a>00061 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
+<a name="l00062"></a>00062 <span class="keywordflow">break</span>;
+<a name="l00063"></a>00063
+<a name="l00064"></a>00064 <span class="keywordflow">case</span> NMT_Reset_Comunication:
+<a name="l00065"></a>00065 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
+<a name="l00066"></a>00066 <span class="keywordflow">break</span>;
+<a name="l00067"></a>00067
+<a name="l00068"></a>00068 }<span class="comment">/* end switch */</span>
+<a name="l00069"></a>00069
+<a name="l00070"></a>00070 }<span class="comment">/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */</span>
+<a name="l00071"></a>00071 }
+<a name="l00072"></a>00072 }
+<a name="l00073"></a>00073
+<a name="l00074"></a>00074
+<a name="l00075"></a>00075 <span class="comment">/*****************************************************************************/</span>
+<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)
+<a name="l00077"></a>00077 {
+<a name="l00078"></a>00078 Message m;
+<a name="l00079"></a>00079
+<a name="l00080"></a>00080 MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
+<a name="l00081"></a>00081
+<a name="l00082"></a>00082 <span class="comment">/* message configuration */</span>
+<a name="l00083"></a>00083 m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
+<a name="l00084"></a>00084 m.rtr = NOT_A_REQUEST;
+<a name="l00085"></a>00085 m.len = 1;
+<a name="l00086"></a>00086 m.data[0] = 0x00;
+<a name="l00087"></a>00087
+<a name="l00088"></a>00088 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
+<a name="l00089"></a>00089 }
+<a name="l00090"></a>00090
+</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jun 4 17:09:26 2007 for CanFestival by
+<a href="http://www.doxygen.org/index.html">
+<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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