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<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>
<a name="l00002"></a>00002 <span class="comment"> This file is part of CanFestival, a library implementing CanOpen</span>
<a name="l00003"></a>00003 <span class="comment"> Stack.</span>
<a name="l00004"></a>00004 <span class="comment"></span>
<a name="l00005"></a>00005 <span class="comment"> Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00006"></a>00006 <span class="comment"></span>
<a name="l00007"></a>00007 <span class="comment"> See COPYING file for copyrights details.</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> This library is free software; you can redistribute it and/or</span>
<a name="l00010"></a>00010 <span class="comment"> modify it under the terms of the GNU Lesser General Public</span>
<a name="l00011"></a>00011 <span class="comment"> License as published by the Free Software Foundation; either</span>
<a name="l00012"></a>00012 <span class="comment"> version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00013"></a>00013 <span class="comment"></span>
<a name="l00014"></a>00014 <span class="comment"> This library is distributed in the hope that it will be useful,</span>
<a name="l00015"></a>00015 <span class="comment"> but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00016"></a>00016 <span class="comment"> MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00017"></a>00017 <span class="comment"> Lesser General Public License for more details.</span>
<a name="l00018"></a>00018 <span class="comment"></span>
<a name="l00019"></a>00019 <span class="comment"> You should have received a copy of the GNU Lesser General Public</span>
<a name="l00020"></a>00020 <span class="comment"> License along with this library; if not, write to the Free Software</span>
<a name="l00021"></a>00021 <span class="comment"> Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307</span>
<a name="l00022"></a>00022 <span class="comment"> USA</span>
<a name="l00023"></a>00023 <span class="comment">*/</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include "nmtMaster.h"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00035"></a>00035
<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)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 Message m;
<a name="l00048"></a>00048
<a name="l00049"></a>00049 MSG_WAR(0x3501, <span class="stringliteral">"Send_NMT cs : "</span>, cs);
<a name="l00050"></a>00050 MSG_WAR(0x3502, <span class="stringliteral">" to node : "</span>, Node_ID);
<a name="l00052"></a>00052 m.cob_id.w = 0x0000; <span class="comment">/*(NMT) << 7*/</span>
<a name="l00053"></a>00053 m.rtr = NOT_A_REQUEST;
<a name="l00054"></a>00054 m.len = 2;
<a name="l00055"></a>00055 m.data[0] = cs;
<a name="l00056"></a>00056 m.data[1] = Node_ID;
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060
<a name="l00061"></a>00061
<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)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 Message m;
<a name="l00073"></a>00073
<a name="l00074"></a>00074 MSG_WAR(0x3503, <span class="stringliteral">"Send_NODE_GUARD to node : "</span>, nodeId);
<a name="l00075"></a>00075
<a name="l00076"></a>00076 <span class="comment">/* message configuration */</span>
<a name="l00077"></a>00077 m.cob_id.w = nodeId | (NODE_GUARD << 7);
<a name="l00078"></a>00078 m.rtr = REQUEST;
<a name="l00079"></a>00079 m.len = 1;
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<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)
<a name="l00091"></a>00091 {
<a name="l00097"></a>00097 d->NMTable[nodeId] = Unknown_state;
<a name="l00100"></a>00100 <span class="keywordflow">if</span> (nodeId == 0) {
<a name="l00101"></a>00101 UNS8 i = 0;
<a name="l00102"></a>00102 <span class="keywordflow">for</span> (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
<a name="l00103"></a>00103 d->NMTable[i] = Unknown_state;
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 <a class="code" href="nmtMaster_8c.html#f63689baeabb15103c2b7afe8885c5c4">masterSendNMTnodeguard</a>(d,nodeId);
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
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