Updated SVG drawing to reflect recent changes in API.
/*
This file is part of CanFestival, a library implementing CanOpen
Stack.
Copyright (C): Edouard TISSERANT and Francis DUPIN
See COPYING file for copyrights details.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
USA
*/
/*!
** @file nmtSlave.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 08:50:53 2007
**
** @brief
**
**
*/
#include "nmtSlave.h"
#include "states.h"
#include "canfestival.h"
#include "sysdep.h"
/*!
** put the slave in the state wanted by the master
**
** @param d
** @param m
**/
void proceedNMTstateChange(CO_Data* d, Message *m)
{
if( d->nodeState == Pre_operational ||
d->nodeState == Operational ||
d->nodeState == Stopped ) {
MSG_WAR(0x3400, "NMT received. for node : ", (*m).data[1]);
/* Check if this NMT-message is for this node */
/* byte 1 = 0 : all the nodes are concerned (broadcast) */
if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
switch( (*m).data[0]){ /* command specifier (cs) */
case NMT_Start_Node:
if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
setState(d,Operational);
break;
case NMT_Stop_Node:
if ( d->nodeState == Pre_operational ||
d->nodeState == Operational )
setState(d,Stopped);
break;
case NMT_Enter_PreOperational:
if ( d->nodeState == Operational ||
d->nodeState == Stopped )
setState(d,Pre_operational);
break;
case NMT_Reset_Node:
#ifdef CO_ENABLE_LSS
if(getNodeId(d)!=d->lss_transfer.nodeID)
setNodeId(d, d->lss_transfer.nodeID);
#endif
setState(d,Initialisation);
break;
case NMT_Reset_Comunication:
#ifdef CO_ENABLE_LSS
if(getNodeId(d)!=d->lss_transfer.nodeID && getNodeId(d)>0 && getNodeId(d)<=127)
setNodeId(d, d->lss_transfer.nodeID);
#endif
setState(d,Initialisation);
break;
}/* end switch */
}/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
bDeviceNodeId ) ) */
}
}
/*!
**
**
** @param d
**
** @return
**/
UNS8 slaveSendBootUp(CO_Data* d)
{
Message m;
#ifdef CO_ENABLE_LSS
if(*d->bDeviceNodeId==0xFF)return 0;
#endif
MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
/* message configuration */
{
UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId;
m.cob_id = UNS16_LE(tmp);
}
m.rtr = NOT_A_REQUEST;
m.len = 1;
m.data[0] = 0x00;
return canSend(d->canHandle,&m);
}