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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</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 "nmtSlave.h"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "states.h"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "canfestival.h"</span>
<a name="l00036"></a>00036
<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)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keywordflow">if</span>( d->nodeState == Pre_operational ||
<a name="l00046"></a>00046 d->nodeState == Operational ||
<a name="l00047"></a>00047 d->nodeState == Stopped ) {
<a name="l00048"></a>00048
<a name="l00049"></a>00049 MSG_WAR(0x3400, <span class="stringliteral">"NMT received. for node : "</span>, (*m).data[1]);
<a name="l00050"></a>00050
<a name="l00054"></a>00054 <span class="keywordflow">if</span>( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keywordflow">switch</span>( (*m).data[0]){
<a name="l00057"></a>00057 <span class="keywordflow">case</span> NMT_Start_Node:
<a name="l00058"></a>00058 <span class="keywordflow">if</span> ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
<a name="l00059"></a>00059 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Operational);
<a name="l00060"></a>00060 <span class="keywordflow">break</span>;
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="keywordflow">case</span> NMT_Stop_Node:
<a name="l00063"></a>00063 <span class="keywordflow">if</span> ( d->nodeState == Pre_operational ||
<a name="l00064"></a>00064 d->nodeState == Operational )
<a name="l00065"></a>00065 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Stopped);
<a name="l00066"></a>00066 <span class="keywordflow">break</span>;
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keywordflow">case</span> NMT_Enter_PreOperational:
<a name="l00069"></a>00069 <span class="keywordflow">if</span> ( d->nodeState == Operational ||
<a name="l00070"></a>00070 d->nodeState == Stopped )
<a name="l00071"></a>00071 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Pre_operational);
<a name="l00072"></a>00072 <span class="keywordflow">break</span>;
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="keywordflow">case</span> NMT_Reset_Node:
<a name="l00075"></a>00075 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
<a name="l00076"></a>00076 <span class="keywordflow">break</span>;
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keywordflow">case</span> NMT_Reset_Comunication:
<a name="l00079"></a>00079 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d,Initialisation);
<a name="l00080"></a>00080 <span class="keywordflow">break</span>;
<a name="l00081"></a>00081
<a name="l00082"></a>00082 }
<a name="l00084"></a>00084 }
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088
<a name="l00089"></a>00089
<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)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 Message m;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 MSG_WAR(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
<a name="l00102"></a>00102
<a name="l00104"></a>00104 m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
<a name="l00105"></a>00105 m.rtr = NOT_A_REQUEST;
<a name="l00106"></a>00106 m.len = 1;
<a name="l00107"></a>00107 m.data[0] = 0x00;
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="keywordflow">return</span> canSend(d->canHandle,&m);
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Tue Jun 5 18:32:05 2007 for CanFestival by
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