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<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>
<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 "<a class="code" href="nmtSlave_8h.html">nmtSlave.h</a>"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="states_8h.html">states.h</a>"</span>
<a name="l00035"></a>00035 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00036"></a>00036
<a name="l00043"></a><a class="code" href="nmtSlave_8h.html#078a76722e34eb36a14a39ecf16f3a9d">00043</a> <span class="keywordtype">void</span> <a class="code" href="nmtSlave_8c.html#078a76722e34eb36a14a39ecf16f3a9d">proceedNMTstateChange</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>, <a class="code" href="structMessage.html">Message</a> *m)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keywordflow">if</span>( <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a> ||
<a name="l00046"></a>00046 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a> ||
<a name="l00047"></a>00047 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a> ) {
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3400, <span class="stringliteral">"NMT received. for node : "</span>, (*m).data[1]);
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">/* Check if this NMT-message is for this node */</span>
<a name="l00052"></a>00052 <span class="comment">/* byte 1 = 0 : all the nodes are concerned (broadcast) */</span>
<a name="l00053"></a>00053
<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#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a> ) ){
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keywordflow">switch</span>( (*m).data[0]){ <span class="comment">/* command specifier (cs) */</span>
<a name="l00057"></a>00057 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#4467d5b0f948367d4ecf26aa2a98c221">NMT_Start_Node</a>:
<a name="l00058"></a>00058 <span class="keywordflow">if</span> ( (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a>) || (<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#78dee6c41f9e1240059a427185dd4eed">nodeState</a> == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>) )
<a name="l00059"></a>00059 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,<a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a>);
<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> <a class="code" href="def_8h.html#0d1997bb9a500ca3e400bf4ca6428044">NMT_Stop_Node</a>:
<a name="l00063"></a>00063 <span class="keywordflow">if</span> ( d->nodeState == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a> ||
<a name="l00064"></a>00064 d->nodeState == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a> )
<a name="l00065"></a>00065 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(d,<a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>);
<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> <a class="code" href="def_8h.html#9a0e4ffea03086317e76fc1c80206197">NMT_Enter_PreOperational</a>:
<a name="l00069"></a>00069 <span class="keywordflow">if</span> ( d->nodeState == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a> ||
<a name="l00070"></a>00070 d->nodeState == <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a> )
<a name="l00071"></a>00071 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(d,<a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538aa3d4da3fd99f3a79599fa514561754a">Pre_operational</a>);
<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> <a class="code" href="def_8h.html#a74bd7065a5e72d9fefb3b24c239bcab">NMT_Reset_Node</a>:
<a name="l00075"></a>00075 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(d,<a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>);
<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> <a class="code" href="def_8h.html#fa643307076987b713c73a755296142e">NMT_Reset_Comunication</a>:
<a name="l00079"></a>00079 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(d,<a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>);
<a name="l00080"></a>00080 <span class="keywordflow">break</span>;
<a name="l00081"></a>00081
<a name="l00082"></a>00082 }<span class="comment">/* end switch */</span>
<a name="l00083"></a>00083
<a name="l00084"></a>00084 }<span class="comment">/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==</span>
<a name="l00085"></a>00085 <span class="comment"> bDeviceNodeId ) ) */</span>
<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_8h.html#29f6eed8d34859710f7e603a1fc0d9d1">00097</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="nmtSlave_8c.html#29f6eed8d34859710f7e603a1fc0d9d1">slaveSendBootUp</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>)
<a name="l00098"></a>00098 {
<a name="l00099"></a>00099 <a class="code" href="structMessage.html">Message</a> m;
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3407, <span class="stringliteral">"Send a Boot-Up msg "</span>, 0);
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">/* message configuration */</span>
<a name="l00104"></a>00104 m.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = <a class="code" href="def_8h.html#e7e02f70bb48a2747c6496fdcf0f1b95">NODE_GUARD</a> << 7 | *<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#fac5e8371034640ad38d6833262d94df">bDeviceNodeId</a>;
<a name="l00105"></a>00105 m.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>;
<a name="l00106"></a>00106 m.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1;
<a name="l00107"></a>00107 m.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = 0x00;
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="keywordflow">return</span> <a class="code" href="canOpenDriver_8c.html#fab789b9b2ee0ab6c6f27e67d6c03661">canSend</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#05c8d7a0518b95971818a9c612f8b9c0">canHandle</a>,&m);
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
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