Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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<h1>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 "<a class="code" href="nmtMaster_8h.html">nmtMaster.h</a>"</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00035"></a>00035
<a name="l00045"></a><a class="code" href="nmtMaster_8h.html#c1ba0feb792adfae21a4adb96593ab3b">00045</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="nmtMaster_8c.html#c1ba0feb792adfae21a4adb96593ab3b">masterSendNMTstateChange</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="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Node_ID, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> cs)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <a class="code" href="structMessage.html">Message</a> m;
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3501, <span class="stringliteral">"Send_NMT cs : "</span>, cs);
<a name="l00050"></a>00050 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(0x3502, <span class="stringliteral">" to node : "</span>, Node_ID);
<a name="l00051"></a>00051 <span class="comment">/* message configuration */</span>
<a name="l00052"></a>00052 m.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = 0x0000; <span class="comment">/*(NMT) << 7*/</span>
<a name="l00053"></a>00053 m.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#b6a4c86a352c3ac564dae3767c7524f3">NOT_A_REQUEST</a>;
<a name="l00054"></a>00054 m.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 2;
<a name="l00055"></a>00055 m.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[0] = cs;
<a name="l00056"></a>00056 m.<a class="code" href="structMessage.html#9f53ff2fea190c14dd66e2c92a32ec45">data</a>[1] = Node_ID;
<a name="l00057"></a>00057
<a name="l00058"></a>00058 <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="l00059"></a>00059 }
<a name="l00060"></a>00060
<a name="l00061"></a>00061
<a name="l00070"></a><a class="code" href="nmtMaster_8h.html#9f255d6b026de318c5181e1deb01bdd0">00070</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="nmtMaster_8c.html#9f255d6b026de318c5181e1deb01bdd0">masterSendNMTnodeguard</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="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <a class="code" href="structMessage.html">Message</a> m;
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <a class="code" href="hcs12_2applicfg_8h.html#d5dffc889e623fbc4f635e69276cdf20">MSG_WAR</a>(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.<a class="code" href="structMessage.html#21cda7edcf0800d296151c83e7f9948e">cob_id</a>.<a class="code" href="structSHORT__CAN.html#e77854035fa72dc0769724a2d056bc9d">w</a> = nodeId | (<a class="code" href="def_8h.html#e7e02f70bb48a2747c6496fdcf0f1b95">NODE_GUARD</a> << 7);
<a name="l00078"></a>00078 m.<a class="code" href="structMessage.html#4fea58e2ceec365228be253ba3d8bdba">rtr</a> = <a class="code" href="def_8h.html#1ae2410a21866d38fa1aa931a88b2cb1">REQUEST</a>;
<a name="l00079"></a>00079 m.<a class="code" href="structMessage.html#a8c32de83f67079897508203c8e2198c">len</a> = 1;
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <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="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00090"></a><a class="code" href="nmtMaster_8h.html#ed4b5c5175612deb4d3e9c328a645cfb">00090</a> <span class="keywordtype">void</span> <a class="code" href="nmtMaster_8c.html#ed4b5c5175612deb4d3e9c328a645cfb">masterRequestNodeState</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="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 <span class="comment">/* FIXME: should warn for bad toggle bit. */</span>
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="comment">/* NMTable configuration to indicate that the master is waiting</span>
<a name="l00095"></a>00095 <span class="comment"> for a Node_Guard frame from the slave whose node_id is ID</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[nodeId] = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a>; <span class="comment">/* A state that does not exist</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="keywordflow">if</span> (nodeId == 0) { <span class="comment">/* NMT broadcast */</span>
<a name="l00101"></a>00101 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> i = 0;
<a name="l00102"></a>00102 <span class="keywordflow">for</span> (i = 0 ; i < <a class="code" href="config_8h.html#2ee1e815b40aa4cbd0acdc341d9214bd">NMT_MAX_NODE_ID</a> ; i++) {
<a name="l00103"></a>00103 <a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>-><a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[i] = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a>;
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 <a class="code" href="nmtMaster_8c.html#9f255d6b026de318c5181e1deb01bdd0">masterSendNMTnodeguard</a>(<a class="code" href="structstruct__s__timer__entry.html#1f47508e63fb89e692b98e178a78268f">d</a>,nodeId);
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108
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