Added pointer variable list in GenCfile.py, for use with Beremiz's generated code.
/*
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 nmtMaster.c
** @author Edouard TISSERANT and Francis DUPIN
** @date Tue Jun 5 08:47:18 2007
**
** @brief
**
**
*/
#include "nmtMaster.h"
#include "canfestival.h"
#include "sysdep.h"
/*!
**
**
** @param d
** @param Node_ID
** @param cs
**
** @return
**/
UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
{
Message m;
MSG_WAR(0x3501, "Send_NMT cs : ", cs);
MSG_WAR(0x3502, " to node : ", Node_ID);
/* message configuration */
m.cob_id = 0x0000; /*(NMT) << 7*/
m.rtr = NOT_A_REQUEST;
m.len = 2;
m.data[0] = cs;
m.data[1] = Node_ID;
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param nodeId
**
** @return
**/
UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
{
Message m;
/* message configuration */
UNS16 tmp = nodeId | (NODE_GUARD << 7);
m.cob_id = UNS16_LE(tmp);
m.rtr = REQUEST;
m.len = 1;
MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
return canSend(d->canHandle,&m);
}
/*!
**
**
** @param d
** @param nodeId
**/
void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
{
/* FIXME: should warn for bad toggle bit. */
/* NMTable configuration to indicate that the master is waiting
for a Node_Guard frame from the slave whose node_id is ID
*/
d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
*/
if (nodeId == 0) { /* NMT broadcast */
UNS8 i = 0;
for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
d->NMTable[i] = Unknown_state;
}
}
masterSendNMTnodeguard(d,nodeId);
}