etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include "nmtSlave.h"
etisserant@0: #include "states.h"
etisserant@0: 
etisserant@0: /*******************************************************************)*********/
etisserant@0: /* put the slave in the state wanted by the master */	
etisserant@0: void proceedNMTstateChange(CO_Data* d, Message *m)
etisserant@0: {
etisserant@0:   if( d->nodeState == Pre_operational ||
etisserant@0:       d->nodeState == Operational ||
etisserant@0:       d->nodeState == Stopped ) {
etisserant@0:     
etisserant@0:     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
etisserant@0:     
frdupin@71:     /* Check if this NMT-message is for this node */
frdupin@71:     /* byte 1 = 0 : all the nodes are concerned (broadcast) */
etisserant@0:     	
etisserant@0:     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
etisserant@0:       
frdupin@71:       switch( (*m).data[0]){ /* command specifier (cs) */			
etisserant@0:       case NMT_Start_Node:
etisserant@0:         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
etisserant@0:           setState(d,Operational);
etisserant@0:         break; 
etisserant@0:         
etisserant@0:       case NMT_Stop_Node:
etisserant@0:         if ( d->nodeState == Pre_operational ||
etisserant@0: 	     d->nodeState == Operational )
etisserant@0:           setState(d,Stopped);
etisserant@0:         break;
etisserant@0:         
etisserant@0:       case NMT_Enter_PreOperational:
etisserant@0:         if ( d->nodeState == Operational || 
etisserant@0: 	     d->nodeState == Stopped )
etisserant@0: 	  setState(d,Pre_operational);
etisserant@0:         break;
etisserant@0:         
etisserant@0:       case NMT_Reset_Node:
etisserant@0:           setState(d,Initialisation);
etisserant@0:         break;
etisserant@0:         
etisserant@0:       case NMT_Reset_Comunication:
etisserant@0:           setState(d,Initialisation);
etisserant@0:         break;
etisserant@0:         
frdupin@71:       }/* end switch */
etisserant@0:       
frdupin@71:     }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */
etisserant@0:   }
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: UNS8 slaveSendBootUp(CO_Data* d)
etisserant@0: {
etisserant@0:   Message m;
etisserant@0: 	
etisserant@0:   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
etisserant@0: 	
etisserant@0:   /* message configuration */
etisserant@0:   m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
etisserant@0:   m.rtr = NOT_A_REQUEST;
etisserant@0:   m.len = 1;
etisserant@0:   m.data[0] = 0x00;
etisserant@0:     
etisserant@0:   return (*d->canSend)(&m);
etisserant@0: }
etisserant@0: