CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/nmtMaster.c Source File

00001 /*
nico@207: 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
nico@207: 00003 
nico@207: 00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
nico@207: 00005 
nico@207: 00006 See COPYING file for copyrights details.
nico@207: 00007 
nico@207: 00008 This library is free software; you can redistribute it and/or
nico@207: 00009 modify it under the terms of the GNU Lesser General Public
nico@207: 00010 License as published by the Free Software Foundation; either
nico@207: 00011 version 2.1 of the License, or (at your option) any later version.
nico@207: 00012 
nico@207: 00013 This library is distributed in the hope that it will be useful,
nico@207: 00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@207: 00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@207: 00016 Lesser General Public License for more details.
nico@207: 00017 
nico@207: 00018 You should have received a copy of the GNU Lesser General Public
nico@207: 00019 License along with this library; if not, write to the Free Software
nico@207: 00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
nico@207: 00021 */
nico@207: 00022 
nico@207: 00023 #include "nmtMaster.h"
nico@207: 00024 #include "canfestival.h"
nico@207: 00025 
nico@207: 00026 /******************************************************************************/
nico@207: 00027 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
nico@207: 00028 {
nico@207: 00029   Message m;
nico@207: 00030 
nico@207: 00031   MSG_WAR(0x3501, "Send_NMT cs : ", cs);
nico@207: 00032   MSG_WAR(0x3502, "    to node : ", Node_ID);
nico@207: 00033   /* message configuration */
nico@207: 00034   m.cob_id.w = 0x0000; /*(NMT) << 7*/
nico@207: 00035   m.rtr = NOT_A_REQUEST;
nico@207: 00036   m.len = 2;
nico@207: 00037   m.data[0] = cs;
nico@207: 00038   m.data[1] = Node_ID;
nico@207: 00039   
nico@207: 00040   return canSend(d->canHandle,&m);
nico@207: 00041 }
nico@207: 00042 
nico@207: 00043 
nico@207: 00044 /****************************************************************************/
nico@207: 00045 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
nico@207: 00046 {
nico@207: 00047   Message m;
nico@207: 00048   
nico@207: 00049   MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
nico@207: 00050         
nico@207: 00051   /* message configuration */
nico@207: 00052   m.cob_id.w = nodeId | (NODE_GUARD << 7);
nico@207: 00053   m.rtr = REQUEST;
nico@207: 00054   m.len = 1;
nico@207: 00055   
nico@207: 00056   return canSend(d->canHandle,&m);
nico@207: 00057 }
nico@207: 00058 
nico@207: 00059 /******************************************************************************/
nico@207: 00060 void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
nico@207: 00061 {
nico@207: 00062   /* FIXME: should warn for bad toggle bit. */
nico@207: 00063 
nico@207: 00064   /* NMTable configuration to indicate that the master is waiting
nico@207: 00065    * for a Node_Guard frame from the slave whose node_id is ID */
nico@207: 00066   d->NMTable[nodeId] = Unknown_state; /* A state that does not exist */
nico@207: 00067 
nico@207: 00068   if (nodeId == 0) { /* NMT broadcast */
nico@207: 00069     UNS8 i = 0;
nico@207: 00070     for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
nico@207: 00071       d->NMTable[i] = Unknown_state;
nico@207: 00072     }
nico@207: 00073   }
nico@207: 00074   masterSendNMTnodeguard(d,nodeId);
nico@207: 00075 }
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