etisserant@0: /*
nico@208:   This file is part of CanFestival, a library implementing CanOpen
nico@208:   Stack.
etisserant@0: 
nico@208:   Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
nico@208:   See COPYING file for copyrights details.
etisserant@0: 
nico@208:   This library is free software; you can redistribute it and/or
nico@208:   modify it under the terms of the GNU Lesser General Public
nico@208:   License as published by the Free Software Foundation; either
nico@208:   version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
nico@208:   This library is distributed in the hope that it will be useful,
nico@208:   but WITHOUT ANY WARRANTY; without even the implied warranty of
nico@208:   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
nico@208:   Lesser General Public License for more details.
etisserant@0: 
nico@208:   You should have received a copy of the GNU Lesser General Public
nico@208:   License along with this library; if not, write to the Free Software
nico@208:   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
nico@208:   USA
etisserant@0: */
nico@208: /*!
nico@208: ** @file   nmtMaster.c
nico@208: ** @author Edouard TISSERANT and Francis DUPIN
nico@208: ** @date   Tue Jun  5 08:47:18 2007
nico@208: **
nico@208: ** @brief
nico@208: **
nico@208: **
nico@208: */
etisserant@0: #include "nmtMaster.h"
etisserant@149: #include "canfestival.h"
etisserant@370: #include "sysdep.h"
etisserant@0: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param Node_ID
nico@208: ** @param cs
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@0: UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
etisserant@0: {
etisserant@0:   Message m;
etisserant@0: 
etisserant@0:   MSG_WAR(0x3501, "Send_NMT cs : ", cs);
etisserant@0:   MSG_WAR(0x3502, "    to node : ", Node_ID);
nico@215:   /* message configuration */
etisserant@365:   m.cob_id = 0x0000; /*(NMT) << 7*/
etisserant@0:   m.rtr = NOT_A_REQUEST;
etisserant@0:   m.len = 2;
etisserant@0:   m.data[0] = cs;
etisserant@0:   m.data[1] = Node_ID;
nico@208: 
etisserant@149:   return canSend(d->canHandle,&m);
etisserant@0: }
etisserant@0: 
etisserant@0: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param nodeId
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@0: UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
etisserant@0: {
etisserant@0:   Message m;
nico@208: 
etisserant@0:   /* message configuration */
etisserant@370:   UNS16 tmp = nodeId | (NODE_GUARD << 7); 
etisserant@370:   m.cob_id = UNS16_LE(tmp);
etisserant@0:   m.rtr = REQUEST;
edouard@597:   m.len = 0;
nico@208: 
etisserant@370:   MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
etisserant@370: 
etisserant@149:   return canSend(d->canHandle,&m);
etisserant@0: }
etisserant@0: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: ** @param nodeId
nico@208: **/
etisserant@0: void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
etisserant@0: {
nico@215:   /* FIXME: should warn for bad toggle bit. */
etisserant@0: 
nico@215:   /* NMTable configuration to indicate that the master is waiting
nico@208:     for a Node_Guard frame from the slave whose node_id is ID
nico@208:   */
nico@215:   d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
nico@208:                                        */
etisserant@0: 
nico@215:   if (nodeId == 0) { /* NMT broadcast */
etisserant@0:     UNS8 i = 0;
etisserant@0:     for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
etisserant@0:       d->NMTable[i] = Unknown_state;
etisserant@0:     }
etisserant@0:   }
etisserant@0:   masterSendNMTnodeguard(d,nodeId);
etisserant@0: }
etisserant@0: