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: etisserant@0: // Check if this NMT-message is for this node etisserant@0: // 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: etisserant@0: 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: etisserant@0: }// end switch etisserant@0: etisserant@0: }// 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: