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   nmtSlave.c
nico@208: ** @author Edouard TISSERANT and Francis DUPIN
nico@208: ** @date   Tue Jun  5 08:50:53 2007
nico@208: **
nico@208: ** @brief
nico@208: **
nico@208: **
nico@208: */
etisserant@0: #include "nmtSlave.h"
etisserant@0: #include "states.h"
etisserant@150: #include "canfestival.h"
etisserant@370: #include "sysdep.h"
etisserant@0: 
nico@208: /*!
nico@208: ** put the slave in the state wanted by the master
nico@208: **
nico@208: ** @param d
nico@208: ** @param m
nico@208: **/
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 ) {
nico@208: 
etisserant@0:     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
nico@208: 
nico@215:     /* Check if this NMT-message is for this node */
nico@215:     /* byte 1 = 0 : all the nodes are concerned (broadcast) */
nico@208: 
etisserant@0:     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
nico@208: 
nico@215:       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);
nico@208:         break;
nico@208: 
etisserant@0:       case NMT_Stop_Node:
etisserant@0:         if ( d->nodeState == Pre_operational ||
nico@208:              d->nodeState == Operational )
etisserant@0:           setState(d,Stopped);
etisserant@0:         break;
nico@208: 
etisserant@0:       case NMT_Enter_PreOperational:
nico@208:         if ( d->nodeState == Operational ||
nico@208:              d->nodeState == Stopped )
nico@208:           setState(d,Pre_operational);
etisserant@0:         break;
nico@208: 
etisserant@0:       case NMT_Reset_Node:
etisserant@475:          if(d->NMT_Slave_Node_Reset_Callback != NULL)
etisserant@475:             d->NMT_Slave_Node_Reset_Callback(d);
nico@208:         setState(d,Initialisation);
etisserant@0:         break;
nico@208: 
etisserant@0:       case NMT_Reset_Comunication:
etisserant@498:          {
groke6@517:          UNS8 currentNodeId = getNodeId(d);
etisserant@498:          
etisserant@498:             if(d->NMT_Slave_Communications_Reset_Callback != NULL)
etisserant@498:                d->NMT_Slave_Communications_Reset_Callback(d);
groke6@381: #ifdef CO_ENABLE_LSS
etisserant@498:             // LSS changes NodeId here in case lss_transfer.nodeID doesn't 
etisserant@498:             // match current getNodeId()
groke6@517:             if(currentNodeId!=d->lss_transfer.nodeID)
groke6@517:                currentNodeId = d->lss_transfer.nodeID;
groke6@381: #endif
etisserant@498: 
etisserant@498:             // clear old NodeId to make SetNodeId reinitializing
etisserant@498:             // SDO, EMCY and other COB Ids
etisserant@498:             *d->bDeviceNodeId = 0xFF; 
etisserant@498:          
groke6@517:             setNodeId(d, currentNodeId);
etisserant@498:          }
etisserant@498:          setState(d,Initialisation);
etisserant@498:          break;
nico@208: 
nico@215:       }/* end switch */
nico@208: 
nico@215:     }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
nico@208:         bDeviceNodeId ) ) */
etisserant@0:   }
etisserant@0: }
etisserant@0: 
etisserant@0: 
nico@208: /*!
nico@208: **
nico@208: **
nico@208: ** @param d
nico@208: **
nico@208: ** @return
nico@208: **/
etisserant@0: UNS8 slaveSendBootUp(CO_Data* d)
etisserant@0: {
etisserant@0:   Message m;
nico@208: 
etisserant@343: #ifdef CO_ENABLE_LSS
etisserant@343:   if(*d->bDeviceNodeId==0xFF)return 0;
etisserant@343: #endif
etisserant@343: 
etisserant@0:   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
nico@208: 
nico@215:   /* message configuration */
etisserant@370:   {
etisserant@370: 	  UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId; 
etisserant@370: 	  m.cob_id = UNS16_LE(tmp);
etisserant@370:   }
etisserant@0:   m.rtr = NOT_A_REQUEST;
etisserant@0:   m.len = 1;
etisserant@0:   m.data[0] = 0x00;
nico@208: 
etisserant@149:   return canSend(d->canHandle,&m);
etisserant@0: }
etisserant@0: