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 "nmtMaster.h"
etisserant@0: 
etisserant@0: /******************************************************************************/
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);
etisserant@0:   /* message configuration */
etisserant@0:   m.cob_id.w = 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;
etisserant@0:   
etisserant@0:   return (*d->canSend)(&m);
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: /****************************************************************************/
etisserant@0: UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
etisserant@0: {
etisserant@0:   Message m;
etisserant@0:   
etisserant@0:   MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
etisserant@0: 	
etisserant@0:   /* message configuration */
etisserant@0:   m.cob_id.w = nodeId | (NODE_GUARD << 7);
etisserant@0:   m.rtr = REQUEST;
etisserant@0:   m.len = 1;
etisserant@0:   
etisserant@0:   return (*d->canSend)(&m);
etisserant@0: }
etisserant@0: 
etisserant@0: /******************************************************************************/
etisserant@0: void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
etisserant@0: {
etisserant@0:   // FIXME: should warn for bad toggle bit.
etisserant@0: 
etisserant@0:   /* NMTable configuration to indicate that the master is waiting
etisserant@0:    * for a Node_Guard frame from the slave whose node_id is ID */
etisserant@0:   d->NMTable[nodeId] = Unknown_state; // A state that does not exist
etisserant@0: 
etisserant@0:   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: }
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