CanFestival: src/nmtMaster.c Source File

00001 /*
-00002   This file is part of CanFestival, a library implementing CanOpen
-00003   Stack.
-00004 
-00005   Copyright (C): Edouard TISSERANT and Francis DUPIN
-00006 
-00007   See COPYING file for copyrights details.
-00008 
-00009   This library is free software; you can redistribute it and/or
-00010   modify it under the terms of the GNU Lesser General Public
-00011   License as published by the Free Software Foundation; either
-00012   version 2.1 of the License, or (at your option) any later version.
-00013 
-00014   This library is distributed in the hope that it will be useful,
-00015   but WITHOUT ANY WARRANTY; without even the implied warranty of
-00016   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00017   Lesser General Public License for more details.
-00018 
-00019   You should have received a copy of the GNU Lesser General Public
-00020   License along with this library; if not, write to the Free Software
-00021   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
-00022   USA
-00023 */
-00033 #include "nmtMaster.h"
-00034 #include "canfestival.h"
-00035 
-00045 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
-00046 {
-00047   Message m;
-00048 
-00049   MSG_WAR(0x3501, "Send_NMT cs : ", cs);
-00050   MSG_WAR(0x3502, "    to node : ", Node_ID);
-00051   /* message configuration */
-00052   m.cob_id.w = 0x0000; /*(NMT) << 7*/
-00053   m.rtr = NOT_A_REQUEST;
-00054   m.len = 2;
-00055   m.data[0] = cs;
-00056   m.data[1] = Node_ID;
-00057 
-00058   return canSend(d->canHandle,&m);
-00059 }
-00060 
-00061 
-00070 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
-00071 {
-00072   Message m;
-00073 
-00074   MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
-00075 
-00076   /* message configuration */
-00077   m.cob_id.w = nodeId | (NODE_GUARD << 7);
-00078   m.rtr = REQUEST;
-00079   m.len = 1;
-00080 
-00081   return canSend(d->canHandle,&m);
-00082 }
-00083 
-00090 void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
-00091 {
-00092   /* FIXME: should warn for bad toggle bit. */
-00093 
-00094   /* NMTable configuration to indicate that the master is waiting
-00095     for a Node_Guard frame from the slave whose node_id is ID
-00096   */
-00097   d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
-00098                                        */
-00099 
-00100   if (nodeId == 0) { /* NMT broadcast */
-00101     UNS8 i = 0;
-00102     for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
-00103       d->NMTable[i] = Unknown_state;
-00104     }
-00105   }
-00106   masterSendNMTnodeguard(d,nodeId);
-00107 }
-00108 
-