00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
@@ -46,43 +46,43 @@
 00034 #include "states.h"
 00035 #include "canfestival.h"
 00036 
-00043 void proceedNMTstateChange(CO_Data* d, Message *m)
+00043 void proceedNMTstateChange(CO_Data* d, Message *m)
 00044 {
-00045   if( d->nodeState == Pre_operational ||
-00046       d->nodeState == Operational ||
-00047       d->nodeState == Stopped ) {
+00045   if( d->nodeState == Pre_operational ||
+00046       d->nodeState == Operational ||
+00047       d->nodeState == Stopped ) {
 00048 
-00049     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
+00049     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
 00050 
 00051     /* Check if this NMT-message is for this node */
 00052     /* byte 1 = 0 : all the nodes are concerned (broadcast) */
 00053 
-00054     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
+00054     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
 00055 
 00056       switch( (*m).data[0]){ /* command specifier (cs) */
-00057       case NMT_Start_Node:
-00058         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
-00059           setState(d,Operational);
+00057       case NMT_Start_Node:
+00058         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
+00059           setState(d,Operational);
 00060         break;
 00061 
-00062       case NMT_Stop_Node:
-00063         if ( d->nodeState == Pre_operational ||
-00064              d->nodeState == Operational )
-00065           setState(d,Stopped);
+00062       case NMT_Stop_Node:
+00063         if ( d->nodeState == Pre_operational ||
+00064              d->nodeState == Operational )
+00065           setState(d,Stopped);
 00066         break;
 00067 
-00068       case NMT_Enter_PreOperational:
-00069         if ( d->nodeState == Operational ||
-00070              d->nodeState == Stopped )
-00071           setState(d,Pre_operational);
+00068       case NMT_Enter_PreOperational:
+00069         if ( d->nodeState == Operational ||
+00070              d->nodeState == Stopped )
+00071           setState(d,Pre_operational);
 00072         break;
 00073 
-00074       case NMT_Reset_Node:
-00075         setState(d,Initialisation);
+00074       case NMT_Reset_Node:
+00075         setState(d,Initialisation);
 00076         break;
 00077 
-00078       case NMT_Reset_Comunication:
-00079         setState(d,Initialisation);
+00078       case NMT_Reset_Comunication:
+00079         setState(d,Initialisation);
 00080         break;
 00081 
 00082       }/* end switch */
@@ -93,22 +93,22 @@
 00087 }
 00088 
 00089 
-00097 UNS8 slaveSendBootUp(CO_Data* d)
+00097 UNS8 slaveSendBootUp(CO_Data* d)
 00098 {
 00099   Message m;
 00100 
-00101   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
+00101   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
 00102 
 00103   /* message configuration */
-00104   m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
-00105   m.rtr = NOT_A_REQUEST;
-00106   m.len = 1;
-00107   m.data[0] = 0x00;
+00104   m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
+00105   m.rtr = NOT_A_REQUEST;
+00106   m.len = 1;
+00107   m.data[0] = 0x00;
 00108 
-00109   return canSend(d->canHandle,&m);
+00109   return canSend(d->canHandle,&m);
 00110 }
 00111 
-
nmtSlave.c
