diff -r 000000000000 -r 4472ee7c6c3e src/nmtSlave.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/nmtSlave.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,89 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+#include "nmtSlave.h"
+#include "states.h"
+
+/*******************************************************************)*********/
+/* put the slave in the state wanted by the master */	
+void proceedNMTstateChange(CO_Data* d, Message *m)
+{
+  if( d->nodeState == Pre_operational ||
+      d->nodeState == Operational ||
+      d->nodeState == Stopped ) {
+    
+    MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
+    
+    // Check if this NMT-message is for this node
+    // byte 1 = 0 : all the nodes are concerned (broadcast)
+    	
+    if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
+      
+      switch( (*m).data[0]){ // command specifier (cs)			
+      case NMT_Start_Node:
+        if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
+          setState(d,Operational);
+        break; 
+        
+      case NMT_Stop_Node:
+        if ( d->nodeState == Pre_operational ||
+	     d->nodeState == Operational )
+          setState(d,Stopped);
+        break;
+        
+      case NMT_Enter_PreOperational:
+        if ( d->nodeState == Operational || 
+	     d->nodeState == Stopped )
+	  setState(d,Pre_operational);
+        break;
+        
+      case NMT_Reset_Node:
+          setState(d,Initialisation);
+        break;
+        
+      case NMT_Reset_Comunication:
+          setState(d,Initialisation);
+        break;
+        
+      }// end switch
+      
+    }// end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) )
+  }
+}
+
+
+/*****************************************************************************/
+UNS8 slaveSendBootUp(CO_Data* d)
+{
+  Message m;
+	
+  MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
+	
+  /* message configuration */
+  m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
+  m.rtr = NOT_A_REQUEST;
+  m.len = 1;
+  m.data[0] = 0x00;
+    
+  return (*d->canSend)(&m);
+}
+