00001 /*
-00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
-00003 
-00004 Copyright (C): Edouard TISSERANT and Francis DUPIN
-00005 
-00006 See COPYING file for copyrights details.
-00007 
-00008 This library is free software; you can redistribute it and/or
-00009 modify it under the terms of the GNU Lesser General Public
-00010 License as published by the Free Software Foundation; either
-00011 version 2.1 of the License, or (at your option) any later version.
-00012 
-00013 This library is distributed in the hope that it will be useful,
-00014 but WITHOUT ANY WARRANTY; without even the implied warranty of
-00015 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-00016 Lesser General Public License for more details.
-00017 
-00018 You should have received a copy of the GNU Lesser General Public
-00019 License along with this library; if not, write to the Free Software
-00020 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-00021 */
-00022 
-00023 #include "nmtMaster.h"
-00024 #include "canfestival.h"
-00025 
-00026 /******************************************************************************/
-00027 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
-00028 {
-00029   Message m;
-00030 
-00031   MSG_WAR(0x3501, "Send_NMT cs : ", cs);
-00032   MSG_WAR(0x3502, "    to node : ", Node_ID);
-00033   /* message configuration */
-00034   m.cob_id.w = 0x0000; /*(NMT) << 7*/
-00035   m.rtr = NOT_A_REQUEST;
-00036   m.len = 2;
-00037   m.data[0] = cs;
-00038   m.data[1] = Node_ID;
-00039   
-00040   return canSend(d->canHandle,&m);
-00041 }
-00042 
-00043 
-00044 /****************************************************************************/
-00045 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
+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(0x3503, "Send_NODE_GUARD to node : ", nodeId);
-00050         
-00051   /* message configuration */
-00052   m.cob_id.w = nodeId | (NODE_GUARD << 7);
-00053   m.rtr = REQUEST;
-00054   m.len = 1;
-00055   
-00056   return canSend(d->canHandle,&m);
-00057 }
-00058 
-00059 /******************************************************************************/
-00060 void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
-00061 {
-00062   /* FIXME: should warn for bad toggle bit. */
-00063 
-00064   /* NMTable configuration to indicate that the master is waiting
-00065    * for a Node_Guard frame from the slave whose node_id is ID */
-00066   d->NMTable[nodeId] = Unknown_state; /* A state that does not exist */
-00067 
-00068   if (nodeId == 0) { /* NMT broadcast */
-00069     UNS8 i = 0;
-00070     for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
-00071       d->NMTable[i] = Unknown_state;
-00072     }
-00073   }
-00074   masterSendNMTnodeguard(d,nodeId);
-00075 }
-00076 
-00077 
-00078 
-00079 
+00048 
+00049   MSG_WAR(0x3501, "Send_NMT cs : ", cs);
+00050   MSG_WAR(0x3502, "    to node : ", Node_ID);
+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 
-00082 
+00081   return canSend(d->canHandle,&m);
+00082 }
 00083 
-00084 
-
/home/epimerde/documents/tc11/CanFestival-3/src/nmtMaster.c
