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 "nmtSlave.h"
-00024 #include "states.h"
-00025 #include "canfestival.h"
-00026 
-00027 /*******************************************************************)*********/
-00028 /* put the slave in the state wanted by the master */   
-00029 void proceedNMTstateChange(CO_Data* d, Message *m)
-00030 {
-00031   if( d->nodeState == Pre_operational ||
-00032       d->nodeState == Operational ||
-00033       d->nodeState == Stopped ) {
-00034     
-00035     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
-00036     
-00037     /* Check if this NMT-message is for this node */
-00038     /* byte 1 = 0 : all the nodes are concerned (broadcast) */
-00039         
-00040     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
-00041       
-00042       switch( (*m).data[0]){ /* command specifier (cs) */                       
-00043       case NMT_Start_Node:
-00044         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
-00045           setState(d,Operational);
-00046         break; 
-00047         
-00048       case NMT_Stop_Node:
-00049         if ( d->nodeState == Pre_operational ||
-00050              d->nodeState == Operational )
-00051           setState(d,Stopped);
-00052         break;
-00053         
-00054       case NMT_Enter_PreOperational:
-00055         if ( d->nodeState == Operational || 
-00056              d->nodeState == Stopped )
-00057           setState(d,Pre_operational);
-00058         break;
-00059         
-00060       case NMT_Reset_Node:
-00061           setState(d,Initialisation);
-00062         break;
-00063         
-00064       case NMT_Reset_Comunication:
-00065           setState(d,Initialisation);
+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 "nmtSlave.h"
+00034 #include "states.h"
+00035 #include "canfestival.h"
+00036 
+00043 void proceedNMTstateChange(CO_Data* d, Message *m)
+00044 {
+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]);
+00050 
+00054     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
+00055 
+00056       switch( (*m).data[0]){ 
+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);
 00066         break;
-00067         
-00068       }/* end switch */
-00069       
-00070     }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */
-00071   }
-00072 }
+00067 
+00068       case NMT_Enter_PreOperational:
+00069         if ( d->nodeState == Operational ||
+00070              d->nodeState == Stopped )
+00071           setState(d,Pre_operational);
+00072         break;
 00073 
-00074 
-00075 /*****************************************************************************/
-00076 UNS8 slaveSendBootUp(CO_Data* d)
-00077 {
-00078   Message m;
-00079         
-00080   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
-00081         
-00082   /* message configuration */
-00083   m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
-00084   m.rtr = NOT_A_REQUEST;
-00085   m.len = 1;
-00086   m.data[0] = 0x00;
-00087     
-00088   return canSend(d->canHandle,&m);
-00089 }
-00090 
-
/home/epimerde/documents/tc11/CanFestival-3/src/nmtSlave.c
