CanFestival: /home/epimerde/documents/tc11/CanFestival-3/src/nmtMaster.c Source File

00001 /*
+
+src
+nmtMaster.c
Go to the documentation of this file.00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
 00004 
@@ -38,52 +42,60 @@
 00021   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
 00022   USA
 00023 */
-00033 #include "nmtMaster.h"
-00034 #include "canfestival.h"
+00033 #include "nmtMaster.h"
+00034 #include "canfestival.h"
 00035 
-00045 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
+00045 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
 00046 {
-00047   Message m;
+00047   Message m;
 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;
+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);
+00058   return canSend(d->canHandle,&m);
 00059 }
 00060 
 00061 
-00070 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
+00070 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
 00071 {
-00072   Message m;
+00072   Message m;
 00073 
-00074   MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
+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;
+00077   m.cob_id.w = nodeId | (NODE_GUARD << 7);
+00078   m.rtr = REQUEST;
+00079   m.len = 1;
 00080 
-00081   return canSend(d->canHandle,&m);
+00081   return canSend(d->canHandle,&m);
 00082 }
 00083 
-00090 void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
+00090 void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
 00091 {
-00097   d->NMTable[nodeId] = Unknown_state; 
-00100   if (nodeId == 0) { 
-00101     UNS8 i = 0;
-00102     for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
-00103       d->NMTable[i] = Unknown_state;
+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);
+00106   masterSendNMTnodeguard(d,nodeId);
 00107 }
 00108 
-
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