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

00001 /*
+
+src
+nmtSlave.c
Go to the documentation of this file.00001 /*
 00002   This file is part of CanFestival, a library implementing CanOpen
 00003   Stack.
 00004 
@@ -38,67 +42,73 @@
 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"
+00033 #include "nmtSlave.h"
+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 
-00054     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
+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 ) ){
 00055 
-00056       switch( (*m).data[0]){ 
-00057       case NMT_Start_Node:
-00058         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
-00059           setState(d,Operational);
+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);
 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       }
-00084     }
+00082       }/* end switch */
+00083 
+00084     }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
+00085         bDeviceNodeId ) ) */
 00086   }
 00087 }
 00088 
 00089 
-00097 UNS8 slaveSendBootUp(CO_Data* d)
+00097 UNS8 slaveSendBootUp(CO_Data* d)
 00098 {
-00099   Message m;
+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 
-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;
+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;
 00108 
-00109   return canSend(d->canHandle,&m);
+00109   return canSend(d->canHandle,&m);
 00110 }
 00111 
-
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