nmtSlave.c

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00001 /*
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 
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]){ /* 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);
00066         break;
00067 
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);
00076         break;
00077 
00078       case NMT_Reset_Comunication:
00079         setState(d,Initialisation);
00080         break;
00081 
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)
00098 {
00099   Message m;
00100 
00101   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
00102 
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);
00110 }
00111 

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