![](/media/cache/profiles/IMG_2753.JPG.50x50_q85.jpg)
Can_open_masternode
framework/src/nmtSlave.c
- Committer:
- sam_grove
- Date:
- 2011-05-30
- Revision:
- 0:9dd7c6129683
File content as of revision 0:9dd7c6129683:
/* This file is part of CanFestival, a library implementing CanOpen Stack. Copyright (C): Edouard TISSERANT and Francis DUPIN See COPYING file for copyrights details. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /*! ** @file nmtSlave.c ** @author Edouard TISSERANT and Francis DUPIN ** @date Tue Jun 5 08:50:53 2007 ** ** @brief ** ** */ #include "nmtSlave.h" #include "states.h" #include "canfestival.h" #include "sysdep.h" /*! ** put the slave in the state wanted by the master ** ** @param d ** @param m **/ void proceedNMTstateChange(CO_Data* d, Message *m) { if( d->nodeState == Pre_operational || d->nodeState == Operational || d->nodeState == Stopped ) { MSG_WAR(0x3400, "NMT received. for node : ", (*m).data[1]); /* Check if this NMT-message is for this node */ /* byte 1 = 0 : all the nodes are concerned (broadcast) */ if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){ switch( (*m).data[0]){ /* command specifier (cs) */ case NMT_Start_Node: if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) ) setState(d,Operational); break; case NMT_Stop_Node: if ( d->nodeState == Pre_operational || d->nodeState == Operational ) setState(d,Stopped); break; case NMT_Enter_PreOperational: if ( d->nodeState == Operational || d->nodeState == Stopped ) setState(d,Pre_operational); break; case NMT_Reset_Node: if(d->NMT_Slave_Node_Reset_Callback != NULL) d->NMT_Slave_Node_Reset_Callback(d); setState(d,Initialisation); break; case NMT_Reset_Comunication: { UNS8 currentNodeId = getNodeId(d); if(d->NMT_Slave_Communications_Reset_Callback != NULL) d->NMT_Slave_Communications_Reset_Callback(d); #ifdef CO_ENABLE_LSS // LSS changes NodeId here in case lss_transfer.nodeID doesn't // match current getNodeId() if(currentNodeId!=d->lss_transfer.nodeID) currentNodeId = d->lss_transfer.nodeID; #endif // clear old NodeId to make SetNodeId reinitializing // SDO, EMCY and other COB Ids *d->bDeviceNodeId = 0xFF; setNodeId(d, currentNodeId); } setState(d,Initialisation); break; }/* end switch */ }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */ } } /*! ** ** ** @param d ** ** @return **/ UNS8 slaveSendBootUp(CO_Data* d) { Message m; #ifdef CO_ENABLE_LSS if(*d->bDeviceNodeId==0xFF)return 0; #endif MSG_WAR(0x3407, "Send a Boot-Up msg ", 0); /* message configuration */ { UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId; m.cob_id = UNS16_LE(tmp); } m.rtr = NOT_A_REQUEST; m.len = 1; m.data[0] = 0x00; return canSend(d->canHandle,&m); }