Luis Silvio Cordova Rivadeneira / Mbed 2 deprecated Can_open_slavenode

Can_open_slavenode

Dependencies:   mbed

framework/src/nmtSlave.c@0:6219434a0cb5, 2011-05-30 (annotated)

Committer:
sam_grove
Date:
Mon May 30 07:14:41 2011 +0000
Revision:
0:6219434a0cb5
Initial public release of slave node framework port

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sam_grove 0:6219434a0cb5 1 /*
sam_grove 0:6219434a0cb5 2 This file is part of CanFestival, a library implementing CanOpen Stack.
sam_grove 0:6219434a0cb5 3
sam_grove 0:6219434a0cb5 4 Copyright (C): Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 5
sam_grove 0:6219434a0cb5 6 See COPYING file for copyrights details.
sam_grove 0:6219434a0cb5 7
sam_grove 0:6219434a0cb5 8 This library is free software; you can redistribute it and/or
sam_grove 0:6219434a0cb5 9 modify it under the terms of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 10 License as published by the Free Software Foundation; either
sam_grove 0:6219434a0cb5 11 version 2.1 of the License, or (at your option) any later version.
sam_grove 0:6219434a0cb5 12
sam_grove 0:6219434a0cb5 13 This library is distributed in the hope that it will be useful,
sam_grove 0:6219434a0cb5 14 but WITHOUT ANY WARRANTY; without even the implied warranty of
sam_grove 0:6219434a0cb5 15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
sam_grove 0:6219434a0cb5 16 Lesser General Public License for more details.
sam_grove 0:6219434a0cb5 17
sam_grove 0:6219434a0cb5 18 You should have received a copy of the GNU Lesser General Public
sam_grove 0:6219434a0cb5 19 License along with this library; if not, write to the Free Software
sam_grove 0:6219434a0cb5 20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
sam_grove 0:6219434a0cb5 21 USA
sam_grove 0:6219434a0cb5 22 */
sam_grove 0:6219434a0cb5 23 /*!
sam_grove 0:6219434a0cb5 24 ** @file nmtSlave.c
sam_grove 0:6219434a0cb5 25 ** @author Edouard TISSERANT and Francis DUPIN
sam_grove 0:6219434a0cb5 26 ** @date Tue Jun 5 08:50:53 2007
sam_grove 0:6219434a0cb5 27 **
sam_grove 0:6219434a0cb5 28 ** @brief
sam_grove 0:6219434a0cb5 29 **
sam_grove 0:6219434a0cb5 30 **
sam_grove 0:6219434a0cb5 31 */
sam_grove 0:6219434a0cb5 32 #include "nmtSlave.h"
sam_grove 0:6219434a0cb5 33 #include "states.h"
sam_grove 0:6219434a0cb5 34 #include "canfestival.h"
sam_grove 0:6219434a0cb5 35 #include "sysdep.h"
sam_grove 0:6219434a0cb5 36
sam_grove 0:6219434a0cb5 37 /*!
sam_grove 0:6219434a0cb5 38 ** put the slave in the state wanted by the master
sam_grove 0:6219434a0cb5 39 **
sam_grove 0:6219434a0cb5 40 ** @param d
sam_grove 0:6219434a0cb5 41 ** @param m
sam_grove 0:6219434a0cb5 42 **/
sam_grove 0:6219434a0cb5 43 void proceedNMTstateChange(CO_Data* d, Message *m)
sam_grove 0:6219434a0cb5 44 {
sam_grove 0:6219434a0cb5 45 if( d->nodeState == Pre_operational ||
sam_grove 0:6219434a0cb5 46 d->nodeState == Operational ||
sam_grove 0:6219434a0cb5 47 d->nodeState == Stopped ) {
sam_grove 0:6219434a0cb5 48
sam_grove 0:6219434a0cb5 49 MSG_WAR(0x3400, "NMT received. for node : ", (*m).data[1]);
sam_grove 0:6219434a0cb5 50
sam_grove 0:6219434a0cb5 51 /* Check if this NMT-message is for this node */
sam_grove 0:6219434a0cb5 52 /* byte 1 = 0 : all the nodes are concerned (broadcast) */
sam_grove 0:6219434a0cb5 53
sam_grove 0:6219434a0cb5 54 if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
sam_grove 0:6219434a0cb5 55
sam_grove 0:6219434a0cb5 56 switch( (*m).data[0]){ /* command specifier (cs) */
sam_grove 0:6219434a0cb5 57 case NMT_Start_Node:
sam_grove 0:6219434a0cb5 58 if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
sam_grove 0:6219434a0cb5 59 setState(d,Operational);
sam_grove 0:6219434a0cb5 60 break;
sam_grove 0:6219434a0cb5 61
sam_grove 0:6219434a0cb5 62 case NMT_Stop_Node:
sam_grove 0:6219434a0cb5 63 if ( d->nodeState == Pre_operational ||
sam_grove 0:6219434a0cb5 64 d->nodeState == Operational )
sam_grove 0:6219434a0cb5 65 setState(d,Stopped);
sam_grove 0:6219434a0cb5 66 break;
sam_grove 0:6219434a0cb5 67
sam_grove 0:6219434a0cb5 68 case NMT_Enter_PreOperational:
sam_grove 0:6219434a0cb5 69 if ( d->nodeState == Operational ||
sam_grove 0:6219434a0cb5 70 d->nodeState == Stopped )
sam_grove 0:6219434a0cb5 71 setState(d,Pre_operational);
sam_grove 0:6219434a0cb5 72 break;
sam_grove 0:6219434a0cb5 73
sam_grove 0:6219434a0cb5 74 case NMT_Reset_Node:
sam_grove 0:6219434a0cb5 75 if(d->NMT_Slave_Node_Reset_Callback != NULL)
sam_grove 0:6219434a0cb5 76 d->NMT_Slave_Node_Reset_Callback(d);
sam_grove 0:6219434a0cb5 77 setState(d,Initialisation);
sam_grove 0:6219434a0cb5 78 break;
sam_grove 0:6219434a0cb5 79
sam_grove 0:6219434a0cb5 80 case NMT_Reset_Comunication:
sam_grove 0:6219434a0cb5 81 {
sam_grove 0:6219434a0cb5 82 UNS8 currentNodeId = getNodeId(d);
sam_grove 0:6219434a0cb5 83
sam_grove 0:6219434a0cb5 84 if(d->NMT_Slave_Communications_Reset_Callback != NULL)
sam_grove 0:6219434a0cb5 85 d->NMT_Slave_Communications_Reset_Callback(d);
sam_grove 0:6219434a0cb5 86 #ifdef CO_ENABLE_LSS
sam_grove 0:6219434a0cb5 87 // LSS changes NodeId here in case lss_transfer.nodeID doesn't
sam_grove 0:6219434a0cb5 88 // match current getNodeId()
sam_grove 0:6219434a0cb5 89 if(currentNodeId!=d->lss_transfer.nodeID)
sam_grove 0:6219434a0cb5 90 currentNodeId = d->lss_transfer.nodeID;
sam_grove 0:6219434a0cb5 91 #endif
sam_grove 0:6219434a0cb5 92
sam_grove 0:6219434a0cb5 93 // clear old NodeId to make SetNodeId reinitializing
sam_grove 0:6219434a0cb5 94 // SDO, EMCY and other COB Ids
sam_grove 0:6219434a0cb5 95 *d->bDeviceNodeId = 0xFF;
sam_grove 0:6219434a0cb5 96
sam_grove 0:6219434a0cb5 97 setNodeId(d, currentNodeId);
sam_grove 0:6219434a0cb5 98 }
sam_grove 0:6219434a0cb5 99 setState(d,Initialisation);
sam_grove 0:6219434a0cb5 100 break;
sam_grove 0:6219434a0cb5 101
sam_grove 0:6219434a0cb5 102 }/* end switch */
sam_grove 0:6219434a0cb5 103
sam_grove 0:6219434a0cb5 104 }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
sam_grove 0:6219434a0cb5 105 bDeviceNodeId ) ) */
sam_grove 0:6219434a0cb5 106 }
sam_grove 0:6219434a0cb5 107 }
sam_grove 0:6219434a0cb5 108
sam_grove 0:6219434a0cb5 109
sam_grove 0:6219434a0cb5 110 /*!
sam_grove 0:6219434a0cb5 111 **
sam_grove 0:6219434a0cb5 112 **
sam_grove 0:6219434a0cb5 113 ** @param d
sam_grove 0:6219434a0cb5 114 **
sam_grove 0:6219434a0cb5 115 ** @return
sam_grove 0:6219434a0cb5 116 **/
sam_grove 0:6219434a0cb5 117 UNS8 slaveSendBootUp(CO_Data* d)
sam_grove 0:6219434a0cb5 118 {
sam_grove 0:6219434a0cb5 119 Message m;
sam_grove 0:6219434a0cb5 120
sam_grove 0:6219434a0cb5 121 #ifdef CO_ENABLE_LSS
sam_grove 0:6219434a0cb5 122 if(*d->bDeviceNodeId==0xFF)return 0;
sam_grove 0:6219434a0cb5 123 #endif
sam_grove 0:6219434a0cb5 124
sam_grove 0:6219434a0cb5 125 MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
sam_grove 0:6219434a0cb5 126
sam_grove 0:6219434a0cb5 127 /* message configuration */
sam_grove 0:6219434a0cb5 128 {
sam_grove 0:6219434a0cb5 129 UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId;
sam_grove 0:6219434a0cb5 130 m.cob_id = UNS16_LE(tmp);
sam_grove 0:6219434a0cb5 131 }
sam_grove 0:6219434a0cb5 132 m.rtr = NOT_A_REQUEST;
sam_grove 0:6219434a0cb5 133 m.len = 1;
sam_grove 0:6219434a0cb5 134 m.data[0] = 0x00;
sam_grove 0:6219434a0cb5 135
sam_grove 0:6219434a0cb5 136 return canSend(d->canHandle,&m);
sam_grove 0:6219434a0cb5 137 }
sam_grove 0:6219434a0cb5 138