Diff: framework/src/nmtMaster.c

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/src/nmtMaster.c	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,112 @@
+/*
+  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   nmtMaster.c
+** @author Edouard TISSERANT and Francis DUPIN
+** @date   Tue Jun  5 08:47:18 2007
+**
+** @brief
+**
+**
+*/
+#include "nmtMaster.h"
+#include "canfestival.h"
+#include "sysdep.h"
+
+/*!
+**
+**
+** @param d
+** @param Node_ID
+** @param cs
+**
+** @return
+**/
+UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
+{
+  Message m;
+
+  MSG_WAR(0x3501, "Send_NMT cs : ", cs);
+  MSG_WAR(0x3502, "    to node : ", Node_ID);
+  /* message configuration */
+  m.cob_id = 0x0000; /*(NMT) << 7*/
+  m.rtr = NOT_A_REQUEST;
+  m.len = 2;
+  m.data[0] = cs;
+  m.data[1] = Node_ID;
+
+  return canSend(d->canHandle,&m);
+}
+
+
+/*!
+**
+**
+** @param d
+** @param nodeId
+**
+** @return
+**/
+UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
+{
+  Message m;
+
+  /* message configuration */
+  UNS16 tmp = nodeId | (NODE_GUARD << 7); 
+  m.cob_id = UNS16_LE(tmp);
+  m.rtr = REQUEST;
+  m.len = 0;
+
+  MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
+
+  return canSend(d->canHandle,&m);
+}
+
+/*!
+**
+**
+** @param d
+** @param nodeId
+**
+** @return
+**/
+UNS8 masterRequestNodeState(CO_Data* d, UNS8 nodeId)
+{
+  /* FIXME: should warn for bad toggle bit. */
+
+  /* NMTable configuration to indicate that the master is waiting
+    for a Node_Guard frame from the slave whose node_id is ID
+  */
+  d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
+                                       */
+
+  if (nodeId == 0) { /* NMT broadcast */
+    UNS8 i = 0;
+    for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
+      d->NMTable[i] = Unknown_state;
+    }
+  }
+  return masterSendNMTnodeguard(d,nodeId);
+}
+