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Can_open_slavenode
Diff: framework/src/nmtSlave.c
- Revision:
- 0:6219434a0cb5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/framework/src/nmtSlave.c Mon May 30 07:14:41 2011 +0000 @@ -0,0 +1,138 @@ +/* + 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); +} +