nmtMaster.c

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 */
00024 /*!
00025 ** @file   nmtMaster.c
00026 ** @author Edouard TISSERANT and Francis DUPIN
00027 ** @date   Tue Jun  5 08:47:18 2007
00028 **
00029 ** @brief
00030 **
00031 **
00032 */
00033 #include "nmtMaster.h"
00034 #include "canfestival.h"
00035 #include "sysdep.h"
00036 
00037 /*!
00038 **
00039 **
00040 ** @param d
00041 ** @param Node_ID
00042 ** @param cs
00043 **
00044 ** @return
00045 **/
00046 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
00047 {
00048   Message m;
00049 
00050   MSG_WAR(0x3501, "Send_NMT cs : ", cs);
00051   MSG_WAR(0x3502, "    to node : ", Node_ID);
00052   /* message configuration */
00053   m.cob_id = 0x0000; /*(NMT) << 7*/
00054   m.rtr = NOT_A_REQUEST;
00055   m.len = 2;
00056   m.data[0] = cs;
00057   m.data[1] = Node_ID;
00058 
00059   return canSend(d->canHandle,&m);
00060 }
00061 
00062 
00063 /*!
00064 **
00065 **
00066 ** @param d
00067 ** @param nodeId
00068 **
00069 ** @return
00070 **/
00071 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
00072 {
00073   Message m;
00074 
00075   /* message configuration */
00076   UNS16 tmp = nodeId | (NODE_GUARD << 7); 
00077   m.cob_id = UNS16_LE(tmp);
00078   m.rtr = REQUEST;
00079   m.len = 0;
00080 
00081   MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
00082 
00083   return canSend(d->canHandle,&m);
00084 }
00085 
00086 /*!
00087 **
00088 **
00089 ** @param d
00090 ** @param nodeId
00091 **
00092 ** @return
00093 **/
00094 UNS8 masterRequestNodeState(CO_Data* d, UNS8 nodeId)
00095 {
00096   /* FIXME: should warn for bad toggle bit. */
00097 
00098   /* NMTable configuration to indicate that the master is waiting
00099     for a Node_Guard frame from the slave whose node_id is ID
00100   */
00101   d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
00102                                        */
00103 
00104   if (nodeId == 0) { /* NMT broadcast */
00105     UNS8 i = 0;
00106     for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
00107       d->NMTable[i] = Unknown_state;
00108     }
00109   }
00110   return masterSendNMTnodeguard(d,nodeId);
00111 }
00112