nmtSlave.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   nmtSlave.c
00026 ** @author Edouard TISSERANT and Francis DUPIN
00027 ** @date   Tue Jun  5 08:50:53 2007
00028 **
00029 ** @brief
00030 **
00031 **
00032 */
00033 #include "nmtSlave.h"
00034 #include "states.h"
00035 #include "canfestival.h"
00036 #include "sysdep.h"
00037 
00038 /*!
00039 ** put the slave in the state wanted by the master
00040 **
00041 ** @param d
00042 ** @param m
00043 **/
00044 void proceedNMTstateChange(CO_Data* d, Message *m)
00045 {
00046   if( d->nodeState == Pre_operational ||
00047       d->nodeState == Operational ||
00048       d->nodeState == Stopped ) {
00049 
00050     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
00051 
00052     /* Check if this NMT-message is for this node */
00053     /* byte 1 = 0 : all the nodes are concerned (broadcast) */
00054 
00055     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
00056 
00057       switch( (*m).data[0]){ /* command specifier (cs) */
00058       case NMT_Start_Node:
00059         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
00060           setState(d,Operational);
00061         break;
00062 
00063       case NMT_Stop_Node:
00064         if ( d->nodeState == Pre_operational ||
00065              d->nodeState == Operational )
00066           setState(d,Stopped);
00067         break;
00068 
00069       case NMT_Enter_PreOperational:
00070         if ( d->nodeState == Operational ||
00071              d->nodeState == Stopped )
00072           setState(d,Pre_operational);
00073         break;
00074 
00075       case NMT_Reset_Node:
00076          if(d->NMT_Slave_Node_Reset_Callback != NULL)
00077             d->NMT_Slave_Node_Reset_Callback(d);
00078         setState(d,Initialisation);
00079         break;
00080 
00081       case NMT_Reset_Comunication:
00082          {
00083          UNS8 currentNodeId = getNodeId(d);
00084          
00085             if(d->NMT_Slave_Communications_Reset_Callback != NULL)
00086                d->NMT_Slave_Communications_Reset_Callback(d);
00087 #ifdef CO_ENABLE_LSS
00088             // LSS changes NodeId here in case lss_transfer.nodeID doesn't 
00089             // match current getNodeId()
00090             if(currentNodeId!=d->lss_transfer.nodeID)
00091                currentNodeId = d->lss_transfer.nodeID;
00092 #endif
00093 
00094             // clear old NodeId to make SetNodeId reinitializing
00095             // SDO, EMCY and other COB Ids
00096             *d->bDeviceNodeId = 0xFF; 
00097          
00098             setNodeId(d, currentNodeId);
00099          }
00100          setState(d,Initialisation);
00101          break;
00102 
00103       }/* end switch */
00104 
00105     }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
00106         bDeviceNodeId ) ) */
00107   }
00108 }
00109 
00110 
00111 /*!
00112 **
00113 **
00114 ** @param d
00115 **
00116 ** @return
00117 **/
00118 UNS8 slaveSendBootUp(CO_Data* d)
00119 {
00120   Message m;
00121 
00122 #ifdef CO_ENABLE_LSS
00123   if(*d->bDeviceNodeId==0xFF)return 0;
00124 #endif
00125 
00126   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
00127 
00128   /* message configuration */
00129   {
00130       UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId; 
00131       m.cob_id = UNS16_LE(tmp);
00132   }
00133   m.rtr = NOT_A_REQUEST;
00134   m.len = 1;
00135   m.data[0] = 0x00;
00136 
00137   return canSend(d->canHandle,&m);
00138 }
00139