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);
+}
+