nmtSlave.c

00001 /*
00002   This file is part of CanFestival, a library implementing CanOpen Stack.
00003 
00004   Copyright (C): Edouard TISSERANT and Francis DUPIN
00005 
00006   See COPYING file for copyrights details.
00007 
00008   This library is free software; you can redistribute it and/or
00009   modify it under the terms of the GNU Lesser General Public
00010   License as published by the Free Software Foundation; either
00011   version 2.1 of the License, or (at your option) any later version.
00012 
00013   This library is distributed in the hope that it will be useful,
00014   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016   Lesser General Public License for more details.
00017 
00018   You should have received a copy of the GNU Lesser General Public
00019   License along with this library; if not, write to the Free Software
00020   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307
00021   USA
00022 */
00023 /*!
00024 ** @file   nmtSlave.c
00025 ** @author Edouard TISSERANT and Francis DUPIN
00026 ** @date   Tue Jun  5 08:50:53 2007
00027 **
00028 ** @brief
00029 **
00030 **
00031 */
00032 #include "nmtSlave.h"
00033 #include "states.h"
00034 #include "canfestival.h"
00035 #include "sysdep.h"
00036 
00037 /*!
00038 ** put the slave in the state wanted by the master
00039 **
00040 ** @param d
00041 ** @param m
00042 **/
00043 void proceedNMTstateChange(CO_Data* d, Message *m)
00044 {
00045   if( d->nodeState == Pre_operational ||
00046       d->nodeState == Operational ||
00047       d->nodeState == Stopped ) {
00048 
00049     MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);
00050 
00051     /* Check if this NMT-message is for this node */
00052     /* byte 1 = 0 : all the nodes are concerned (broadcast) */
00053 
00054     if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == *d->bDeviceNodeId ) ){
00055 
00056       switch( (*m).data[0]){ /* command specifier (cs) */
00057       case NMT_Start_Node:
00058         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
00059           setState(d,Operational);
00060         break;
00061 
00062       case NMT_Stop_Node:
00063         if ( d->nodeState == Pre_operational ||
00064              d->nodeState == Operational )
00065           setState(d,Stopped);
00066         break;
00067 
00068       case NMT_Enter_PreOperational:
00069         if ( d->nodeState == Operational ||
00070              d->nodeState == Stopped )
00071           setState(d,Pre_operational);
00072         break;
00073 
00074       case NMT_Reset_Node:
00075          if(d->NMT_Slave_Node_Reset_Callback != NULL)
00076             d->NMT_Slave_Node_Reset_Callback(d);
00077         setState(d,Initialisation);
00078         break;
00079 
00080       case NMT_Reset_Comunication:
00081          {
00082          UNS8 currentNodeId = getNodeId(d);
00083          
00084             if(d->NMT_Slave_Communications_Reset_Callback != NULL)
00085                d->NMT_Slave_Communications_Reset_Callback(d);
00086 #ifdef CO_ENABLE_LSS
00087             // LSS changes NodeId here in case lss_transfer.nodeID doesn't 
00088             // match current getNodeId()
00089             if(currentNodeId!=d->lss_transfer.nodeID)
00090                currentNodeId = d->lss_transfer.nodeID;
00091 #endif
00092 
00093             // clear old NodeId to make SetNodeId reinitializing
00094             // SDO, EMCY and other COB Ids
00095             *d->bDeviceNodeId = 0xFF; 
00096          
00097             setNodeId(d, currentNodeId);
00098          }
00099          setState(d,Initialisation);
00100          break;
00101 
00102       }/* end switch */
00103 
00104     }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] ==
00105         bDeviceNodeId ) ) */
00106   }
00107 }
00108 
00109 
00110 /*!
00111 **
00112 **
00113 ** @param d
00114 **
00115 ** @return
00116 **/
00117 UNS8 slaveSendBootUp(CO_Data* d)
00118 {
00119   Message m;
00120 
00121 #ifdef CO_ENABLE_LSS
00122   if(*d->bDeviceNodeId==0xFF)return 0;
00123 #endif
00124 
00125   MSG_WAR(0x3407, "Send a Boot-Up msg ", 0);
00126 
00127   /* message configuration */
00128   {
00129       UNS16 tmp = NODE_GUARD << 7 | *d->bDeviceNodeId; 
00130       m.cob_id = UNS16_LE(tmp);
00131   }
00132   m.rtr = NOT_A_REQUEST;
00133   m.len = 1;
00134   m.data[0] = 0x00;
00135 
00136   return canSend(d->canHandle,&m);
00137 }
00138