2 This file is part of CanFestival, a library implementing CanOpen
5 Copyright (C): Edouard TISSERANT and Francis DUPIN
7 See COPYING file for copyrights details.
9 This library is free software; you can redistribute it and/or
10 modify it under the terms of the GNU Lesser General Public
11 License as published by the Free Software Foundation; either
12 version 2.1 of the License, or (at your option) any later version.
14 This library is distributed in the hope that it will be useful,
15 but WITHOUT ANY WARRANTY; without even the implied warranty of
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
17 Lesser General Public License for more details.
19 You should have received a copy of the GNU Lesser General Public
20 License along with this library; if not, write to the Free Software
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
26 ** @author Edouard TISSERANT and Francis DUPIN
27 ** @date Tue Jun 5 08:47:18 2007
33 #include "nmtMaster.h"
34 #include "canfestival.h"
46 UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
50 MSG_WAR(0x3501, "Send_NMT cs : ", cs);
51 MSG_WAR(0x3502, " to node : ", Node_ID);
52 /* message configuration */
53 m.cob_id = 0x0000; /*(NMT) << 7*/
54 m.rtr = NOT_A_REQUEST;
59 return canSend(d->canHandle,&m);
71 UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
75 /* message configuration */
76 UNS16 tmp = nodeId | (NODE_GUARD << 7);
77 m.cob_id = UNS16_LE(tmp);
81 MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
83 return canSend(d->canHandle,&m);
92 void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
94 /* FIXME: should warn for bad toggle bit. */
96 /* NMTable configuration to indicate that the master is waiting
97 for a Node_Guard frame from the slave whose node_id is ID
99 d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
102 if (nodeId == 0) { /* NMT broadcast */
104 for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
105 d->NMTable[i] = Unknown_state;
108 masterSendNMTnodeguard(d,nodeId);