LSS patch from Edward. Now, SetNodeId is not called from nmtslave anymore in case...

[CanFestival-3.git] / src / nmtSlave.c

diff --git a/src/nmtSlave.c b/src/nmtSlave.c
index d128a02389e612719f29a42a9b1b88823f40944b..ac79788a76e1668a8166cf7b43018d2583616880 100644 (file)
--- a/src/nmtSlave.c
+++ b/src/nmtSlave.c
@@ -1,90 +1,127 @@
 /*
-This file is part of CanFestival, a library implementing CanOpen Stack. 
+  This file is part of CanFestival, a library implementing CanOpen
+  Stack.
 
-Copyright (C): Edouard TISSERANT and Francis DUPIN
+  Copyright (C): Edouard TISSERANT and Francis DUPIN
 
-See COPYING file for copyrights details.
+  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 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.
+  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
+  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 */  
+/*!
+** 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) */                      
+
+      switch( (*m).data[0]){ /* command specifier (cs) */
       case NMT_Start_Node:
         if ( (d->nodeState == Pre_operational) || (d->nodeState == Stopped) )
           setState(d,Operational);
-        break; 
-        
+        break;
+
       case NMT_Stop_Node:
         if ( d->nodeState == Pre_operational ||
-            d->nodeState == Operational )
+             d->nodeState == Operational )
           setState(d,Stopped);
         break;
-        
+
       case NMT_Enter_PreOperational:
-        if ( d->nodeState == Operational || 
-            d->nodeState == Stopped )
-         setState(d,Pre_operational);
+        if ( d->nodeState == Operational ||
+             d->nodeState == Stopped )
+          setState(d,Pre_operational);
         break;
-        
+
       case NMT_Reset_Node:
-          setState(d,Initialisation);
+         if(d->NMT_Slave_Node_Reset_Callback != NULL)
+            d->NMT_Slave_Node_Reset_Callback(d);
+        setState(d,Initialisation);
         break;
-        
+
       case NMT_Reset_Comunication:
-          setState(d,Initialisation);
+         if(d->NMT_Slave_Communications_Reset_Callback != NULL)
+            d->NMT_Slave_Communications_Reset_Callback(d);
+#ifdef CO_ENABLE_LSS
+               if(getNodeId(d)!=d->lss_transfer.nodeID && getNodeId(d)>0 && getNodeId(d)<=127)
+                       setNodeId(d, d->lss_transfer.nodeID);
+#endif
+        setState(d,Initialisation);
         break;
-        
+
       }/* end switch */
-      
-    }/* end if( ( (*m).data[1] == 0 ) || ( (*m).data[1] == bDeviceNodeId ) ) */
+
+    }/* 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 */
-  m.cob_id.w = NODE_GUARD << 7 | *d->bDeviceNodeId;
+  {
+         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);
 }