nmtMaster.c

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#include "canfestival.h"
#include "nmtMaster.h"
#include "sysdep.h"
 
UNS8 masterSendNMTstateChange(CO_Data* d, UNS8 Node_ID, UNS8 cs)
{
  Message m;
 
  MSG_WAR(0x3501, "Send_NMT cs : ", cs);
  MSG_WAR(0x3502, "    to node : ", Node_ID);
  /* message configuration */
  m.cob_id = 0x0000; /*(NMT) << 7*/
  m.rtr = NOT_A_REQUEST;
  m.len = 2;
  m.data[0] = cs;
  m.data[1] = Node_ID;
 
  return canSend(d->canHandle, &m);
}
 
 
 
UNS8 masterSendNMTnodeguard(CO_Data* d, UNS8 nodeId)
{
  Message m;
 
  /* message configuration */
  UNS16 tmp = nodeId | (NODE_GUARD << 7);
  m.cob_id = UNS16_LE(tmp);
  m.rtr = REQUEST;
  m.len = 0;
 
  MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);
 
  return canSend(d->canHandle, &m);
}
 
void masterRequestNodeState(CO_Data* d, UNS8 nodeId)
{
  /* FIXME: should warn for bad toggle bit. */
 
  /* NMTable configuration to indicate that the master is waiting
    for a Node_Guard frame from the slave whose node_id is ID
  */
  d->NMTable[nodeId] = Unknown_state; /* A state that does not exist
                                       */
 
  if (nodeId == 0) { /* NMT broadcast */
    UNS8 i = 0;
    for (i = 0 ; i < NMT_MAX_NODE_ID ; i++) {
      d->NMTable[i] = Unknown_state;
    }
  }
  masterSendNMTnodeguard(d,nodeId);
}