CANOpen网络管理报文

网络管理报文用于监视和设置节点的运行状态，心跳机制和寿命保护机制都基于该报文。

/* 改变节点状态 */
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);

  m.cob_id = 0x0000;
  m.rtr = NOT_A_REQUEST;
  m.len = 2;
  m.data[0] = cs;
  m.data[1] = Node_ID;

  return canSend(d->canHandle,&m);
}

/* 发送节点守护报文：请求节点上报状态 */
UNS8 masterSendNMTnodeguard(CO_Data *d, UNS8 nodeId)
{
  Message m;

	/* MNT报文(数据帧表示响应，远程帧表示请求) */
  UNS16 tmp = nodeId | (NODE_GUARD << 7);
	/* cob-id */
  m.cob_id = UNS16_LE(tmp);
	/* 远程帧，请求 */
  m.rtr = REQUEST;
  /* 长度 */
	m.len = 0;

  MSG_WAR(0x3503, "Send_NODE_GUARD to node : ", nodeId);

	/* 发送该帧 */
  return canSend(d->canHandle,&m);
}

/* 请求节点状态 */
UNS8 masterRequestNodeState(CO_Data *d, UNS8 nodeId)
{
  d->NMTable[nodeId] = Unknown_state;

	/* 如果节点号为0，则置所有节点为位置状态 */
  if(nodeId == 0) 
	{
    UNS8 i = 0;
    for(i = 0; i < NMT_MAX_NODE_ID; i++) 
		{
      d->NMTable[i] = Unknown_state;
    }
  }

	/* 发送节点守护报文：请求节点上报状态 */
  return masterSendNMTnodeguard(d, nodeId);
}

/* 处理状态改变报文 */
void proceedNMTstateChange(CO_Data *d, Message *m)
{
	/* 节点当前状态为预运行态、运行态、停止态，才能变换新状态 */
  if(d->nodeState == Pre_operational || d->nodeState == Operational || d->nodeState == Stopped) 
	{
    MSG_WAR(0x3400, "NMT received. for node :  ", (*m).data[1]);

		/* 如果主站要求自己变换节点状态，才变更状态 */
    if(((*m).data[1] == 0) || ((*m).data[1] == *d->bDeviceNodeId))
		{
			/* 判断新状态 */
      switch((*m).data[0])
			{
				/* 预运行态和停止态切换到运行态 */
				case NMT_Start_Node:
					if((d->nodeState == Pre_operational) || (d->nodeState == Stopped))
						setState(d, Operational);
					break;

				/* 预运行态和运行态切换到停止态 */
				case NMT_Stop_Node:
					if(d->nodeState == Pre_operational || d->nodeState == Operational)
						setState(d, Stopped);
					break;

				/* 运行态和停止态切换到预运行态 */
				case NMT_Enter_PreOperational:
					if(d->nodeState == Operational || d->nodeState == Stopped)
						setState(d, Pre_operational);
					break;

				/* 切换到初始态 */
				case NMT_Reset_Node:
					/* 节点重置时调用回调函数 */
					if(d->NMT_Slave_Node_Reset_Callback != NULL)
						d->NMT_Slave_Node_Reset_Callback(d);
					setState(d, Initialisation);
					break;

				/* 重启通信 */
				case NMT_Reset_Comunication:
				{
					/* 获取节点号 */
					UNS8 currentNodeId = getNodeId(d);
					
					/* 回调函数 */
					if(d->NMT_Slave_Communications_Reset_Callback != NULL)
						d->NMT_Slave_Communications_Reset_Callback(d);
#ifdef CO_ENABLE_LSS
					if(currentNodeId!=d->lss_transfer.nodeID)
						currentNodeId = d->lss_transfer.nodeID;
#endif
					/* 设置节点号为0xFF */
					*d->bDeviceNodeId = 0xFF; 
					
					/* 设置节点id */
					setNodeId(d, currentNodeId);
				}
				
				/* 设置节点初始化 */
				setState(d, Initialisation);
				break;
      }
    }
  }
}

/* 从节点发送引导报文 */
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);
  {
	  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);
}