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NMT master updated.

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This commit is contained in:
Janez 2015-12-12 17:52:29 +01:00
parent a5224176d2
commit 5924c3dc69
1 changed files with 25 additions and 1 deletions
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26
CANopen.c
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@ -63,7 +63,7 @@
/* Verify features from CO_OD *************************************************/
/* generate error, if features are not corectly configured for this project */
/* generate error, if features are not correctly configured for this project */
#if CO_NO_NMT_MASTER > 1 \
|| CO_NO_SYNC != 1 \
|| CO_NO_EMERGENCY != 1 \
@ -135,6 +135,30 @@
}
NMTM_txBuff->data[0] = command;
NMTM_txBuff->data[1] = nodeID;
/* Apply NMT command also to this node, if set so. */
if(nodeID == 0 || nodeID == CO->NMT->nodeId){
switch(command){
case CO_NMT_ENTER_OPERATIONAL:
if((*CO->NMT->emPr->errorRegister) == 0) {
CO->NMT->operatingState = CO_NMT_OPERATIONAL;
}
break;
case CO_NMT_ENTER_STOPPED:
CO->NMT->operatingState = CO_NMT_STOPPED;
break;
case CO_NMT_ENTER_PRE_OPERATIONAL:
CO->NMT->operatingState = CO_NMT_PRE_OPERATIONAL;
break;
case CO_NMT_RESET_NODE:
CO->NMT->resetCommand = CO_RESET_APP;
break;
case CO_NMT_RESET_COMMUNICATION:
CO->NMT->resetCommand = CO_RESET_COMM;
break;
}
}
return CO_CANsend(CO->CANmodule[0], NMTM_txBuff); /* 0 = success */
}
#endif