examples/TestMasterMicroMod/TestMasterMicroMod.c
author Christian Taedcke
Thu, 09 Sep 2010 15:56:06 +0200
changeset 636 033fe6f1ec3c
parent 540 6857b6ffb7a7
child 664 a03f0aa7d219
permissions -rw-r--r--
ADDED: - dynamic memory allocation for sdo transfer using malloc and free
CHANGED: - enabled lss, enabled dynamic buffer allocation and set max sim sdo transfers to 32
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#if defined(WIN32) && !defined(__CYGWIN__)
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#include <windows.h>
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#include "getopt.h"
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void pause(void)
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{
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	system("PAUSE");
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}
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#else
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <signal.h>
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#endif
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#include "canfestival.h"
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#include "TestMasterMicroMod.h"
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#include "TestMaster.h"
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unsigned int slavenodeid = 0x40;
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/*****************************************************************************/
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void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
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{
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	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
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}
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/********************************************************
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 * ConfigureSlaveNode is responsible to
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 *  - setup master RPDO 1 to receive TPDO 1 from id 0x40
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 *  - setup master TPDO 1 to send RPDO 1 to id 0x40
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 ********************************************************/
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void TestMaster_initialisation(CO_Data* d)
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{
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	UNS32 PDO1_COBID = 0x0180 + slavenodeid; 
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	UNS32 PDO2_COBID = 0x0200 + slavenodeid;
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	UNS32 size = sizeof(UNS32); 
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	eprintf("TestMaster_initialisation\n");
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	/*****************************************
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	 * Define RPDOs to match slave ID=0x40 TPDOs*
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	 *****************************************/
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	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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			0x1400, /*UNS16 index*/
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			0x01, /*UNS8 subind*/ 
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			&PDO1_COBID, /*void * pSourceData,*/ 
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			&size, /* UNS8 * pExpectedSize*/
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			RW);  /* UNS8 checkAccess */
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	/*****************************************
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	 * Define TPDOs to match slave ID=0x40 RPDOs*
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	 *****************************************/
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	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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			0x1800, /*UNS16 index*/
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			0x01, /*UNS8 subind*/ 
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			&PDO2_COBID, /*void * pSourceData,*/ 
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			&size, /* UNS8 * pExpectedSize*/
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			RW);  /* UNS8 checkAccess */
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}
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static int init_step = 0;
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/*Froward declaration*/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
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/**/
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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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{
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	UNS32 abortCode;
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	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
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		eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
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	/* Finalise last SDO transfer with this node */
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	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
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	ConfigureSlaveNode(d, nodeId);
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}
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/********************************************************
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 * ConfigureSlaveNode is responsible to
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 *  - setup slave TPDO 1 transmit time
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 *  - setup slave TPDO 2 transmit time
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 *  - setup slave Heartbeat Producer time
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 *  - switch to operational mode
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 *  - send NMT to slave
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 ********************************************************
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 * This an example of :
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 * Network Dictionary Access (SDO) with Callback 
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 * Slave node state change request (NMT) 
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 ********************************************************
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 * This is called first by TestMaster_preOperational
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 * then it called again each time a SDO exchange is
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 * finished.
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 ********************************************************/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
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{
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	UNS8 res;
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	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
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	switch(++init_step){
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		case 1: 
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		{	/*disable Slave's TPDO 1 */
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			UNS32 TPDO_COBId = 0x80000180 + nodeId;
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			eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1800, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;
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		case 2: 
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		{	/*setup Slave's TPDO 1 to be transmitted on SYNC*/
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			UNS8 Transmission_Type = 0x01;
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			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1800, /*UNS16 index*/
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					0x02, /*UNS8 subindex*/
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					1, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&Transmission_Type,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;
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		case 3: 
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		{	/*re-enable Slave's TPDO 1 */
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			UNS32 TPDO_COBId = 0x00000180 + nodeId;
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			eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1800, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
166
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		break;
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173
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		case 4: 
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		{	/*disable Slave's RPDO 1 */
173
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			UNS32 TPDO_COBId = 0x80000200 + nodeId;
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			eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1400, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;
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   192
166
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173
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		case 5:
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		{	
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			UNS8 Transmission_Type = 0x01;
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			eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
173
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					nodeId, /*UNS8 nodeId*/
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					0x1400, /*UNS16 index*/
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					0x02, /*UNS8 subindex*/
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					1, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&Transmission_Type,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}	
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		break;
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		case 6: 
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		{	/*re-enable Slave's RPDO 1 */
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			UNS32 TPDO_COBId = 0x00000200 + nodeId;
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			eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1400, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
166
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		break;
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173
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		case 7:	
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		{
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			/*set the heartbeat Producer Time*/
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			UNS16 Heartbeat_Producer_Time = 0x03E8; 
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			eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1017, /*UNS16 index*/
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					0x00, /*UNS8 subindex*/
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					2, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&Heartbeat_Producer_Time,/*void *data*/
173
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;
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		case 8: 
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		{	/*disable Slave's TPDO 2 */
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			UNS32 TPDO_COBId = 0x80000280 + nodeId;
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			eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1801, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;
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		case 9: 
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		{	/*disable Slave's TPDO 3 */
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			UNS32 TPDO_COBId = 0x80000380 + nodeId;
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			eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1802, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}
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		break;			
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		case 10: 
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		{	/*disable Slave's TPDO 4 */
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			UNS32 TPDO_COBId = 0x80000480 + nodeId;
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			eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1803, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;			
166
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173
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		case 11:
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			/* Put the master in operational mode */
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			setState(d, Operational);
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			/* Ask slave node to go in operational mode */
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			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
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	}
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}
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void TestMaster_preOperational(CO_Data* d)
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{
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	eprintf("TestMaster_preOperational\n");
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	ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
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}
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void TestMaster_operational(CO_Data* d)
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{
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	eprintf("TestMaster_operational\n");
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}
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void TestMaster_stopped(CO_Data* d)
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{
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	eprintf("TestMaster_stopped\n");
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}
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void TestMaster_post_sync(CO_Data* d)
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{
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	DO++;
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	eprintf("MicroMod Digital Out: %2.2x\n",DO);
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	eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
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}
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void TestMaster_post_TPDO(CO_Data* d)
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{
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//	eprintf("TestMaster_post_TPDO\n");	
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}
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//s_BOARD SlaveBoard = {"0", "500K"};
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da55aa2f9e64 Minor changes, mostly PCAN/windows related.
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s_BOARD MasterBoard = {"0", "125K"};
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#if !defined(WIN32) || defined(__CYGWIN__)
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void catch_signal(int sig)
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{
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  signal(SIGTERM, catch_signal);
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  signal(SIGINT, catch_signal);
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  eprintf("Got Signal %d\n",sig);
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}
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#endif
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454
bc000083297a - add RTAI support
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void help(void)
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{
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  printf("**************************************************************\n");
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  printf("*  TestMasterMicroMod                                        *\n");
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  printf("*                                                            *\n");
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  printf("*  A simple example for PC.                                  *\n");
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  printf("*  A CanOpen master that control a MicroMod module:          *\n");
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  printf("*  - setup module TPDO 1 transmit type                       *\n");
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  printf("*  - setup module RPDO 1 transmit type                       *\n");
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  printf("*  - setup module hearbeatbeat period                        *\n");
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  printf("*  - disable others TPDOs                                    *\n");
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  printf("*  - set state to operational                                *\n");
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  printf("*  - send periodic SYNC                                      *\n");
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  printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
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  printf("*  - listen Micromod's TPDO 1 (digital input)                *\n");
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  printf("*  - Mapping RPDO 1 bit per bit (digital input)              *\n");
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  printf("*                                                            *\n");
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  printf("*   Usage:                                                   *\n");
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  printf("*   ./TestMasterMicroMod  [OPTIONS]                          *\n");
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  printf("*                                                            *\n");
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  printf("*   OPTIONS:                                                 *\n");
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  printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
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  printf("*                                                            *\n");
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  printf("*    Slave:                                                  *\n");
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  printf("*     -i : Slave Node id format [0x01 , 0x7F]                *\n");
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  printf("*                                                            *\n");
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  printf("*    Master:                                                 *\n");
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  printf("*     -m : bus name [\"1\"]                                    *\n");
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  printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *\n");
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  printf("*                                                            *\n");
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  printf("**************************************************************\n");
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}
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/***************************  INIT  *****************************************/
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void InitNodes(CO_Data* d, UNS32 id)
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   384
{
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   385
	/****************************** INITIALISATION MASTER *******************************/
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   386
	if(MasterBoard.baudrate){
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   387
		/* Defining the node Id */
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   388
		setNodeId(&TestMaster_Data, 0x01);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   389
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   390
		/* init */
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   391
		setState(&TestMaster_Data, Initialisation);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   392
	}
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   393
}
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   394
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   395
/***************************  EXIT  *****************************************/
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   396
void Exit(CO_Data* d, UNS32 id)
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   397
{
465
2ef560acfa86 fix bug in exit function
greg
parents: 454
diff changeset
   398
	if(strcmp(MasterBoard.baudrate, "none")){
2ef560acfa86 fix bug in exit function
greg
parents: 454
diff changeset
   399
		masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   400
    
465
2ef560acfa86 fix bug in exit function
greg
parents: 454
diff changeset
   401
    	//Stop master
2ef560acfa86 fix bug in exit function
greg
parents: 454
diff changeset
   402
		setState(&TestMaster_Data, Stopped);
2ef560acfa86 fix bug in exit function
greg
parents: 454
diff changeset
   403
	}
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   404
}
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   405
/****************************************************************************/
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   406
/***************************  MAIN  *****************************************/
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   407
/****************************************************************************/
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   408
int main(int argc,char **argv)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   409
{
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   410
191
1e6e3d261b8f CleanUp and minor fixes
etisserant
parents: 180
diff changeset
   411
  int c;
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   412
  extern char *optarg;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   413
  char* LibraryPath="libcanfestival_can_virtual.so";
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   414
  char *snodeid;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   415
  while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   416
  {
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   417
    switch(c)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   418
    {
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   419
      case 'm' :
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   420
        if (optarg[0] == 0)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   421
        {
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   422
          help();
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   423
          exit(1);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   424
        }
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   425
        MasterBoard.busname = optarg;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   426
        break;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   427
      case 'M' :
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   428
        if (optarg[0] == 0)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   429
        {
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   430
          help();
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   431
          exit(1);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   432
        }
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   433
        MasterBoard.baudrate = optarg;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   434
        break;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   435
      case 'l' :
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   436
        if (optarg[0] == 0)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   437
        {
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   438
          help();
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   439
          exit(1);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   440
        }
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   441
        LibraryPath = optarg;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   442
        break;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   443
      case 'i' :
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   444
        if (optarg[0] == 0)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   445
        {
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   446
          help();
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   447
          exit(1);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   448
        }
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   449
        snodeid = optarg;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   450
		sscanf(snodeid,"%x",&slavenodeid);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   451
        break;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   452
      default:
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   453
        help();
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   454
        exit(1);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   455
    }
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   456
  }
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   457
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   458
#if !defined(WIN32) || defined(__CYGWIN__)
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   459
  /* install signal handler for manual break */
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   460
	signal(SIGTERM, catch_signal);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   461
	signal(SIGINT, catch_signal);
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   462
	TimerInit();
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   463
#endif
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   464
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   465
#ifndef NOT_USE_DYNAMIC_LOADING
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   466
	LoadCanDriver(LibraryPath);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   467
#endif		
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   468
169
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   469
	TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   470
	TestMaster_Data.initialisation = TestMaster_initialisation;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   471
	TestMaster_Data.preOperational = TestMaster_preOperational;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   472
	TestMaster_Data.operational = TestMaster_operational;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   473
	TestMaster_Data.stopped = TestMaster_stopped;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   474
	TestMaster_Data.post_sync = TestMaster_post_sync;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   475
	TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   476
	
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   477
	if(!canOpen(&MasterBoard,&TestMaster_Data)){
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   478
		eprintf("Cannot open Master Board\n");
90c0a676e631 Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents: 166
diff changeset
   479
		goto fail_master;
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   480
	}
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   481
	
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   482
	// Start timer thread
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   483
	StartTimerLoop(&InitNodes);
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   484
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   485
	// wait Ctrl-C
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   486
	pause();
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   487
	eprintf("Finishing.\n");
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   488
	
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   489
	// Stop timer thread
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   490
	StopTimerLoop(&Exit);
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   491
	
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   492
fail_master:
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   493
	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   494
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   495
  TimerCleanup();
166
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   496
  return 0;
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   497
}
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   498
b6fbc1c59a44 Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff changeset
   499