|
381
|
1 |
/*
|
|
|
2 |
This file is part of CanFestival, a library implementing CanOpen Stack.
|
|
|
3 |
|
|
|
4 |
Copyright (C): Edouard TISSERANT and Francis DUPIN
|
|
|
5 |
|
|
|
6 |
See COPYING file for copyrights details.
|
|
|
7 |
|
|
|
8 |
This library is free software; you can redistribute it and/or
|
|
|
9 |
modify it under the terms of the GNU Lesser General Public
|
|
|
10 |
License as published by the Free Software Foundation; either
|
|
|
11 |
version 2.1 of the License, or (at your option) any later version.
|
|
|
12 |
|
|
|
13 |
This library is distributed in the hope that it will be useful,
|
|
|
14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
|
16 |
Lesser General Public License for more details.
|
|
|
17 |
|
|
|
18 |
You should have received a copy of the GNU Lesser General Public
|
|
|
19 |
License along with this library; if not, write to the Free Software
|
|
|
20 |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
21 |
*/
|
|
|
22 |
|
|
|
23 |
#include "SlaveA.h"
|
|
|
24 |
#include "Master.h"
|
|
|
25 |
#include "TestMasterSlaveLSS.h"
|
|
|
26 |
|
|
|
27 |
/*****************************************************************************/
|
|
|
28 |
void TestSlaveA_heartbeatError(CO_Data* d, UNS8 heartbeatID)
|
|
|
29 |
{
|
|
|
30 |
eprintf("TestSlaveA_heartbeatError %d\n", heartbeatID);
|
|
|
31 |
}
|
|
|
32 |
|
|
|
33 |
void TestSlaveA_initialisation(CO_Data* d)
|
|
|
34 |
{
|
|
|
35 |
eprintf("TestSlaveA_initialisation\n");
|
|
|
36 |
}
|
|
|
37 |
|
|
|
38 |
void TestSlaveA_preOperational(CO_Data* d)
|
|
|
39 |
{
|
|
|
40 |
eprintf("TestSlaveA_preOperational\n");
|
|
|
41 |
}
|
|
|
42 |
|
|
|
43 |
void TestSlaveA_operational(CO_Data* d)
|
|
|
44 |
{
|
|
|
45 |
eprintf("TestSlaveA_operational\n");
|
|
|
46 |
}
|
|
|
47 |
|
|
|
48 |
void TestSlaveA_stopped(CO_Data* d)
|
|
|
49 |
{
|
|
|
50 |
eprintf("TestSlaveA_stopped\n");
|
|
|
51 |
}
|
|
|
52 |
|
|
|
53 |
void TestSlaveA_post_sync(CO_Data* d)
|
|
|
54 |
{
|
|
|
55 |
eprintf("TestSlaveA_post_sync\n");
|
|
|
56 |
}
|
|
|
57 |
|
|
|
58 |
void TestSlaveA_post_TPDO(CO_Data* d)
|
|
|
59 |
{
|
|
|
60 |
eprintf("TestSlaveA_post_TPDO\n");
|
|
|
61 |
SlaveAMap1++;
|
|
|
62 |
SlaveAMap2+=2;
|
|
|
63 |
}
|
|
|
64 |
|
|
|
65 |
void TestSlaveA_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)
|
|
|
66 |
{
|
|
|
67 |
/*TODO :
|
|
|
68 |
* - call getODEntry for index and subindex,
|
|
|
69 |
* - save content to file, database, flash, nvram, ...
|
|
|
70 |
*
|
|
|
71 |
* To ease flash organisation, index of variable to store
|
|
|
72 |
* can be established by scanning d->objdict[d->ObjdictSize]
|
|
|
73 |
* for variables to store.
|
|
|
74 |
*
|
|
|
75 |
* */
|
|
|
76 |
eprintf("TestSlaveA_storeODSubIndex : %4.4x %2.2x\n", wIndex, bSubindex);
|
|
|
77 |
}
|
|
|
78 |
|
|
|
79 |
void TestSlaveA_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
|
|
|
80 |
{
|
|
|
81 |
eprintf("SlaveA received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
|
|
|
82 |
}
|
|
|
83 |
|
|
517
|
84 |
void TestSlaveA_NMT_Slave_Communications_Reset_Callback(CO_Data* d)
|
|
|
85 |
{
|
|
|
86 |
eprintf("TestSlaveA_NMT_Slave_Communications_Reset_Callback\n");
|
|
|
87 |
}
|
|
|
88 |
|
|
381
|
89 |
void TestSlaveA_StoreConfiguration(CO_Data* d, UNS8 *error, UNS8 *spec_error)
|
|
|
90 |
{
|
|
517
|
91 |
eprintf("TestSlaveA_StoreConfiguration\n");
|
|
381
|
92 |
}
|
|
|
93 |
|