author | edouard |
Sat, 13 Nov 2010 22:25:24 +0100 | |
changeset 632 | 0f3dc8bbaaa0 |
parent 454 | bc000083297a |
child 642 | f77ad188c2b1 |
permissions | -rw-r--r-- |
400
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
1 |
/* |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
2 |
Copyright (C): Giuseppe Massimo BERTANI |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
3 |
gmbertani@users.sourceforge.net |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
4 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
5 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
6 |
See COPYING file for copyrights details. |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
7 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
8 |
This library is free software; you can redistribute it and/or |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
9 |
modify it under the terms of the GNU Lesser General Public |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
10 |
License as published by the Free Software Foundation; either |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
11 |
version 2.1 of the License, or (at your option) any later version. |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
12 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
13 |
This library is distributed in the hope that it will be useful, |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
16 |
Lesser General Public License for more details. |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
17 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
18 |
You should have received a copy of the GNU Lesser General Public |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
19 |
License along with this library; if not, write to the Free Software |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
20 |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
21 |
*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
22 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
23 |
/** |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
24 |
* @file slave.c |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
25 |
* @author GMB |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
26 |
* @date 17/1/08 |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
27 |
* |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
28 |
* This file is part of SillySlave demo for CANfestival |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
29 |
* open source CANopen stack. |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
30 |
*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
31 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
32 |
#include "SillySlave.h" |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
33 |
#include "slave.h" |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
34 |
#include "main.h" |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
35 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
36 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
37 |
static UNS8 slaveNode = 0; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
38 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
39 |
void InitNode(CO_Data* d, UNS32 id) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
40 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
41 |
/* Defining the node Id */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
42 |
setNodeId(&SillySlave_Data, slaveNode); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
43 |
/* CAN init */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
44 |
setState(&SillySlave_Data, Initialisation); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
45 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
46 |
|
454 | 47 |
void Exit(CO_Data* d, UNS32 id) |
48 |
{ |
|
49 |
/* Stop slave */ |
|
50 |
setState(&SillySlave_Data, Stopped); |
|
51 |
} |
|
52 |
||
400
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
53 |
INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node ) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
54 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
55 |
char busName[2]; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
56 |
char baudRate[7]; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
57 |
s_BOARD board; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
58 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
59 |
sprintf(busName, "%u", bus); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
60 |
sprintf(baudRate, "%u", baudrate); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
61 |
board.busname = busName; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
62 |
board.baudrate = baudRate; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
63 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
64 |
slaveNode = node; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
65 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
66 |
SillySlave_Data.heartbeatError = SillySlave_heartbeatError; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
67 |
SillySlave_Data.initialisation = SillySlave_initialisation; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
68 |
SillySlave_Data.preOperational = SillySlave_preOperational; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
69 |
SillySlave_Data.operational = SillySlave_operational; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
70 |
SillySlave_Data.stopped = SillySlave_stopped; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
71 |
SillySlave_Data.post_sync = SillySlave_post_sync; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
72 |
SillySlave_Data.post_TPDO = SillySlave_post_TPDO; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
73 |
SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
74 |
SillySlave_Data.post_emcy = SillySlave_post_emcy; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
75 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
76 |
if(!canOpen(&board, &SillySlave_Data)) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
77 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
78 |
printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
79 |
return -1; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
80 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
81 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
82 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
83 |
printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
84 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
85 |
/* Start timer thread */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
86 |
StartTimerLoop(&InitNode); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
87 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
88 |
/* wait Ctrl-C */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
89 |
pause(); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
90 |
printf("\nFinishing.\n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
91 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
92 |
/* Stop timer thread */ |
454 | 93 |
StopTimerLoop(&Exit); |
400
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
94 |
return 0; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
95 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
96 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
97 |
void SillySlave_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
98 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
99 |
printf("SillySlave_heartbeatError %d\n", heartbeatID); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
100 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
101 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
102 |
void SillySlave_initialisation(CO_Data* d ) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
103 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
104 |
UNS32 PDO1_COBID = 0x0180 + NODE_MASTER; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
105 |
UNS8 size = sizeof(PDO1_COBID); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
106 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
107 |
printf("SillySlave_initialisation\n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
108 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
109 |
/* sets TXPDO1 COB-ID to match master node ID */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
110 |
writeLocalDict( |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
111 |
&SillySlave_Data, /*CO_Data* d*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
112 |
0x1800, /*UNS16 index*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
113 |
0x01, /*UNS8 subind*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
114 |
&PDO1_COBID, /*void * pSourceData,*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
115 |
&size, /* UNS8 * pExpectedSize*/ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
116 |
RW); /* UNS8 checkAccess */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
117 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
118 |
/* value sent to master at each SYNC received */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
119 |
LifeSignal = 0; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
120 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
121 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
122 |
void SillySlave_preOperational(CO_Data* d) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
123 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
124 |
printf("SillySlave_preOperational\n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
125 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
126 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
127 |
void SillySlave_operational(CO_Data* d) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
128 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
129 |
printf("SillySlave_operational\n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
130 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
131 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
132 |
void SillySlave_stopped(CO_Data* d) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
133 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
134 |
printf("SillySlave_stopped\n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
135 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
136 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
137 |
void SillySlave_post_sync(CO_Data* d) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
138 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
139 |
printf("SillySlave_post_sync: \n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
140 |
LifeSignal++; |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
141 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
142 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
143 |
void SillySlave_post_TPDO(CO_Data* d) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
144 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
145 |
printf("SillySlave_post_TPDO: \n"); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
146 |
printf("LifeSignal = %u\n", LifeSignal); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
147 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
148 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
149 |
void SillySlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
150 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
151 |
/*TODO : |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
152 |
* - call getODEntry for index and subindex, |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
153 |
* - save content to file, database, flash, nvram, ... |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
154 |
* |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
155 |
* To ease flash organisation, index of variable to store |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
156 |
* can be established by scanning d->objdict[d->ObjdictSize] |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
157 |
* for variables to store. |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
158 |
* |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
159 |
* */ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
160 |
printf("SillySlave_storeODSubIndex : %4.4x %2.2xh\n", wIndex, bSubindex); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
161 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
162 |
|
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
163 |
void SillySlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
164 |
{ |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
165 |
printf("Slave received EMCY message. Node: %2.2xh ErrorCode: %4.4x ErrorRegister: %2.2xh\n", nodeID, errCode, errReg); |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
166 |
} |
7d845f5d730c
Added Kvaser hardware support, thanks to Giuseppe Massimo Bertani .
etisserant
parents:
diff
changeset
|
167 |