author | edouard |
Sat, 13 Nov 2010 22:25:24 +0100 | |
changeset 632 | 0f3dc8bbaaa0 |
parent 592 | b98df76c6fd5 |
child 664 | a03f0aa7d219 |
permissions | -rw-r--r-- |
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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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#include "Master.h" |
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#include "Slave.h" |
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#include "TestMasterSlave.h" |
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extern s_BOARD MasterBoard; |
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/*****************************************************************************/ |
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void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
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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 2 |
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* - setup master RPDO 2 to receive TPDO 2 from id 2 |
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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 = 0x0182; |
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UNS32 PDO2_COBID = 0x0282; |
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UNS32 size = sizeof(UNS32); |
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UNS32 SINC_cicle=0; |
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UNS8 data_type = 0; |
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eprintf("TestMaster_initialisation\n"); |
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/***************************************** |
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* Define RPDOs to match slave ID=2 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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writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |
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0x1401, /*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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// Step counts number of times ConfigureSlaveNode is called |
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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 type |
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* - setup slave TPDO 2 transmit type |
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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_post_SlaveBootup |
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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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/* Master configure heartbeat producer time at 1000 ms |
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* for slave node-id 0x02 by DCF concise */ |
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UNS8 Transmission_Type = 0x01; |
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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: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/ |
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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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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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break; |
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case 2: /*Second step*/ |
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eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId); |
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writeNetworkDictCallBack (d, /*CO_Data* d*/ |
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nodeId, /*UNS8 nodeId*/ |
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0x1801, /*UNS16 index*/ |
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0x02, /*UNS16 index*/ |
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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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break; |
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case 3: |
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/****************************** START *******************************/ |
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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); |
179
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|
154
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} |
0 | 147 |
} |
148 |
||
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150 |
void TestMaster_preOperational(CO_Data* d) |
0 | 151 |
{ |
152 |
eprintf("TestMaster_preOperational\n"); |
|
153 |
} |
|
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void TestMaster_operational(CO_Data* d) |
0 | 156 |
{ |
157 |
eprintf("TestMaster_operational\n"); |
|
158 |
} |
|
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||
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160 |
void TestMaster_stopped(CO_Data* d) |
0 | 161 |
{ |
162 |
eprintf("TestMaster_stopped\n"); |
|
163 |
} |
|
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165 |
void TestMaster_post_sync(CO_Data* d) |
0 | 166 |
{ |
167 |
eprintf("TestMaster_post_sync\n"); |
|
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eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n", |
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MasterMap1, |
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MasterMap2, |
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MasterMap3, |
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MasterMap4, |
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MasterMap5, |
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MasterMap6, |
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MasterMap7, |
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MasterMap8, |
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MasterMap9, |
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MasterMap10, |
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MasterMap11, |
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MasterMap12, |
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MasterMap13); |
0 | 182 |
} |
183 |
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184 |
void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
284 | 185 |
{ |
186 |
eprintf("Master received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); |
|
187 |
} |
|
188 |
||
0 | 189 |
char query_result = 0; |
190 |
char waiting_answer = 0; |
|
191 |
||
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static void CheckSDO(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 changing Slave's transmit type AbortCode :%4.4x \n", abortCode); |
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197 |
|
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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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200 |
} |
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201 |
|
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|
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static int MasterSyncCount = 0; |
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204 |
void TestMaster_post_TPDO(CO_Data* d) |
0 | 205 |
{ |
236
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eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount); |
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if(MasterSyncCount % 17 == 0){ |
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208 |
eprintf("Master : Ask RTR PDO (0x1402)\n"); |
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209 |
sendPDOrequest(&TestMaster_Data, 0x1402 ); |
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sendPDOrequest(&TestMaster_Data, 0x1403 ); |
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211 |
} |
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212 |
if(MasterSyncCount % 50 == 0){ |
592 | 213 |
UNS8 transmitiontype; |
236
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214 |
eprintf("Master : Change slave's transmit type to 0xFF\n"); |
592 | 215 |
transmitiontype = 0xFF; |
236
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216 |
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
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2, /*UNS8 nodeId*/ |
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0x1802, /*UNS16 index*/ |
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0x02, /*UNS16 index*/ |
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1, /*UNS8 count*/ |
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0, /*UNS8 dataType*/ |
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&transmitiontype,/*void *data*/ |
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CheckSDO); /*SDOCallback_t Callback*/ |
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224 |
} |
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225 |
if(MasterSyncCount % 50 == 25){ |
592 | 226 |
UNS8 transmitiontype = 0x00; |
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eprintf("Master : Change slave's transmit type to 0x00\n"); |
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228 |
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
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229 |
2, /*UNS8 nodeId*/ |
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0x1802, /*UNS16 index*/ |
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0x02, /*UNS16 index*/ |
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1, /*UNS8 count*/ |
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0, /*UNS8 dataType*/ |
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234 |
&transmitiontype,/*void *data*/ |
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235 |
CheckSDO); /*SDOCallback_t Callback*/ |
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|
236 |
} |
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237 |
MasterSyncCount++; |
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238 |
} |
343 | 239 |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
362
diff
changeset
|
240 |
void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid) |
343 | 241 |
{ |
242 |
eprintf("TestMaster_post_SlaveBootup %x\n", nodeid); |
|
362 | 243 |
|
381 | 244 |
ConfigureSlaveNode(d, nodeid); |
245 |
} |