author | Edouard Tisserant |
Wed, 13 Apr 2011 16:29:59 +0200 | |
changeset 659 | 1041153c5fd2 |
parent 540 | 6857b6ffb7a7 |
child 670 | e37511baf56b |
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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|
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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|
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See COPYING file for copyrights details. |
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|
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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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|
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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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|
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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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|
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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; |
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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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|
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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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printf("nodeid slave=%x\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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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
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|
128 |
UNS32 TPDO_COBId = 0x80000180 + nodeId; |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
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|
129 |
|
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
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|
130 |
eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
131 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
132 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
133 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
134 |
0x1800, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
135 |
0x01, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
136 |
4, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
137 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
138 |
&TPDO_COBId,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
139 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
140 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
141 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
142 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
143 |
case 2: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
144 |
{ /*setup Slave's TPDO 1 to be transmitted on SYNC*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
145 |
UNS8 Transmission_Type = 0x01; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
146 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
147 |
eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
148 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
149 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
150 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
151 |
0x1800, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
152 |
0x02, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
153 |
1, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
154 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
155 |
&Transmission_Type,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
156 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
157 |
} |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
158 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
159 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
160 |
case 3: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
161 |
{ /*re-enable Slave's TPDO 1 */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
162 |
UNS32 TPDO_COBId = 0x00000180 + nodeId; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
163 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
164 |
eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
165 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
166 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
167 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
168 |
0x1800, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
169 |
0x01, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
170 |
4, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
171 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
172 |
&TPDO_COBId,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
173 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
174 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
175 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
176 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
177 |
case 4: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
178 |
{ /*disable Slave's TPDO 2 */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
179 |
UNS32 TPDO_COBId = 0x80000200 + nodeId; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
180 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
181 |
eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
182 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
183 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
184 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
185 |
0x1400, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
186 |
0x01, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
187 |
4, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
188 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
189 |
&TPDO_COBId,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
190 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
191 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
192 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
193 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
194 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
195 |
case 5: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
196 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
197 |
UNS8 Transmission_Type = 0x01; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
198 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
199 |
eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
200 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
201 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
202 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
203 |
0x1400, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
204 |
0x02, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
205 |
1, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
206 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
207 |
&Transmission_Type,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
208 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
209 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
210 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
211 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
212 |
case 6: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
213 |
{ /*re-enable Slave's TPDO 1 */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
214 |
UNS32 TPDO_COBId = 0x00000200 + nodeId; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
215 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
216 |
eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
217 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
218 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
219 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
220 |
0x1400, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
221 |
0x01, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
222 |
4, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
223 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
224 |
&TPDO_COBId,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
225 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
226 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
227 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
228 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
229 |
case 7: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
230 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
231 |
UNS16 Heartbeat_Producer_Time = 0x03E8; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
232 |
eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
233 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
234 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
235 |
nodeId, /*UNS8 nodeId*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
236 |
0x1017, /*UNS16 index*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
237 |
0x00, /*UNS8 subindex*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
238 |
2, /*UNS8 count*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
239 |
0, /*UNS8 dataType*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
240 |
&Heartbeat_Producer_Time,/*void *data*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
241 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
242 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
243 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
244 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
245 |
case 8: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
246 |
{ /*disable Slave's TPDO 2 */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
247 |
UNS32 TPDO_COBId = 0x80000280 + nodeId; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
248 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
249 |
eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
250 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
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251 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
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252 |
nodeId, /*UNS8 nodeId*/ |
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253 |
0x1801, /*UNS16 index*/ |
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|
254 |
0x01, /*UNS8 subindex*/ |
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255 |
4, /*UNS8 count*/ |
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|
256 |
0, /*UNS8 dataType*/ |
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|
257 |
&TPDO_COBId,/*void *data*/ |
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|
258 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
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|
259 |
} |
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260 |
break; |
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261 |
|
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|
262 |
case 9: |
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263 |
{ /*disable Slave's TPDO 3 */ |
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264 |
UNS32 TPDO_COBId = 0x80000380 + nodeId; |
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|
265 |
|
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|
266 |
eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId); |
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|
267 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
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|
268 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
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|
269 |
nodeId, /*UNS8 nodeId*/ |
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|
270 |
0x1802, /*UNS16 index*/ |
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|
271 |
0x01, /*UNS8 subindex*/ |
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272 |
4, /*UNS8 count*/ |
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273 |
0, /*UNS8 dataType*/ |
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|
274 |
&TPDO_COBId,/*void *data*/ |
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|
275 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
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276 |
} |
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277 |
break; |
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278 |
|
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279 |
case 10: |
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280 |
{ /*disable Slave's TPDO 2 */ |
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281 |
UNS32 TPDO_COBId = 0x80000480 + nodeId; |
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282 |
|
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283 |
eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId); |
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284 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
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|
285 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
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|
286 |
nodeId, /*UNS8 nodeId*/ |
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|
287 |
0x1803, /*UNS16 index*/ |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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|
288 |
0x01, /*UNS8 subindex*/ |
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|
289 |
4, /*UNS8 count*/ |
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|
290 |
0, /*UNS8 dataType*/ |
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|
291 |
&TPDO_COBId,/*void *data*/ |
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|
292 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
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|
293 |
} |
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|
294 |
break; |
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|
295 |
|
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|
296 |
case 11: |
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|
297 |
/* Put the master in operational mode */ |
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298 |
setState(d, Operational); |
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|
299 |
|
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|
300 |
/* Ask slave node to go in operational mode */ |
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301 |
masterSendNMTstateChange (d, nodeId, NMT_Start_Node); |
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|
302 |
} |
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|
303 |
|
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|
304 |
} |
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parents:
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|
305 |
|
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.
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diff
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|
306 |
void TestMaster_preOperational(CO_Data* d) |
246
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|
307 |
{ |
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|
308 |
|
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|
309 |
eprintf("TestMaster_preOperational\n"); |
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|
310 |
ConfigureSlaveNode(&TestMaster_Data, slavenodeid); |
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parents:
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|
311 |
|
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|
312 |
} |
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parents:
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|
313 |
|
378
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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.
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diff
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|
314 |
void TestMaster_operational(CO_Data* d) |
246
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|
315 |
{ |
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parents:
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|
316 |
eprintf("TestMaster_operational\n"); |
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|
317 |
} |
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parents:
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|
318 |
|
378
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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.
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diff
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|
319 |
void TestMaster_stopped(CO_Data* d) |
246
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|
320 |
{ |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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|
321 |
eprintf("TestMaster_stopped\n"); |
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|
322 |
} |
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parents:
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changeset
|
323 |
|
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.
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diff
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|
324 |
void TestMaster_post_sync(CO_Data* d) |
246
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|
325 |
{ |
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|
326 |
DO++; |
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parents:
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|
327 |
|
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|
328 |
AO1 = AI1 / 2; |
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parents:
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|
329 |
AO2 = AI2 / 2; |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
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|
330 |
AO3 = AI3 / 2; |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
331 |
AO4 = AI4 / 2; |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
332 |
eprintf("MicroMod Digital Out: %2.2x\n",DO); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
333 |
eprintf("MicroMod Analogue Out1: %d\n",AO1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
334 |
eprintf("MicroMod Analogue Out2: %d\n",AO2); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
335 |
eprintf("MicroMod Analogue Out3: %d\n",AO3); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
336 |
eprintf("MicroMod Analogue Out4: %d\n",AO4); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
337 |
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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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
338 |
eprintf("MicroMod Analogue In1: %d\n", AI1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
339 |
eprintf("MicroMod Analogue In2: %d\n", AI2); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
340 |
eprintf("MicroMod Analogue In3: %d\n", AI3); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
341 |
eprintf("MicroMod Analogue In4: %d\n", AI4); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
342 |
eprintf("MicroMod Analogue In5: %d\n", AI5); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
343 |
eprintf("MicroMod Analogue In6: %d\n", AI6); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
344 |
eprintf("MicroMod Analogue In7: %d\n", AI7); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
345 |
eprintf("MicroMod Analogue In8: %d\n", AI8); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
346 |
} |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
347 |
|
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:
246
diff
changeset
|
348 |
void TestMaster_post_TPDO(CO_Data* d) |
246
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parents:
diff
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|
349 |
{ |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
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changeset
|
350 |
// eprintf("TestMaster_post_TPDO\n"); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
351 |
} |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
352 |
|
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
353 |
//s_BOARD SlaveBoard = {"0", "500K"}; |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
354 |
s_BOARD MasterBoard = {"32", "125K"}; |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
355 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
356 |
#if !defined(WIN32) || defined(__CYGWIN__) |
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parents:
diff
changeset
|
357 |
void catch_signal(int sig) |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
358 |
{ |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
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|
359 |
signal(SIGTERM, catch_signal); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
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|
360 |
signal(SIGINT, catch_signal); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
361 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
362 |
eprintf("Got Signal %d\n",sig); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
363 |
} |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
364 |
#endif |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
365 |
|
454 | 366 |
void help(void) |
246
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parents:
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|
367 |
{ |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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parents:
diff
changeset
|
368 |
printf("**************************************************************\n"); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
369 |
printf("* TestMasterMicroMod *\n"); |
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etisserant
parents:
diff
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|
370 |
printf("* *\n"); |
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Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
371 |
printf("* A simple example for PC. *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
372 |
printf("* A CanOpen master that control a MicroMod module: *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
373 |
printf("* - setup module TPDO 1 transmit type *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
374 |
printf("* - setup module RPDO 1 transmit type *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
375 |
printf("* - setup module hearbeatbeat period *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
376 |
printf("* - disable others TPDOs *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
377 |
printf("* - set state to operational *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
378 |
printf("* - send periodic SYNC *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
379 |
printf("* - send periodic RPDO 1 to Micromod (digital output) *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
380 |
printf("* - listen Micromod's TPDO 1 (digital input) *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
381 |
printf("* - Mapping RPDO 1 bit per bit (digital input) *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
382 |
printf("* *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
383 |
printf("* Usage: *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
384 |
printf("* ./TestMasterMicroMod [OPTIONS] *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
385 |
printf("* *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
386 |
printf("* OPTIONS: *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
387 |
printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
388 |
printf("* *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
389 |
printf("* Slave: *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
390 |
printf("* -i : Slave Node id format [0x01 , 0x7F] *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
391 |
printf("* *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
392 |
printf("* Master: *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
393 |
printf("* -m : bus name [\"1\"] *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
394 |
printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
395 |
printf("* *\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
396 |
printf("**************************************************************\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
397 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
398 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
399 |
/*************************** INIT *****************************************/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
400 |
void InitNodes(CO_Data* d, UNS32 id) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
401 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
402 |
/****************************** INITIALISATION MASTER *******************************/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
403 |
if(MasterBoard.baudrate){ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
404 |
/* Defining the node Id */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
405 |
//setNodeId(&TestMaster_Data, 0x01); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
406 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
407 |
/* init */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
408 |
setState(&TestMaster_Data, Initialisation); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
409 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
410 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
411 |
|
454 | 412 |
/*************************** EXIT *****************************************/ |
413 |
void Exit(CO_Data* d, UNS32 id) |
|
414 |
{ |
|
415 |
masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node); |
|
416 |
||
417 |
//Stop master |
|
418 |
setState(&TestMaster_Data, Stopped); |
|
419 |
} |
|
420 |
||
246
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
421 |
/****************************************************************************/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
422 |
/*************************** MAIN *****************************************/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
423 |
/****************************************************************************/ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
424 |
int main(int argc,char **argv) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
425 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
426 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
427 |
int c; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
428 |
extern char *optarg; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
429 |
char* LibraryPath="libcanfestival_can_virtual.so"; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
430 |
char *snodeid; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
431 |
while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
432 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
433 |
switch(c) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
434 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
435 |
case 'm' : |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
436 |
if (optarg[0] == 0) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
437 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
438 |
help(); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
439 |
exit(1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
440 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
441 |
MasterBoard.busname = optarg; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
442 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
443 |
case 'M' : |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
444 |
if (optarg[0] == 0) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
445 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
446 |
help(); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
447 |
exit(1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
448 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
449 |
MasterBoard.baudrate = optarg; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
450 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
451 |
case 'l' : |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
452 |
if (optarg[0] == 0) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
453 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
454 |
help(); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
455 |
exit(1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
456 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
457 |
LibraryPath = optarg; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
458 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
459 |
case 'i' : |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
460 |
if (optarg[0] == 0) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
461 |
{ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
462 |
help(); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
463 |
exit(1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
464 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
465 |
snodeid = optarg; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
466 |
sscanf(snodeid,"%x",&slavenodeid); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
467 |
break; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
468 |
default: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
469 |
help(); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
470 |
exit(1); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
471 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
472 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
473 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
474 |
#if !defined(WIN32) || defined(__CYGWIN__) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
475 |
/* install signal handler for manual break */ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
476 |
signal(SIGTERM, catch_signal); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
477 |
signal(SIGINT, catch_signal); |
454 | 478 |
TimerInit(); |
246
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
479 |
#endif |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
480 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
481 |
#ifndef NOT_USE_DYNAMIC_LOADING |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
482 |
LoadCanDriver(LibraryPath); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
483 |
#endif |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
484 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
485 |
TestMaster_Data.heartbeatError = TestMaster_heartbeatError; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
486 |
TestMaster_Data.initialisation = TestMaster_initialisation; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
487 |
TestMaster_Data.preOperational = TestMaster_preOperational; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
488 |
TestMaster_Data.operational = TestMaster_operational; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
489 |
TestMaster_Data.stopped = TestMaster_stopped; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
490 |
TestMaster_Data.post_sync = TestMaster_post_sync; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
491 |
TestMaster_Data.post_TPDO = TestMaster_post_TPDO; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
492 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
493 |
if(!canOpen(&MasterBoard,&TestMaster_Data)){ |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
494 |
eprintf("Cannot open Master Board\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
495 |
goto fail_master; |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
496 |
} |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
497 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
498 |
// Start timer thread |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
499 |
StartTimerLoop(&InitNodes); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
500 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
501 |
// wait Ctrl-C |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
502 |
pause(); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
503 |
eprintf("Finishing.\n"); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
504 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
505 |
// Reset the slave node for next use (will stop emitting heartbeat) |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
506 |
masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
507 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
508 |
// Stop master |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
509 |
setState(&TestMaster_Data, Stopped); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
510 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
511 |
// Stop timer thread |
454 | 512 |
StopTimerLoop(&Exit); |
246
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
513 |
|
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
514 |
fail_master: |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
515 |
if(MasterBoard.baudrate) canClose(&TestMaster_Data); |
d635cfc520ee
Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff
changeset
|
516 |
|
454 | 517 |
TimerCleanup(); |
518 |
return 0; |
|
519 |
} |
|
520 |
||
521 |