author | Edouard Tisserant |
Wed, 13 Apr 2011 16:29:59 +0200 | |
changeset 659 | 1041153c5fd2 |
parent 642 | f77ad188c2b1 |
permissions | -rw-r--r-- |
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/* |
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Copyright (C): Giuseppe Massimo BERTANI |
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gmbertani@users.sourceforge.net |
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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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/** |
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* @file slave.c |
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* @author GMB |
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* @date 17/1/08 |
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* |
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* This file is part of SillySlave demo for CANfestival |
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* open source CANopen stack. |
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*/ |
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#include "SillySlave.h" |
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#include "slave.h" |
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#include "main.h" |
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static UNS8 slaveNode = 0; |
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void InitNode(CO_Data* d, UNS32 id) |
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{ |
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/* Defining the node Id */ |
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setNodeId(&SillySlave_Data, slaveNode); |
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/* CAN init */ |
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setState(&SillySlave_Data, Initialisation); |
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} |
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void Exit(CO_Data* d, UNS32 id) |
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{ |
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/* Stop slave */ |
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setState(&SillySlave_Data, Stopped); |
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} |
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INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node ) |
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{ |
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char busName[2]; |
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char baudRate[7]; |
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s_BOARD board; |
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sprintf(busName, "%u", bus); |
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sprintf(baudRate, "%uK", baudrate); |
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board.busname = busName; |
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board.baudrate = baudRate; |
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slaveNode = node; |
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SillySlave_Data.heartbeatError = SillySlave_heartbeatError; |
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SillySlave_Data.initialisation = SillySlave_initialisation; |
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SillySlave_Data.preOperational = SillySlave_preOperational; |
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SillySlave_Data.operational = SillySlave_operational; |
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SillySlave_Data.stopped = SillySlave_stopped; |
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SillySlave_Data.post_sync = SillySlave_post_sync; |
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SillySlave_Data.post_TPDO = SillySlave_post_TPDO; |
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SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex; |
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SillySlave_Data.post_emcy = SillySlave_post_emcy; |
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TimerInit(); |
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if(!canOpen(&board, &SillySlave_Data)) |
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{ |
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printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate); |
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return -1; |
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} |
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printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n"); |
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/* Start timer thread */ |
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StartTimerLoop(&InitNode); |
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|
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/* wait Ctrl-C */ |
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pause(); |
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printf("\nFinishing.\n"); |
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/* Stop timer thread */ |
454 | 95 |
StopTimerLoop(&Exit); |
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return 0; |
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} |
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void SillySlave_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
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{ |
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printf("SillySlave_heartbeatError %d\n", heartbeatID); |
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} |
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|
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void SillySlave_initialisation(CO_Data* d ) |
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{ |
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UNS32 PDO1_COBID = 0x0180 + NODE_MASTER; |
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UNS8 size = sizeof(PDO1_COBID); |
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|
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printf("SillySlave_initialisation\n"); |
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|
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/* sets TXPDO1 COB-ID to match master node ID */ |
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writeLocalDict( |
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&SillySlave_Data, /*CO_Data* d*/ |
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0x1800, /*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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/* value sent to master at each SYNC received */ |
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LifeSignal = 0; |
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} |
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|
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void SillySlave_preOperational(CO_Data* d) |
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{ |
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126 |
printf("SillySlave_preOperational\n"); |
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} |
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|
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void SillySlave_operational(CO_Data* d) |
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{ |
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131 |
printf("SillySlave_operational\n"); |
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} |
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|
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void SillySlave_stopped(CO_Data* d) |
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{ |
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printf("SillySlave_stopped\n"); |
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} |
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|
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void SillySlave_post_sync(CO_Data* d) |
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{ |
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printf("SillySlave_post_sync: \n"); |
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LifeSignal++; |
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} |
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|
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void SillySlave_post_TPDO(CO_Data* d) |
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{ |
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printf("SillySlave_post_TPDO: \n"); |
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printf("LifeSignal = %u\n", LifeSignal); |
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} |
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|
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void SillySlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex) |
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{ |
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/*TODO : |
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* - call getODEntry for index and subindex, |
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* - save content to file, database, flash, nvram, ... |
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* |
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* To ease flash organisation, index of variable to store |
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* can be established by scanning d->objdict[d->ObjdictSize] |
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* for variables to store. |
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* |
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* */ |
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printf("SillySlave_storeODSubIndex : %4.4x %2.2xh\n", wIndex, bSubindex); |
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} |
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|
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void SillySlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
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{ |
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printf("Slave received EMCY message. Node: %2.2xh ErrorCode: %4.4x ErrorRegister: %2.2xh\n", nodeID, errCode, errReg); |
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} |
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169 |