examples/TestMasterSlaveLSS/Master.c
author etisserant
Mon, 28 Apr 2008 11:21:33 +0200
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parent 384 83793fc7ce48
child 517 003679edc437
permissions -rw-r--r--
Serial Hub fixes... Thanks James.
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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 , Francis DUPIN and Jorge BERZOSA
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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 "SlaveA.h"
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#include "SlaveB.h"
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#include "TestMasterSlaveLSS.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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{
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	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
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}
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/********************************************************
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 * TestMaster_initialisation 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 1 from id 3
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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 = 0x0183;
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	UNS8 size = sizeof(UNS32); 
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	eprintf("TestMaster_initialisation\n");
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	/*****************************************
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	 * Define RPDO to match slave ID=2 TPDO1*
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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 RPDO to match slave ID=3 TPDO1*
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	 *****************************************/		
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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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// There is one per each slave
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static init_step[] ={0,0};
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/*Forward declaration*/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
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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 'n' TPDO 1 transmit type
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 *  - setup slave 'n' Producer Hertbeat Time
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 *  - setup the Consumer Heartbeat Time for slave 'n'
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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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 * after the LSS configuration has been done
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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 0 ms 
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	 * for slaves node-id 0x02 and 0x03 by DCF concise */
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	UNS8 Transmission_Type = 0x01;
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	UNS16 Slave_Prod_Heartbeat_T=1000;//ms
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	UNS32 Master_Cons_Heartbeat_Base=0x05DC; //1500ms
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	UNS32 abortCode;
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	UNS8 res;
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	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
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	switch(++init_step[nodeId-2]){
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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 : Set the new heartbeat producer time in the slave */
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		{
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			UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000);
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			UNS8 size = sizeof(UNS32); 
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			eprintf("Master : set slave %2.2x Producer Heartbeat Time = %d\n", nodeId,Slave_Prod_Heartbeat_T);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					nodeId, /*UNS8 nodeId*/
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					0x1017, /*UNS16 index*/
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					0x00, /*UNS8 subindex*/
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					2, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&Slave_Prod_Heartbeat_T,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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					break;
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			/* Set the new heartbeat consumer time in the master*/
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			eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T);
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			writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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				0x1016, /*UNS16 index*/
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				nodeId-1, /*UNS8 subind*/ 
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				&Master_Cons_Heartbeat_T, /*void * pSourceData,*/ 
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				&size, /* UNS8 * pExpectedSize*/
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				RW);  /* UNS8 checkAccess */
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		}		
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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);
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	}
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}
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static void ConfigureLSSNode(CO_Data* d);
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// Step counts number of times ConfigureLSSNode is called
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UNS8 init_step_LSS=1;
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static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
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{
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	UNS32 dat1;
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	UNS8 dat2;
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	printf("CheckLSS->");
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	if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
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			eprintf("Master : Failed in LSS comand %d.  Trying again\n", command);
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	}
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	else
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	{
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		init_step_LSS++;
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		switch(command){
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		case LSS_CONF_NODE_ID:
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   			switch(dat1){
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   				case 0: printf("Node ID change succesful\n");break;
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   				case 1: printf("Node ID change error:out of range\n");break;
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   				case 0xFF:printf("Node ID change error:specific error\n");break;
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   				default:break;
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   			}
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   			break;
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   		case LSS_CONF_BIT_TIMING:
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   			switch(dat1){
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   				case 0: printf("Baud rate change succesful\n");break;
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   				case 1: printf("Baud rate change error: change baud rate not supported\n");break;
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   				case 0xFF:printf("Baud rate change error:specific error\n");break;
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   				default:break;
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   			}
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   			break;
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   		case LSS_CONF_STORE:
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   			switch(dat1){
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   				case 0: printf("Store configuration succesful\n");break;
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   				case 1: printf("Store configuration error:not supported\n");break;
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   				case 0xFF:printf("Store configuration error:specific error\n");break;
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   				default:break;
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   209
   			}
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   			break;
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   211
   		case LSS_CONF_ACT_BIT_TIMING:
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   			if(dat1==0){
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   				UNS8 LSS_mode=LSS_WAITING_MODE;
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				UNS32 SINC_cicle=50000;// us
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				UNS8 size = sizeof(UNS32); 
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				/* The slaves are now configured (nodeId and Baudrate) via the LSS services.
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   			 	* Switch the LSS state to WAITING and restart the slaves. */
384
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   219
   			 	MasterBoard.baudrate="250K";
381
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	   			printf("Master : Switch Delay period finished. Switching to LSS WAITING state\n");
384
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   				configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
381
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   				printf("Master : Restarting all the slaves\n");
384
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   				masterSendNMTstateChange (d, 0x00, NMT_Reset_Node);
381
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   				printf("Master : Starting the SYNC producer\n");
384
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   				writeLocalDict( d, /*CO_Data* d*/
381
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					0x1006, /*UNS16 index*/
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					0x00, /*UNS8 subind*/ 
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					&SINC_cicle, /*void * pSourceData,*/ 
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					&size, /* UNS8 * pExpectedSize*/
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					RW);  /* UNS8 checkAccess */
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   234
					
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				return;
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			}
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   			else{
384
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   				UNS16 Switch_delay=1;
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				UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
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   240
				
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	   			eprintf("Master : unable to activate bit timing. trying again\n");
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				configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
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				return;
381
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   			}
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   			break;	
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   246
		case LSS_SM_SELECTIVE_SERIAL:
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   			printf("Slave in LSS CONFIGURATION state\n");
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   			break;
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   249
   		case LSS_IDENT_REMOTE_SERIAL_HIGH:
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   			printf("node identified\n");
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   251
   			break;
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   252
   		case LSS_IDENT_REMOTE_NON_CONF:
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   			if(dat1==0)
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   				eprintf("There are no-configured remote slave(s) in the net\n");
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   			else
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   			{
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   				UNS16 Switch_delay=1;
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				UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
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   259
			
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				/*The configuration of the slaves' nodeId ended.
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   261
				 * Start the configuration of the baud rate. */
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				eprintf("Master : There are not no-configured slaves in the net\n", command);
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				eprintf("Switching all the nodes to LSS CONFIGURATION state\n");
384
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   264
				configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
381
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				eprintf("LSS=>Activate Bit Timing\n");
384
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   266
				configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
381
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				return;
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   268
   			}
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   269
   			break;
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   270
   		case LSS_INQ_VENDOR_ID:
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   			printf("Slave VendorID %x\n", dat1);
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   			break;
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   273
   		case LSS_INQ_PRODUCT_CODE:
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   274
   			printf("Slave Product Code %x\n", dat1);
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   			break;
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   276
   		case LSS_INQ_REV_NUMBER:
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   			printf("Slave Revision Number %x\n", dat1);
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   278
   			break;
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   279
   		case LSS_INQ_SERIAL_NUMBER:
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   			printf("Slave Serial Number %x\n", dat1);
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   281
   			break;
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   282
   		case LSS_INQ_NODE_ID:
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   283
   			printf("Slave nodeid %x\n", dat1);
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   284
   			break;
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   285
#ifdef CO_ENABLE_LSS_FS
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   286
   		case LSS_IDENT_FASTSCAN:
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   287
   			if(dat1==0)
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   288
   				printf("Slave node identified with FastScan\n");
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   289
   			else
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   290
   			{
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   291
   				printf("There is not unconfigured node in the net\n");
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   292
   				return;
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   293
   			}	
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   294
   			init_step_LSS++;
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   295
   			break;
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   296
#endif	
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   297
	
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   298
		}
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   299
	}
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   300
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   301
	printf("\n");
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   302
	ConfigureLSSNode(d);
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   303
}
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   304
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   305
/* Initial nodeID and VendorID. They are incremented by one for each slave*/
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   306
UNS8 NodeID=0x02;
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   307
UNS32 Vendor_ID=0x12345678;
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   308
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   309
/* Configuration of the nodeID and baudrate with LSS services:
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   310
 * --First ask if there is a node with an invalid nodeID.
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   311
 * --If FastScan is activated it is used to put the slave in the state “configuration”.
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   312
 * --If FastScan is not activated, identification services are used to identify the slave. Then 
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   313
 * 	 switch mode service is used to put it in configuration state.
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   314
 * --Next, all the inquire services are used (only for example) and a valid nodeId and a
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   315
 * 	 new baudrate are assigned to the slave.
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   316
 * --Finally, the slave's LSS state is restored to “waiting” and all the process is repeated 
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   317
 * 	 again until there isn't any node with an invalid nodeID.
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   318
 * --After the configuration of all the slaves finished the LSS state of all of them is switched 
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   319
 * 	 again to "configuration" and the Activate Bit Timing service is requested. On sucessfull, the 
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   320
 * 	 LSS state is restored to "waiting" and NMT state is changed to reset (by means of the NMT services).
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   321
 * */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   322
static void ConfigureLSSNode(CO_Data* d)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   323
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   324
	UNS32 Product_Code=0x90123456;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   325
	UNS32 Revision_Number=0x78901234;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   326
	UNS32 Serial_Number=0x56789012;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   327
	UNS32 Revision_Number_high=0x78901240;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   328
	UNS32 Revision_Number_low=0x78901230;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   329
	UNS32 Serial_Number_high=0x56789020;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   330
	UNS32 Serial_Number_low=0x56789010;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   331
	UNS8 LSS_mode=LSS_WAITING_MODE;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   332
	UNS8 Baud_Table=0;
384
83793fc7ce48 added canChangeBaudRate to the driver interface
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diff changeset
   333
	//UNS8 Baud_BitTiming=3;
83793fc7ce48 added canChangeBaudRate to the driver interface
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parents: 381
diff changeset
   334
	char* Baud_BitTiming="250K";
381
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   335
	UNS8 res;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   336
	eprintf("ConfigureLSSNode step %d -> ",init_step_LSS);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   337
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   338
	switch(init_step_LSS){
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   339
		case 1:	/* LSS=>identify non-configured remote slave */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   340
			eprintf("LSS=>identify no-configured remote slave(s)\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   341
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   342
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   343
#ifdef CO_ENABLE_LSS_FS
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   344
		case 2:	/* LSS=>FastScan */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   345
			eprintf("LSS=>FastScan\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   346
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_FASTSCAN,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   347
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   348
#else
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   349
		case 2:	/* LSS=>identify node */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   350
			eprintf("LSS=>identify node\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   351
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   352
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   353
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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   354
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   355
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   356
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   357
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   358
		case 3: /*LSS=>put in configuration mode*/
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   359
			eprintf("LSS=>put in configuration mode\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   360
			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   361
			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   362
			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   363
			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   364
			Vendor_ID++;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   365
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   366
#endif
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   367
		case 4:	/* LSS=>inquire nodeID */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   368
			eprintf("LSS=>inquire nodeID\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   369
			res=configNetworkNode(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   370
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   371
		case 5:	/* LSS=>inquire VendorID */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   372
			eprintf("LSS=>inquire VendorID\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   373
			res=configNetworkNode(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   374
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   375
		case 6:	/* LSS=>inquire Product code */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   376
			eprintf("LSS=>inquire Product code\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   377
			res=configNetworkNode(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   378
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   379
		case 7:	/* LSS=>inquire Revision Number */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   380
			eprintf("LSS=>inquire Revision Number\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   381
			res=configNetworkNode(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   382
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   383
		case 8:	/* LSS=>inquire Serial Number */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   384
			eprintf("LSS=>inquire Serial Number\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   385
			res=configNetworkNode(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   386
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   387
		case 9:	/* LSS=>change the nodeID */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   388
			eprintf("LSS=>change the nodeId\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   389
			res=configNetworkNode(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   390
			NodeID++;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   391
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   392
		case 10:	/* LSS=>change the Baud rate */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   393
			eprintf("LSS=>change the Baud rate\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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parents:
diff changeset
   394
			res=configNetworkNode(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
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diff changeset
   395
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   396
		case 11:
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
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diff changeset
   397
			/*LSS=>store configuration*/
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   398
			eprintf("LSS=>store configuration\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   399
			res=configNetworkNode(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   400
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   401
		case 12: /* LSS=>put in waiting mode */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   402
			eprintf("LSS=>put in waiting mode\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   403
			res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   404
			/* Search again for no-configured slaves*/
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   405
			eprintf("LSS=>identify no-configured remote slave(s)\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   406
			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   407
			init_step_LSS=1;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   408
			break;
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   409
	}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   410
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   411
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   412
void TestMaster_preOperational(CO_Data* d)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   413
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   414
	eprintf("TestMaster_preOperational\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   415
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   416
	/* Ask slaves to go in stop mode */
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   417
	masterSendNMTstateChange (d, 0, NMT_Stop_Node);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   418
	ConfigureLSSNode(&TestMaster_Data);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   419
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   420
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   421
void TestMaster_operational(CO_Data* d)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   422
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   423
	eprintf("TestMaster_operational\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   424
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   425
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   426
void TestMaster_stopped(CO_Data* d)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   427
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   428
	eprintf("TestMaster_stopped\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   429
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   430
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   431
void TestMaster_post_sync(CO_Data* d)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   432
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   433
	eprintf("TestMaster_post_sync\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   434
	eprintf("Master: %d %d %d\n",
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   435
		MasterMap1,
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   436
		MasterMap2,
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   437
		MasterMap3);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   438
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   439
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   440
void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   441
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   442
	eprintf("Master received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   443
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   444
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   445
void TestMaster_post_TPDO(CO_Data* d)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   446
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   447
	eprintf("TestMaster_post_TPDO\n");
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   448
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   449
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   450
void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   451
{
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   452
	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   453
	/* Wait until the new baud rate is stored before configure the slaves*/
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   454
	if(MasterBoard.baudrate=="250K")
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   455
		ConfigureSlaveNode(d, nodeid);
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   456
}
854c43cdc24a added TestMasterSlaveLSS. LSS protocol revised.
groke6
parents:
diff changeset
   457