1

/*

     2

This file is part of CanFestival, a library implementing CanOpen Stack. 

     3

     4

Copyright (C): Edouard TISSERANT and Francis DUPIN

     5

     6

See COPYING file for copyrights details.

     7

     8

This library is free software; you can redistribute it and/or

     9

modify it under the terms of the GNU Lesser General Public

    10

License as published by the Free Software Foundation; either

    11

version 2.1 of the License, or (at your option) any later version.

    12

    13

This library is distributed in the hope that it will be useful,

    14

but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

    16

Lesser General Public License for more details.

    17

    18

You should have received a copy of the GNU Lesser General Public

    19

License along with this library; if not, write to the Free Software

    20

Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    21

*/

    22

    23

#include "Slave.h"

    24

#include "Master.h"

    25

#include "TestMasterSlave.h"

    26

    27

extern s_BOARD SlaveBoard;

    28

/*****************************************************************************/

    29

void TestSlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)

    30

{

    31

	eprintf("TestSlave_heartbeatError %d\n", heartbeatID);

    32

}

    33

    34

void TestSlave_initialisation(CO_Data* d)

    35

{

    36

	eprintf("TestSlave_initialisation\n");

    37

}

    38

    39

void TestSlave_preOperational(CO_Data* d)

    40

{

    41

	eprintf("TestSlave_preOperational\n");

    42

}

    43

    44

void TestSlave_operational(CO_Data* d)

    45

{

    46

	eprintf("TestSlave_operational\n");

    47

}

    48

    49

void TestSlave_stopped(CO_Data* d)

    50

{

    51

	eprintf("TestSlave_stopped\n");

    52

}

    53

    54

void TestSlave_post_sync(CO_Data* d)

    55

{

    56

      eprintf("TestSlave_post_sync\n");

    57

    58

      SlaveMap1=1;

    59

      SlaveMap2=1;

    60

      SlaveMap3=0;

    61

      SlaveMap4=0;

    62

      SlaveMap5=1;

    63

      SlaveMap6=0;

    64

      SlaveMap7=1;

    65

      SlaveMap8=0;

    66

      SlaveMap9=16;

    67

      SlaveMap10 = 0xff00ff00;

    68

      SlaveMap11 = 0xabcd;

    69

      SlaveMap12 += SlaveMap12 > 0x80 ? 0 : 1;

    70

      eprintf("Slave: %d %d %d %d %d %d %d %d %d %x %x %d %d \n",

    71

      	SlaveMap1, 

    72

      	SlaveMap2, 

    73

      	SlaveMap3, 

    74

      	SlaveMap4, 

    75

      	SlaveMap5, 

    76

      	SlaveMap6, 

    77

      	SlaveMap7, 

    78

      	SlaveMap8, 

    79

      	SlaveMap9, 

    80

      	SlaveMap10,

    81

      	SlaveMap11, 

    82

      	SlaveMap12,

    83

      	SlaveMap13);

    84

}

    85

    86

void TestSlave_post_TPDO(CO_Data* d)

    87

{

    88

        SlaveMap13 += 1;

    89

	eprintf("TestSlave_post_TPDO\n");

    90

    91

	/* send an error and recover inmediately every 12 cycles */

    92

	if(SlaveMap13 % 12 == 0)

    93

	{

    94

		EMCY_setError(&TestSlave_Data, 0x4200, 0x08, 0x0000);

    95

		EMCY_errorRecovered(&TestSlave_Data, 0x4200);

    96

	}

    97

}

    98

    99

void TestSlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)

   100

{

   101

	/*TODO : 

   102

	 * - call getODEntry for index and subindex, 

   103

	 * - save content to file, database, flash, nvram, ...

   104

	 * 

   105

	 * To ease flash organisation, index of variable to store

   106

	 * can be established by scanning d->objdict[d->ObjdictSize]

   107

	 * for variables to store.

   108

	 * 

   109

	 * */

   110

	eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex,  bSubindex);

   111

}

   112

   113

void TestSlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)

   114

{

   115

	eprintf("Slave received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);

   116

}