examples/SillySlave/slave.c
author Edouard Tisserant
Wed, 13 Jun 2012 19:07:41 +0200
changeset 738 396839c5d70f
parent 642 f77ad188c2b1
permissions -rw-r--r--
Merged Francois BEAULIER's changes
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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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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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/**
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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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	/* wait Ctrl-C */
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	pause();
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	printf("\nFinishing.\n");
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	/* Stop timer thread */
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	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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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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    printf("SillySlave_initialisation\n");
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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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    /* value sent to master at each SYNC received */
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    LifeSignal = 0;
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}
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void SillySlave_preOperational(CO_Data* d)
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{
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    printf("SillySlave_preOperational\n");
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}
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void SillySlave_operational(CO_Data* d)
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{
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    printf("SillySlave_operational\n");
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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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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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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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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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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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