author | greg |
Tue, 15 Jan 2008 10:49:35 +0100 | |
changeset 358 | 4630ccf4932a |
parent 343 | 118c1cabd0b0 |
child 378 | d2abf6c8c27b |
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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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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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 "Slave.h" |
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#include "Master.h" |
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#include "TestMasterSlave.h" |
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extern s_BOARD SlaveBoard; |
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/*****************************************************************************/ |
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void TestSlave_heartbeatError(UNS8 heartbeatID) |
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{ |
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eprintf("TestSlave_heartbeatError %d\n", heartbeatID); |
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} |
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void TestSlave_initialisation() |
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{ |
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eprintf("TestSlave_initialisation\n"); |
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} |
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void TestSlave_preOperational() |
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{ |
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eprintf("TestSlave_preOperational\n"); |
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} |
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void TestSlave_operational() |
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{ |
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eprintf("TestSlave_operational\n"); |
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} |
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void TestSlave_stopped() |
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{ |
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eprintf("TestSlave_stopped\n"); |
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} |
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void TestSlave_post_sync() |
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{ |
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eprintf("TestSlave_post_sync\n"); |
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SlaveMap1=1; |
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SlaveMap2=1; |
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SlaveMap3=0; |
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SlaveMap4=0; |
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SlaveMap5=1; |
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SlaveMap6=0; |
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SlaveMap7=1; |
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SlaveMap8=0; |
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SlaveMap9=16; |
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SlaveMap10 = 0xff00ff00; |
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SlaveMap11 = 0xabcd; |
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SlaveMap12 += SlaveMap12 > 0x80 ? 0 : 1; |
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eprintf("Slave: %d %d %d %d %d %d %d %d %d %x %x %d %d \n", |
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SlaveMap1, |
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SlaveMap2, |
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SlaveMap3, |
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SlaveMap4, |
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SlaveMap5, |
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SlaveMap6, |
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SlaveMap7, |
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SlaveMap8, |
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SlaveMap9, |
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SlaveMap10, |
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SlaveMap11, |
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SlaveMap12, |
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SlaveMap13); |
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} |
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void TestSlave_post_TPDO() |
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{ |
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SlaveMap13 += 1; |
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eprintf("TestSlave_post_TPDO\n"); |
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/* send an error and recover inmediately every 12 cycles */ |
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if(SlaveMap13 % 12 == 0) |
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{ |
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EMCY_setError(&TestSlave_Data, 0x4200, 0x08, 0x0000); |
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EMCY_errorRecovered(&TestSlave_Data, 0x4200); |
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} |
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} |
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void TestSlave_storeODSubIndex(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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eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex, bSubindex); |
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} |
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void TestSlave_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
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{ |
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eprintf("Slave received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); |
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} |
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void TestSlave_StoreConfiguration(UNS8 *error, UNS8 *spec_error) |
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{ |
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printf("TestSlave_StoreConfiguration\n"); |
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} |
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void TestSlave_ChangeBaudRate(char *baudrate) |
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{ |
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eprintf("TestSlave_ChangeBaudRate from %s to %s\n", SlaveBoard.baudrate, baudrate); |
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SlaveBoard.baudrate=baudrate; |
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/* something to do with the new baudrate */ |
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} |