author | luis |
Thu, 29 Nov 2007 11:58:02 +0100 | |
changeset 319 | 4b331759169a |
parent 284 | 24bf3d692993 |
child 343 | 118c1cabd0b0 |
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 "Master.h" |
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#include "Slave.h" |
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#include "TestMasterSlave.h" |
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/*****************************************************************************/ |
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void TestMaster_heartbeatError(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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* ConfigureSlaveNode 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 2 from id 2 |
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********************************************************/ |
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void TestMaster_initialisation() |
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{ |
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UNS32 PDO1_COBID = 0x0182; |
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UNS32 PDO2_COBID = 0x0282; |
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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 RPDOs to match slave ID=2 TPDOs* |
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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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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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static init_step = 0; |
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/*Froward declaration*/ |
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId); |
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/**/ |
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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 TPDO 1 transmit time |
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* - setup slave TPDO 2 transmit time |
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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_preOperational |
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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 1000 ms |
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* for slave node-id 0x02 by DCF concise */ |
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UNS8 Transmission_Type = 0x01; |
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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){ |
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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*/ |
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eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId); |
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writeNetworkDictCallBack (d, /*CO_Data* d*/ |
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nodeId, /*UNS8 nodeId*/ |
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0x1801, /*UNS16 index*/ |
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0x02, /*UNS16 index*/ |
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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 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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|
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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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} |
0 | 144 |
} |
145 |
||
146 |
void TestMaster_preOperational() |
|
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{ |
|
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|
0 | 149 |
eprintf("TestMaster_preOperational\n"); |
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ConfigureSlaveNode(&TestMaster_Data, 0x02); |
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151 |
|
0 | 152 |
} |
153 |
||
154 |
void TestMaster_operational() |
|
155 |
{ |
|
156 |
eprintf("TestMaster_operational\n"); |
|
157 |
} |
|
158 |
||
159 |
void TestMaster_stopped() |
|
160 |
{ |
|
161 |
eprintf("TestMaster_stopped\n"); |
|
162 |
} |
|
163 |
||
164 |
void TestMaster_post_sync() |
|
165 |
{ |
|
166 |
eprintf("TestMaster_post_sync\n"); |
|
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eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n", |
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MasterMap1, |
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MasterMap2, |
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MasterMap3, |
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MasterMap4, |
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MasterMap5, |
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MasterMap6, |
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MasterMap7, |
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MasterMap8, |
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MasterMap9, |
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MasterMap10, |
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MasterMap11, |
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MasterMap12, |
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MasterMap13); |
0 | 181 |
} |
182 |
||
284 | 183 |
void TestMaster_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
184 |
{ |
|
185 |
eprintf("Master received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); |
|
186 |
} |
|
187 |
||
0 | 188 |
char query_result = 0; |
189 |
char waiting_answer = 0; |
|
190 |
||
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static void CheckSDO(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 changing Slave's transmit type AbortCode :%4.4x \n", abortCode); |
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|
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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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199 |
} |
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200 |
|
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|
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static int MasterSyncCount = 0; |
0 | 203 |
void TestMaster_post_TPDO() |
204 |
{ |
|
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eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount); |
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// |
0 | 207 |
// { |
208 |
// char zero = 0; |
|
209 |
// if(MasterMap4 > 0x80){ |
|
210 |
// writeNetworkDict ( |
|
211 |
// &TestMaster_Data, |
|
212 |
// TestSlave_Data->bDeviceNodeId, |
|
213 |
// 0x2002, |
|
214 |
// 0x00, |
|
215 |
// 1, |
|
216 |
// 0, |
|
217 |
// &zero); |
|
218 |
// } |
|
219 |
// } |
|
220 |
||
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221 |
#if 0 |
0 | 222 |
if(waiting_answer){ |
223 |
UNS32 abortCode; |
|
224 |
UNS8 size; |
|
225 |
switch(getReadResultNetworkDict ( |
|
226 |
&TestMaster_Data, |
|
201 | 227 |
0x02, |
0 | 228 |
&query_result, |
229 |
&size, |
|
230 |
&abortCode)) |
|
231 |
{ |
|
232 |
case SDO_FINISHED: |
|
233 |
/* Do something with result here !!*/ |
|
234 |
eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size); |
|
235 |
case SDO_ABORTED_RCV: |
|
236 |
case SDO_ABORTED_INTERNAL: |
|
237 |
case SDO_RESET: |
|
238 |
waiting_answer = 0; |
|
239 |
closeSDOtransfer( |
|
240 |
&TestMaster_Data, |
|
201 | 241 |
0x02, |
0 | 242 |
SDO_CLIENT); |
243 |
break; |
|
244 |
case SDO_DOWNLOAD_IN_PROGRESS: |
|
245 |
case SDO_UPLOAD_IN_PROGRESS: |
|
246 |
break; |
|
247 |
} |
|
236
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248 |
}else if(MasterSyncCount % 10 == 0){ |
0 | 249 |
readNetworkDict ( |
250 |
&TestMaster_Data, |
|
201 | 251 |
0x02, |
0 | 252 |
0x2002, |
253 |
0x00, |
|
254 |
0); |
|
255 |
waiting_answer = 1; |
|
256 |
} |
|
236
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257 |
#endif |
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258 |
if(MasterSyncCount % 17 == 0){ |
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259 |
eprintf("Master : Ask RTR PDO (0x1402)\n"); |
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260 |
sendPDOrequest(&TestMaster_Data, 0x1402 ); |
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261 |
sendPDOrequest(&TestMaster_Data, 0x1403 ); |
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262 |
} |
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263 |
if(MasterSyncCount % 50 == 0){ |
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264 |
eprintf("Master : Change slave's transmit type to 0xFF\n"); |
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265 |
UNS8 transmitiontype = 0xFF; |
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266 |
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
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267 |
2, /*UNS8 nodeId*/ |
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268 |
0x1802, /*UNS16 index*/ |
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269 |
0x02, /*UNS16 index*/ |
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270 |
1, /*UNS8 count*/ |
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271 |
0, /*UNS8 dataType*/ |
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272 |
&transmitiontype,/*void *data*/ |
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273 |
CheckSDO); /*SDOCallback_t Callback*/ |
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274 |
} |
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275 |
if(MasterSyncCount % 50 == 25){ |
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276 |
eprintf("Master : Change slave's transmit type to 0x00\n"); |
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277 |
UNS8 transmitiontype = 0x00; |
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278 |
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
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279 |
2, /*UNS8 nodeId*/ |
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280 |
0x1802, /*UNS16 index*/ |
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281 |
0x02, /*UNS16 index*/ |
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282 |
1, /*UNS8 count*/ |
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283 |
0, /*UNS8 dataType*/ |
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284 |
&transmitiontype,/*void *data*/ |
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285 |
CheckSDO); /*SDOCallback_t Callback*/ |
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286 |
} |
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287 |
MasterSyncCount++; |
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288 |
} |