examples/TestMasterSlave/Master.c
author etisserant
Mon, 02 Apr 2007 14:41:37 +0200
changeset 133 50b09081e9da
parent 0 4472ee7c6c3e
child 149 fe50ada8020b
permissions -rw-r--r--
file cancfg.h.head was initially added on branch BRANCH_WIN32PORT.
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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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void TestMaster_SDOtimeoutError (UNS8 line)
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{
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	eprintf("TestMaster_SDOtimeoutError %d\n", line);
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}
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/*****************************************************************************/
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// CanSend store message in a FIFO, for Slave
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UNS8 TestMaster_canSend(Message *m)
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{
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	eprintf("M->S ");
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	print_message(m);
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	canSend(MasterCanHandle, m);
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	return 0;
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}
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void TestMaster_initialisation()
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{
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	eprintf("TestMaster_initialisation\n");
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}
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void TestMaster_preOperational()
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{
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	eprintf("TestMaster_preOperational\n");
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}
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void TestMaster_operational()
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{
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	eprintf("TestMaster_operational\n");
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}
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void TestMaster_stopped()
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{
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	eprintf("TestMaster_stopped\n");
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}
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void TestMaster_post_sync()
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{
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	eprintf("TestMaster_post_sync\n");
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	eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);
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}
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char query_result = 0;
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char waiting_answer = 0;
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void TestMaster_post_TPDO()
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{
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	eprintf("TestMaster_post_TPDO\n");
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//	{
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//		char zero = 0;
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//		if(MasterMap4 > 0x80){
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//			writeNetworkDict (
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//				&TestMaster_Data,
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//				TestSlave_Data->bDeviceNodeId,
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//				0x2002,
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//				0x00,
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//				1,
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//				0,
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//				&zero); 
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//		}
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//	}
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	if(waiting_answer){
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		UNS32 abortCode;			
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		UNS8 size;			
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		switch(getReadResultNetworkDict (
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			&TestMaster_Data, 
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			*TestSlave_Data.bDeviceNodeId,
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			&query_result,
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			&size,
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			&abortCode))
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		{
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			case SDO_FINISHED:
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				/* Do something with result here !!*/
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				eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
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			case SDO_ABORTED_RCV:
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			case SDO_ABORTED_INTERNAL:
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			case SDO_RESET:
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				waiting_answer = 0;
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				closeSDOtransfer(
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					&TestMaster_Data,
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					*TestSlave_Data.	bDeviceNodeId,
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					SDO_CLIENT);
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			break;
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			case SDO_DOWNLOAD_IN_PROGRESS:
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			case SDO_UPLOAD_IN_PROGRESS:
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			break;
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		}
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	}else if(MasterMap1 % 10 == 0){
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		readNetworkDict (
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			&TestMaster_Data,
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			*TestSlave_Data.bDeviceNodeId,
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			0x2002,
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			0x00,
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			0);
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		waiting_answer = 1;
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	}
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}