examples/DS401_Master/TestMasterMicroMod.c
author greg
Tue, 19 Feb 2008 14:53:59 +0100
changeset 403 57d5da3b6228
parent 378 d2abf6c8c27b
child 454 bc000083297a
permissions -rw-r--r--
add changes in configure to force xeno --library-dir
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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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#if defined(WIN32) && !defined(__CYGWIN__)
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#include <windows.h>
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#include "getopt.h"
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void pause(void)
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{
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	system("PAUSE");
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}
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#else
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <signal.h>
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#endif
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#include "canfestival.h"
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#include "TestMasterMicroMod.h"
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#include "TestMaster.h"
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UNS8 slavenodeid;
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/*****************************************************************************/
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void TestMaster_heartbeatError(CO_Data* d, 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 0x40
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 *  - setup master TPDO 1 to send RPDO 1 to id 0x40
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 ********************************************************/
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void TestMaster_initialisation(CO_Data* d)
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{
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	UNS32 PDO1_COBID = 0x0180 + slavenodeid; 
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	UNS32 PDO2_COBID = 0x0200 + slavenodeid;
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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=0x40 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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	/*****************************************
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	 * Define TPDOs to match slave ID=0x40 RPDOs*
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	 *****************************************/
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	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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			0x1800, /*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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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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 *  - setup slave Heartbeat Producer 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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	UNS8 res;
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	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
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	printf("nodeid slave=%x\n",nodeId);
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	switch(++init_step){
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		case 1: 
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		{	/*disable Slave's TPDO 1 */
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			UNS32 TPDO_COBId = 0x80000180 + nodeId;
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			eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1800, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   142
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   143
		case 2: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
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   144
		{	/*setup Slave's TPDO 1 to be transmitted on SYNC*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   145
			UNS8 Transmission_Type = 0x01;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   146
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
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   147
			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   148
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   149
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   150
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   151
					0x1800, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   152
					0x02, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   153
					1, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   154
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   155
					&Transmission_Type,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   156
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   157
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   158
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   159
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   160
		case 3: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   161
		{	/*re-enable Slave's TPDO 1 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   162
			UNS32 TPDO_COBId = 0x00000180 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   163
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
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   164
			eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   165
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   166
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   167
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   168
					0x1800, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   169
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   170
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   171
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   172
					&TPDO_COBId,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   173
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   174
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   175
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   176
					
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   177
		case 4: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   178
		{	/*disable Slave's TPDO 2 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   179
			UNS32 TPDO_COBId = 0x80000200 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   180
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
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   181
			eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   182
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   183
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   184
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   185
					0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   186
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   187
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   188
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   189
					&TPDO_COBId,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   190
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   191
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   192
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   193
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   194
					
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   195
		case 5:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   196
		{	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   197
			UNS8 Transmission_Type = 0x01;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   198
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   199
			eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   200
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   201
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   202
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   203
					0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   204
					0x02, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   205
					1, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   206
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   207
					&Transmission_Type,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   208
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   209
		}	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   210
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   211
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   212
		case 6: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   213
		{	/*re-enable Slave's TPDO 1 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   214
			UNS32 TPDO_COBId = 0x00000200 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   215
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   216
			eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   217
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   218
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   219
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   220
					0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   221
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   222
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   223
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   224
					&TPDO_COBId,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   225
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   226
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   227
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   228
		
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   229
		case 7:	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   230
		{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   231
			UNS16 Heartbeat_Producer_Time = 0x03E8; 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   232
			eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   233
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   234
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   235
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   236
					0x1017, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   237
					0x00, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   238
					2, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   239
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   240
					&Heartbeat_Producer_Time,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   241
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   242
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   243
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   244
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   245
		case 8: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   246
		{	/*disable Slave's TPDO 2 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   247
			UNS32 TPDO_COBId = 0x80000280 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   248
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   249
			eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   250
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   251
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   252
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   253
					0x1801, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   254
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   255
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   256
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   257
					&TPDO_COBId,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   258
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   259
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   260
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   261
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   262
		case 9: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   263
		{	/*disable Slave's TPDO 3 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   264
			UNS32 TPDO_COBId = 0x80000380 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   265
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   266
			eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   267
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   268
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   269
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   270
					0x1802, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   271
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   272
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   273
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   274
					&TPDO_COBId,/*void *data*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   275
					CheckSDOAndContinue); /*SDOCallback_t Callback*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   276
		}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   277
		break;			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   278
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		case 10: 
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		{	/*disable Slave's TPDO 2 */
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			UNS32 TPDO_COBId = 0x80000480 + nodeId;
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			eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
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					nodeId, /*UNS8 nodeId*/
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					0x1803, /*UNS16 index*/
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					0x01, /*UNS8 subindex*/
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					4, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&TPDO_COBId,/*void *data*/
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					CheckSDOAndContinue); /*SDOCallback_t Callback*/
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		}			
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		break;			
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		case 11:
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			/* Put the master in operational mode */
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			setState(d, Operational);
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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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}
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378
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void TestMaster_preOperational(CO_Data* d)
246
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{
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   308
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	eprintf("TestMaster_preOperational\n");
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	ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
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}
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378
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void TestMaster_operational(CO_Data* d)
246
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{
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	eprintf("TestMaster_operational\n");
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}
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378
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void TestMaster_stopped(CO_Data* d)
246
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{
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   321
	eprintf("TestMaster_stopped\n");
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   322
}
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378
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void TestMaster_post_sync(CO_Data* d)
246
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{
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	DO++;
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   327
	
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   328
	AO1 = AI1 / 2;
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   329
	AO2 = AI2 / 2;
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   330
	AO3 = AI3 / 2;
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   331
	AO4 = AI4 / 2;
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   332
	eprintf("MicroMod Digital Out: %2.2x\n",DO);
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   333
	eprintf("MicroMod Analogue Out1: %d\n",AO1);
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   334
	eprintf("MicroMod Analogue Out2: %d\n",AO2);
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   335
	eprintf("MicroMod Analogue Out3: %d\n",AO3);
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   336
	eprintf("MicroMod Analogue Out4: %d\n",AO4);
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   337
	eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
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   338
	eprintf("MicroMod Analogue In1: %d\n", AI1);
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   339
	eprintf("MicroMod Analogue In2: %d\n", AI2);
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   340
	eprintf("MicroMod Analogue In3: %d\n", AI3);
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   341
	eprintf("MicroMod Analogue In4: %d\n", AI4);
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   342
	eprintf("MicroMod Analogue In5: %d\n", AI5);
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   343
	eprintf("MicroMod Analogue In6: %d\n", AI6);
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   344
	eprintf("MicroMod Analogue In7: %d\n", AI7);
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   345
	eprintf("MicroMod Analogue In8: %d\n", AI8);
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}
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   347
378
d2abf6c8c27b As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
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   348
void TestMaster_post_TPDO(CO_Data* d)
246
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   349
{
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   350
//	eprintf("TestMaster_post_TPDO\n");	
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   351
}
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   352
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//s_BOARD SlaveBoard = {"0", "500K"};
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s_BOARD MasterBoard = {"32", "125K"};
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   355
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   356
#if !defined(WIN32) || defined(__CYGWIN__)
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   357
void catch_signal(int sig)
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   358
{
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   359
  signal(SIGTERM, catch_signal);
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   360
  signal(SIGINT, catch_signal);
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parents:
diff changeset
   361
  
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   362
  eprintf("Got Signal %d\n",sig);
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diff changeset
   363
}
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   364
#endif
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   365
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   366
void help()
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   367
{
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   368
  printf("**************************************************************\n");
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   369
  printf("*  TestMasterMicroMod                                        *\n");
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   370
  printf("*                                                            *\n");
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   371
  printf("*  A simple example for PC.                                  *\n");
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   372
  printf("*  A CanOpen master that control a MicroMod module:          *\n");
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   373
  printf("*  - setup module TPDO 1 transmit type                       *\n");
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   374
  printf("*  - setup module RPDO 1 transmit type                       *\n");
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   375
  printf("*  - setup module hearbeatbeat period                        *\n");
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   376
  printf("*  - disable others TPDOs                                    *\n");
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   377
  printf("*  - set state to operational                                *\n");
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   378
  printf("*  - send periodic SYNC                                      *\n");
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   379
  printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
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parents:
diff changeset
   380
  printf("*  - listen Micromod's TPDO 1 (digital input)                *\n");
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   381
  printf("*  - Mapping RPDO 1 bit per bit (digital input)              *\n");
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   382
  printf("*                                                            *\n");
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parents:
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   383
  printf("*   Usage:                                                   *\n");
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etisserant
parents:
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   384
  printf("*   ./TestMasterMicroMod  [OPTIONS]                          *\n");
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   385
  printf("*                                                            *\n");
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etisserant
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   386
  printf("*   OPTIONS:                                                 *\n");
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parents:
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   387
  printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
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parents:
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   388
  printf("*                                                            *\n");
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parents:
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   389
  printf("*    Slave:                                                  *\n");
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parents:
diff changeset
   390
  printf("*     -i : Slave Node id format [0x01 , 0x7F]                *\n");
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parents:
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   391
  printf("*                                                            *\n");
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etisserant
parents:
diff changeset
   392
  printf("*    Master:                                                 *\n");
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etisserant
parents:
diff changeset
   393
  printf("*     -m : bus name [\"1\"]                                    *\n");
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parents:
diff changeset
   394
  printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *\n");
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parents:
diff changeset
   395
  printf("*                                                            *\n");
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etisserant
parents:
diff changeset
   396
  printf("**************************************************************\n");
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parents:
diff changeset
   397
}
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etisserant
parents:
diff changeset
   398
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etisserant
parents:
diff changeset
   399
/***************************  INIT  *****************************************/
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   400
void InitNodes(CO_Data* d, UNS32 id)
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etisserant
parents:
diff changeset
   401
{
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etisserant
parents:
diff changeset
   402
	/****************************** INITIALISATION MASTER *******************************/
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etisserant
parents:
diff changeset
   403
	if(MasterBoard.baudrate){
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   404
		/* Defining the node Id */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   405
		//setNodeId(&TestMaster_Data, 0x01);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   406
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   407
		/* init */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   408
		setState(&TestMaster_Data, Initialisation);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   409
	}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   410
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   411
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   412
/****************************************************************************/
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etisserant
parents:
diff changeset
   413
/***************************  MAIN  *****************************************/
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etisserant
parents:
diff changeset
   414
/****************************************************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   415
int main(int argc,char **argv)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   416
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   417
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   418
  int c;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   419
  extern char *optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   420
  char* LibraryPath="libcanfestival_can_virtual.so";
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   421
  char *snodeid;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   422
  while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   423
  {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   424
    switch(c)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   425
    {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   426
      case 'm' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   427
        if (optarg[0] == 0)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   428
        {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   429
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   430
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   431
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   432
        MasterBoard.busname = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   433
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   434
      case 'M' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   435
        if (optarg[0] == 0)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   436
        {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   437
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   438
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   439
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   440
        MasterBoard.baudrate = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   441
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   442
      case 'l' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   443
        if (optarg[0] == 0)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   444
        {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   445
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   446
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   447
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   448
        LibraryPath = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   449
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   450
      case 'i' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   451
        if (optarg[0] == 0)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   452
        {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   453
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   454
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   455
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   456
        snodeid = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   457
		sscanf(snodeid,"%x",&slavenodeid);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   458
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   459
      default:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   460
        help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   461
        exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   462
    }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   463
  }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   464
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   465
#if !defined(WIN32) || defined(__CYGWIN__)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   466
  /* install signal handler for manual break */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   467
	signal(SIGTERM, catch_signal);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   468
	signal(SIGINT, catch_signal);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   469
#endif
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   470
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   471
#ifndef NOT_USE_DYNAMIC_LOADING
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   472
	LoadCanDriver(LibraryPath);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   473
#endif		
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   474
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   475
	TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   476
	TestMaster_Data.initialisation = TestMaster_initialisation;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   477
	TestMaster_Data.preOperational = TestMaster_preOperational;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   478
	TestMaster_Data.operational = TestMaster_operational;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   479
	TestMaster_Data.stopped = TestMaster_stopped;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   480
	TestMaster_Data.post_sync = TestMaster_post_sync;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   481
	TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   482
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   483
	if(!canOpen(&MasterBoard,&TestMaster_Data)){
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   484
		eprintf("Cannot open Master Board\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   485
		goto fail_master;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   486
	}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   487
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   488
	// Start timer thread
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   489
	StartTimerLoop(&InitNodes);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   490
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   491
	// wait Ctrl-C
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   492
	pause();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   493
	eprintf("Finishing.\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   494
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   495
	// Reset the slave node for next use (will stop emitting heartbeat)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   496
	masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   497
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   498
	// Stop master
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   499
	setState(&TestMaster_Data, Stopped);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   500
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   501
	// Stop timer thread
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   502
	StopTimerLoop();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   503
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   504
fail_master:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   505
	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   506
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   507
  return 0;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   508
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   509
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   510