examples/kerneltest/TestMasterSlave.c
author greg
Tue, 19 Feb 2008 14:53:59 +0100
changeset 403 57d5da3b6228
parent 391 7802a7d5584f
child 467 40efa79d27dd
permissions -rw-r--r--
add changes in configure to force xeno --library-dir
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#include "canfestival.h"
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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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static UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
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	return 0;
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}
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s_BOARD SlaveBoard = {"0", "125K"};
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s_BOARD MasterBoard = {"1", "125K"};
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/***************************  INIT  *****************************************/
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static void InitNodes(CO_Data* d, UNS32 id)
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{
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	/****************************** INITIALISATION SLAVE *******************************/
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	if(strcmp(SlaveBoard.baudrate, "none")) {
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		setNodeId(&TestSlave_Data, 0x02);
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		setState(&TestSlave_Data, Initialisation);
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	}
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	/****************************** INITIALISATION MASTER *******************************/
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	if(strcmp(MasterBoard.baudrate, "none")){
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 		RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
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		// Defining the node Id
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		setNodeId(&TestMaster_Data, 0x01);
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		setState(&TestMaster_Data, Initialisation);
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	}
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}
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int TestMasterSlave_start (void)
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{
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	if(strcmp(SlaveBoard.baudrate, "none")){
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		TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
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		TestSlave_Data.initialisation = TestSlave_initialisation;
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		TestSlave_Data.preOperational = TestSlave_preOperational;
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		TestSlave_Data.operational = TestSlave_operational;
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		TestSlave_Data.stopped = TestSlave_stopped;
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		TestSlave_Data.post_sync = TestSlave_post_sync;
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		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
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		TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
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		TestSlave_Data.post_emcy = TestSlave_post_emcy;
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		if(!canOpen(&SlaveBoard,&TestSlave_Data)){
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			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
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			return 1;
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		}
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	}
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	if(strcmp(MasterBoard.baudrate, "none")){
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		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
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		TestMaster_Data.initialisation = TestMaster_initialisation;
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		TestMaster_Data.preOperational = TestMaster_preOperational;
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		TestMaster_Data.operational = TestMaster_operational;
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		TestMaster_Data.stopped = TestMaster_stopped;
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		TestMaster_Data.post_sync = TestMaster_post_sync;
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		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
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		TestMaster_Data.post_emcy = TestMaster_post_emcy;
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		TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
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		if(!canOpen(&MasterBoard,&TestMaster_Data)){
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			eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
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			if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
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			return 1;
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		}
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	}
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	// Start timer thread
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	StartTimerLoop(&InitNodes);
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	return 0;
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}
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void TestMasterSlave_stop (void)
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{
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	eprintf("Finishing.\n");
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	EnterMutex();
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	masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
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	LeaveMutex();
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	// Stop master
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	EnterMutex();
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	setState(&TestMaster_Data, Stopped);
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	LeaveMutex();
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	// Stop timer thread
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	StopTimerLoop();
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	// Close CAN devices (and can threads)
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	if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
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	if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
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	eprintf("End.\n");
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}