examples/DS401_Master/TestMasterMicroMod.c
author Edouard Tisserant
Sat, 12 Oct 2013 09:09:04 +0900
changeset 788 6121ebff4da6
parent 670 e37511baf56b
permissions -rw-r--r--
Merge changes from bitbucket.org/HMSFAE/canfestival_ixxat
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     1
/*
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     2
This file is part of CanFestival, a library implementing CanOpen Stack. 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     3
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     4
Copyright (C): Edouard TISSERANT and Francis DUPIN
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     5
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     6
See COPYING file for copyrights details.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     7
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     8
This library is free software; you can redistribute it and/or
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
     9
modify it under the terms of the GNU Lesser General Public
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    10
License as published by the Free Software Foundation; either
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    11
version 2.1 of the License, or (at your option) any later version.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    12
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    13
This library is distributed in the hope that it will be useful,
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    14
but WITHOUT ANY WARRANTY; without even the implied warranty of
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    16
Lesser General Public License for more details.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    17
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    18
You should have received a copy of the GNU Lesser General Public
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    19
License along with this library; if not, write to the Free Software
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    20
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    21
*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    22
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    23
#if defined(WIN32) && !defined(__CYGWIN__)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    24
#include <windows.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    25
#include "getopt.h"
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    26
void pause(void)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    27
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    28
	system("PAUSE");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    29
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    30
#else
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    31
#include <unistd.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    32
#include <stdio.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    33
#include <string.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    34
#include <stdlib.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    35
#include <signal.h>
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    36
#endif
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    37
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    38
#include "canfestival.h"
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    39
#include "TestMasterMicroMod.h"
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    40
#include "TestMaster.h"
540
6857b6ffb7a7 Removed some warnings.
etisserant
parents: 454
diff changeset
    41
unsigned int slavenodeid;
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    42
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    43
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    44
/*****************************************************************************/
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.
etisserant
parents: 246
diff changeset
    45
void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    46
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    47
	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    48
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    49
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    50
/********************************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    51
 * ConfigureSlaveNode is responsible to
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    52
 *  - setup master RPDO 1 to receive TPDO 1 from id 0x40
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    53
 *  - setup master TPDO 1 to send RPDO 1 to id 0x40
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    54
 ********************************************************/
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.
etisserant
parents: 246
diff changeset
    55
void TestMaster_initialisation(CO_Data* d)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    56
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    57
	UNS32 PDO1_COBID = 0x0180 + slavenodeid; 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    58
	UNS32 PDO2_COBID = 0x0200 + slavenodeid;
540
6857b6ffb7a7 Removed some warnings.
etisserant
parents: 454
diff changeset
    59
	UNS32 size = sizeof(UNS32); 
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    60
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    61
	eprintf("TestMaster_initialisation\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    62
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    63
	/*****************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    64
	 * Define RPDOs to match slave ID=0x40 TPDOs*
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    65
	 *****************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    66
	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    67
			0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    68
			0x01, /*UNS8 subind*/ 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    69
			&PDO1_COBID, /*void * pSourceData,*/ 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    70
			&size, /* UNS8 * pExpectedSize*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    71
			RW);  /* UNS8 checkAccess */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    72
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    73
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    74
	/*****************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    75
	 * Define TPDOs to match slave ID=0x40 RPDOs*
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    76
	 *****************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    77
	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    78
			0x1800, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    79
			0x01, /*UNS8 subind*/ 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    80
			&PDO2_COBID, /*void * pSourceData,*/ 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    81
			&size, /* UNS8 * pExpectedSize*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    82
			RW);  /* UNS8 checkAccess */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    83
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    84
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
    85
static int init_step = 0;
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    86
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    87
/*Froward declaration*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    88
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    89
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    90
/**/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    91
static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    92
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    93
	UNS32 abortCode;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    94
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    95
	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    96
		eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    97
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    98
	/* Finalise last SDO transfer with this node */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
    99
	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   100
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   101
	ConfigureSlaveNode(d, nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   102
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   103
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   104
/********************************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   105
 * ConfigureSlaveNode is responsible to
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   106
 *  - setup slave TPDO 1 transmit time
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   107
 *  - setup slave TPDO 2 transmit time
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   108
 *  - setup slave Heartbeat Producer time
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   109
 *  - switch to operational mode
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   110
 *  - send NMT to slave
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   111
 ********************************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   112
 * This an example of :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   113
 * Network Dictionary Access (SDO) with Callback 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   114
 * Slave node state change request (NMT) 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   115
 ********************************************************
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   116
 * This is called first by TestMaster_preOperational
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   117
 * then it called again each time a SDO exchange is
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   118
 * finished.
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   119
 ********************************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   120
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   121
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   122
	UNS8 res;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   123
	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   124
	printf("nodeid slave=%x\n",nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   125
	switch(++init_step){
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   126
		case 1: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   127
		{	/*disable Slave's TPDO 1 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   128
			UNS32 TPDO_COBId = 0x80000180 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   129
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   130
			eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   131
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   132
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   133
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   134
					0x1800, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   135
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   136
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   137
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   138
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   139
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   140
                    0); /* use block mode */
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   141
        }			
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   142
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   143
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   144
		case 2: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   145
		{	/*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
   146
			UNS8 Transmission_Type = 0x01;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   147
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   148
			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
   149
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   150
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   151
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   152
					0x1800, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   153
					0x02, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   154
					1, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   155
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   156
					&Transmission_Type,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   157
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   158
                    0); /* use block mode */
246
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
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   161
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   162
		case 3: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   163
		{	/*re-enable Slave's TPDO 1 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   164
			UNS32 TPDO_COBId = 0x00000180 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   165
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   166
			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
   167
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   168
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   169
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   170
					0x1800, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   171
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   172
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   173
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   174
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   175
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   176
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   177
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   178
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   179
					
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   180
		case 4: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   181
		{	/*disable Slave's TPDO 2 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   182
			UNS32 TPDO_COBId = 0x80000200 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   183
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   184
			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
   185
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   186
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   187
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   188
					0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   189
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   190
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   191
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   192
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   193
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   194
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   195
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   196
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   197
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
		case 5:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   200
		{	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   201
			UNS8 Transmission_Type = 0x01;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   202
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   203
			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
   204
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   205
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   206
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   207
					0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   208
					0x02, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   209
					1, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   210
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   211
					&Transmission_Type,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   212
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   213
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   214
		}	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   215
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   216
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   217
		case 6: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   218
		{	/*re-enable Slave's TPDO 1 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   219
			UNS32 TPDO_COBId = 0x00000200 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   220
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   221
			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
   222
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   223
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   224
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   225
					0x1400, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   226
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   227
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   228
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   229
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   230
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   231
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   232
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   233
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   234
		
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   235
		case 7:	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   236
		{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   237
			UNS16 Heartbeat_Producer_Time = 0x03E8; 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   238
			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
   239
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   240
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   241
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   242
					0x1017, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   243
					0x00, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   244
					2, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   245
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   246
					&Heartbeat_Producer_Time,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   247
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   248
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   249
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   250
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   251
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   252
		case 8: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   253
		{	/*disable Slave's TPDO 2 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   254
			UNS32 TPDO_COBId = 0x80000280 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   255
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   256
			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
   257
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   258
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   259
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   260
					0x1801, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   261
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   262
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   263
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   264
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   265
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   266
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   267
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   268
		break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   269
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   270
		case 9: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   271
		{	/*disable Slave's TPDO 3 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   272
			UNS32 TPDO_COBId = 0x80000380 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   273
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   274
			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
   275
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   276
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   277
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   278
					0x1802, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   279
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   280
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   281
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   282
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   283
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   284
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   285
		}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   286
		break;			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   287
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   288
		case 10: 
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   289
		{	/*disable Slave's TPDO 2 */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   290
			UNS32 TPDO_COBId = 0x80000480 + nodeId;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   291
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   292
			eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   293
			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   294
					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   295
					nodeId, /*UNS8 nodeId*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   296
					0x1803, /*UNS16 index*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   297
					0x01, /*UNS8 subindex*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   298
					4, /*UNS8 count*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   299
					0, /*UNS8 dataType*/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   300
					&TPDO_COBId,/*void *data*/
670
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   301
					CheckSDOAndContinue, /*SDOCallback_t Callback*/
e37511baf56b New feature : event timers allowed for RxPDOs (subidx 5 in RxPDO com paramaters)
Mongo
parents: 540
diff changeset
   302
                    0); /* use block mode */
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   303
		}			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   304
		break;			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   305
		
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   306
		case 11:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   307
			/* Put the master in operational mode */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   308
			setState(d, Operational);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   309
			  
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   310
			/* Ask slave node to go in operational mode */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   311
			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   312
	}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   313
			
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   314
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   315
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.
etisserant
parents: 246
diff changeset
   316
void TestMaster_preOperational(CO_Data* d)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   317
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   318
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   319
	eprintf("TestMaster_preOperational\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   320
	ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   321
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   322
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   323
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.
etisserant
parents: 246
diff changeset
   324
void TestMaster_operational(CO_Data* d)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   325
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   326
	eprintf("TestMaster_operational\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   327
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   328
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.
etisserant
parents: 246
diff changeset
   329
void TestMaster_stopped(CO_Data* d)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   330
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   331
	eprintf("TestMaster_stopped\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   332
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   333
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.
etisserant
parents: 246
diff changeset
   334
void TestMaster_post_sync(CO_Data* d)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   335
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   336
	DO++;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   337
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   338
	AO1 = AI1 / 2;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   339
	AO2 = AI2 / 2;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   340
	AO3 = AI3 / 2;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   341
	AO4 = AI4 / 2;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   342
	eprintf("MicroMod Digital Out: %2.2x\n",DO);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   343
	eprintf("MicroMod Analogue Out1: %d\n",AO1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   344
	eprintf("MicroMod Analogue Out2: %d\n",AO2);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   345
	eprintf("MicroMod Analogue Out3: %d\n",AO3);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   346
	eprintf("MicroMod Analogue Out4: %d\n",AO4);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   347
	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);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   348
	eprintf("MicroMod Analogue In1: %d\n", AI1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   349
	eprintf("MicroMod Analogue In2: %d\n", AI2);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   350
	eprintf("MicroMod Analogue In3: %d\n", AI3);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   351
	eprintf("MicroMod Analogue In4: %d\n", AI4);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   352
	eprintf("MicroMod Analogue In5: %d\n", AI5);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   353
	eprintf("MicroMod Analogue In6: %d\n", AI6);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   354
	eprintf("MicroMod Analogue In7: %d\n", AI7);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   355
	eprintf("MicroMod Analogue In8: %d\n", AI8);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   356
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   357
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.
etisserant
parents: 246
diff changeset
   358
void TestMaster_post_TPDO(CO_Data* d)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   359
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   360
//	eprintf("TestMaster_post_TPDO\n");	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   361
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   362
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   363
//s_BOARD SlaveBoard = {"0", "500K"};
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   364
s_BOARD MasterBoard = {"32", "125K"};
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   365
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   366
#if !defined(WIN32) || defined(__CYGWIN__)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   367
void catch_signal(int sig)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   368
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   369
  signal(SIGTERM, catch_signal);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   370
  signal(SIGINT, catch_signal);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   371
  
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   372
  eprintf("Got Signal %d\n",sig);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   373
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   374
#endif
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   375
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   376
void help(void)
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   377
{
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   378
  printf("**************************************************************\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   379
  printf("*  TestMasterMicroMod                                        *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   380
  printf("*                                                            *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   381
  printf("*  A simple example for PC.                                  *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   382
  printf("*  A CanOpen master that control a MicroMod module:          *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   383
  printf("*  - setup module TPDO 1 transmit type                       *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   384
  printf("*  - setup module RPDO 1 transmit type                       *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   385
  printf("*  - setup module hearbeatbeat period                        *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   386
  printf("*  - disable others TPDOs                                    *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   387
  printf("*  - set state to operational                                *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   388
  printf("*  - send periodic SYNC                                      *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   389
  printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   390
  printf("*  - listen Micromod's TPDO 1 (digital input)                *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   391
  printf("*  - Mapping RPDO 1 bit per bit (digital input)              *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   392
  printf("*                                                            *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   393
  printf("*   Usage:                                                   *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   394
  printf("*   ./TestMasterMicroMod  [OPTIONS]                          *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   395
  printf("*                                                            *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   396
  printf("*   OPTIONS:                                                 *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   397
  printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   398
  printf("*                                                            *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   399
  printf("*    Slave:                                                  *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   400
  printf("*     -i : Slave Node id format [0x01 , 0x7F]                *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   401
  printf("*                                                            *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   402
  printf("*    Master:                                                 *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   403
  printf("*     -m : bus name [\"1\"]                                    *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   404
  printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   405
  printf("*                                                            *\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   406
  printf("**************************************************************\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   407
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   408
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   409
/***************************  INIT  *****************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   410
void InitNodes(CO_Data* d, UNS32 id)
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
	/****************************** INITIALISATION MASTER *******************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   413
	if(MasterBoard.baudrate){
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   414
		/* Defining the node Id */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   415
		//setNodeId(&TestMaster_Data, 0x01);
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
		/* init */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   418
		setState(&TestMaster_Data, Initialisation);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   419
	}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   420
}
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   421
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   422
/***************************  EXIT  *****************************************/
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   423
void Exit(CO_Data* d, UNS32 id)
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   424
{
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   425
	masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   426
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   427
    //Stop master
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   428
	setState(&TestMaster_Data, Stopped);
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   429
}
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   430
246
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
/***************************  MAIN  *****************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   433
/****************************************************************************/
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   434
int main(int argc,char **argv)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   435
{
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
  int c;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   438
  extern char *optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   439
  char* LibraryPath="libcanfestival_can_virtual.so";
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   440
  char *snodeid;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   441
  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
   442
  {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   443
    switch(c)
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
      case 'm' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   446
        if (optarg[0] == 0)
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
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   449
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   450
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   451
        MasterBoard.busname = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   452
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   453
      case 'M' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   454
        if (optarg[0] == 0)
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
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   457
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   458
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   459
        MasterBoard.baudrate = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   460
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   461
      case 'l' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   462
        if (optarg[0] == 0)
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
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   465
          exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   466
        }
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   467
        LibraryPath = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   468
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   469
      case 'i' :
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   470
        if (optarg[0] == 0)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   471
        {
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   472
          help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   473
          exit(1);
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
        snodeid = optarg;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   476
		sscanf(snodeid,"%x",&slavenodeid);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   477
        break;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   478
      default:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   479
        help();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   480
        exit(1);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   481
    }
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
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   484
#if !defined(WIN32) || defined(__CYGWIN__)
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   485
  /* install signal handler for manual break */
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   486
	signal(SIGTERM, catch_signal);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   487
	signal(SIGINT, catch_signal);
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   488
	TimerInit();
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   489
#endif
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
#ifndef NOT_USE_DYNAMIC_LOADING
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   492
	LoadCanDriver(LibraryPath);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   493
#endif		
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
	TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   496
	TestMaster_Data.initialisation = TestMaster_initialisation;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   497
	TestMaster_Data.preOperational = TestMaster_preOperational;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   498
	TestMaster_Data.operational = TestMaster_operational;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   499
	TestMaster_Data.stopped = TestMaster_stopped;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   500
	TestMaster_Data.post_sync = TestMaster_post_sync;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   501
	TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   502
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   503
	if(!canOpen(&MasterBoard,&TestMaster_Data)){
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   504
		eprintf("Cannot open Master Board\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   505
		goto fail_master;
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
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   508
	// Start timer thread
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   509
	StartTimerLoop(&InitNodes);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   510
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   511
	// wait Ctrl-C
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   512
	pause();
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   513
	eprintf("Finishing.\n");
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   514
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   515
	// 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
   516
	masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   517
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   518
	// Stop master
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   519
	setState(&TestMaster_Data, Stopped);
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   520
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   521
	// Stop timer thread
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   522
	StopTimerLoop(&Exit);
246
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   523
	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   524
fail_master:
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   525
	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
d635cfc520ee Added contribution from Nicolas GRANDEMANGE. DS-401 slave GUI based on wxwidget.
etisserant
parents:
diff changeset
   526
454
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   527
	TimerCleanup();
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   528
  	return 0;
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   529
}
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   530
bc000083297a - add RTAI support
greg
parents: 378
diff changeset
   531