examples/TestMasterSlave/TestMasterSlave.c
author Edouard Tisserant
Sat, 12 Oct 2013 09:09:04 +0900
changeset 788 6121ebff4da6
parent 629 b9274b595650
permissions -rw-r--r--
Merge changes from bitbucket.org/HMSFAE/canfestival_ixxat
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack. 
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#if defined(WIN32) && !defined(__CYGWIN__)
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#include <windows.h>
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#include "getopt.h"
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void pause(void)
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{
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	system("PAUSE");
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}
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#else
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <signal.h>
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#endif
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#include "canfestival.h"
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//#include <can_driver.h>
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//#include <timers_driver.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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UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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	eprintf("OnMasterMap1Update:%d\n", MasterMap1);
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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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#if !defined(WIN32) || defined(__CYGWIN__)
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void catch_signal(int sig)
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{
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  signal(SIGTERM, catch_signal);
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  signal(SIGINT, catch_signal);
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  eprintf("Got Signal %d\n",sig);
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}
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#endif
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void help(void)
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{
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  printf("**************************************************************\n");
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  printf("*  TestMasterSlave                                           *\n");
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  printf("*                                                            *\n");
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  printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
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  printf("*  nodes in the same process. A master and a slave. Both     *\n");
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  printf("*  communicate together, exchanging periodically NMT, SYNC,  *\n");
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  printf("*  SDO and PDO. Master configure heartbeat producer time     *\n");
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  printf("*  at 1000 ms for slave node-id 0x02 by concise DCF.         *\n");                                  
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  printf("*                                                            *\n");
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  printf("*   Usage:                                                   *\n");
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  printf("*   ./TestMasterSlave  [OPTIONS]                             *\n");
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  printf("*                                                            *\n");
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  printf("*   OPTIONS:                                                 *\n");
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  printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
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  printf("*                                                            *\n");
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  printf("*    Slave:                                                  *\n");
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  printf("*     -s : bus name [\"0\"]                                    *\n");
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  printf("*     -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
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  printf("*                                                            *\n");
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  printf("*    Master:                                                 *\n");
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  printf("*     -m : bus name [\"1\"]                                    *\n");
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  printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\n");
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  printf("*                                                            *\n");
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  printf("**************************************************************\n");
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}
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/***************************  INIT  *****************************************/
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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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		/* init */
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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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		/* init */
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		setState(&TestMaster_Data, Initialisation);
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	}
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}
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/***************************  EXIT  *****************************************/
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void Exit(CO_Data* d, UNS32 id)
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{
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	if(strcmp(MasterBoard.baudrate, "none")){
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		masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);    
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    	//Stop master
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		setState(&TestMaster_Data, Stopped);
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	}
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}
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/****************************************************************************/
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/***************************  MAIN  *****************************************/
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/****************************************************************************/
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int main(int argc,char **argv)
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{
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  int c;
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  extern char *optarg;
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  char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so";
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  while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
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  {
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    switch(c)
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    {
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      case 's' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        SlaveBoard.busname = optarg;
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        break;
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      case 'm' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        MasterBoard.busname = optarg;
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        break;
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      case 'S' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        SlaveBoard.baudrate = optarg;
36
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        break;
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   166
      case 'M' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        MasterBoard.baudrate = optarg;
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        break;
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      case 'l' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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   179
        }
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        LibraryPath = optarg;
36
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        break;
0
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      default:
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        help();
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        exit(1);
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   185
    }
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   186
  }
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   187
145
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   188
#if !defined(WIN32) || defined(__CYGWIN__)
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  /* install signal handler for manual break */
0
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	signal(SIGTERM, catch_signal);
4472ee7c6c3e Commit a new cvs repo.
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   191
	signal(SIGINT, catch_signal);
629
b9274b595650 CosateQ contribution.
edouard
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   192
#endif
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   193
	// Also Windows needs to initialize the Timer!
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edouard
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	// Moving this line into the ifndef leads to a lethal crash!
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	TimerInit();
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   196
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#ifndef NOT_USE_DYNAMIC_LOADING
331
da55aa2f9e64 Minor changes, mostly PCAN/windows related.
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   198
	if (LoadCanDriver(LibraryPath) == NULL)
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   199
	    printf("Unable to load library: %s\n",LibraryPath);
145
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   200
#endif		
0
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	// Open CAN devices
179
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
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   202
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
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   203
	if(strcmp(SlaveBoard.baudrate, "none")){
149
fe50ada8020b Changes in the API:
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diff changeset
   204
		
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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;
fe50ada8020b Changes in the API:
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   208
		TestSlave_Data.operational = TestSlave_operational;
fe50ada8020b Changes in the API:
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   209
		TestSlave_Data.stopped = TestSlave_stopped;
fe50ada8020b Changes in the API:
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		TestSlave_Data.post_sync = TestSlave_post_sync;
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diff changeset
   211
		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
284
24bf3d692993 Implemented EMCY objects.
luis
parents: 262
diff changeset
   212
		TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
24bf3d692993 Implemented EMCY objects.
luis
parents: 262
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   213
		TestSlave_Data.post_emcy = TestSlave_post_emcy;
149
fe50ada8020b Changes in the API:
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diff changeset
   214
fe50ada8020b Changes in the API:
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diff changeset
   215
		if(!canOpen(&SlaveBoard,&TestSlave_Data)){
145
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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   216
			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
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			goto fail_slave;
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diff changeset
   218
		}
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diff changeset
   219
	}
179
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
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   220
	if(strcmp(MasterBoard.baudrate, "none")){
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   221
		
fe50ada8020b Changes in the API:
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   222
		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
fe50ada8020b Changes in the API:
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   223
		TestMaster_Data.initialisation = TestMaster_initialisation;
fe50ada8020b Changes in the API:
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diff changeset
   224
		TestMaster_Data.preOperational = TestMaster_preOperational;
fe50ada8020b Changes in the API:
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   225
		TestMaster_Data.operational = TestMaster_operational;
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   226
		TestMaster_Data.stopped = TestMaster_stopped;
fe50ada8020b Changes in the API:
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   227
		TestMaster_Data.post_sync = TestMaster_post_sync;
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diff changeset
   228
		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
284
24bf3d692993 Implemented EMCY objects.
luis
parents: 262
diff changeset
   229
		TestMaster_Data.post_emcy = TestMaster_post_emcy;
343
118c1cabd0b0 Primary LSS support, thanks to Jorge Berzosa.
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   230
		TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
149
fe50ada8020b Changes in the API:
etisserant
parents: 145
diff changeset
   231
		
fe50ada8020b Changes in the API:
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   232
		if(!canOpen(&MasterBoard,&TestMaster_Data)){
179
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
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   233
			eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
145
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   234
			goto fail_master;
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diff changeset
   235
		}
e747d2e26af0 Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff changeset
   236
	}
194
90d740ff7c21 Removed dummy sleep.
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parents: 191
diff changeset
   237
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   238
	// Start timer thread
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   239
	StartTimerLoop(&InitNodes);
8afa33692372 SDO callbacks.
etisserant
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diff changeset
   240
8afa33692372 SDO callbacks.
etisserant
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diff changeset
   241
	// wait Ctrl-C
8afa33692372 SDO callbacks.
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   242
	pause();
262
f1c892f3f93c Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents: 194
diff changeset
   243
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   244
	// Stop timer thread
454
bc000083297a - add RTAI support
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diff changeset
   245
	StopTimerLoop(&Exit);
32
8afa33692372 SDO callbacks.
etisserant
parents: 31
diff changeset
   246
	
8afa33692372 SDO callbacks.
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parents: 31
diff changeset
   247
	// Close CAN devices (and can threads)
454
bc000083297a - add RTAI support
greg
parents: 381
diff changeset
   248
	if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);	
bc000083297a - add RTAI support
greg
parents: 381
diff changeset
   249
fail_master:
179
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
greg
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diff changeset
   250
	if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
36
ff3ba4a90548 Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents: 32
diff changeset
   251
fail_slave:
454
bc000083297a - add RTAI support
greg
parents: 381
diff changeset
   252
	TimerCleanup();
179
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
greg
parents: 172
diff changeset
   253
	return 0;
763b6d32c1a6 Master configure slave's heartbeat producer time by concise DCF.
greg
parents: 172
diff changeset
   254
}