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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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#include "Slave.h"

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#include "Master.h"

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#include "TestMasterSlave.h"

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#include "can_driver.h"

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extern s_BOARD SlaveBoard;

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/*****************************************************************************/

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void TestSlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)

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{

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	eprintf("TestSlave_heartbeatError %d\n", heartbeatID);

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}

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void TestSlave_initialisation(CO_Data* d)

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{

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	eprintf("TestSlave_initialisation\n");

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}

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void TestSlave_preOperational(CO_Data* d)

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{

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	eprintf("TestSlave_preOperational\n");

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}

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void TestSlave_operational(CO_Data* d)

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{

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	eprintf("TestSlave_operational\n");

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}

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void TestSlave_stopped(CO_Data* d)

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{

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	eprintf("TestSlave_stopped\n");

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}

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void TestSlave_post_sync(CO_Data* d)

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{

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      eprintf("TestSlave_post_sync\n");

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      SlaveMap1=1;

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      SlaveMap2=1;

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      SlaveMap3=0;

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      SlaveMap4=0;

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      SlaveMap5=1;

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      SlaveMap6=0;

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      SlaveMap7=1;

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      SlaveMap8=0;

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      SlaveMap9=16;

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      SlaveMap10 = 0xff00ff00;

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      SlaveMap11 = 0xabcd;

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      SlaveMap12 += SlaveMap12 > 0x80 ? 0 : 1;

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      eprintf("Slave: %d %d %d %d %d %d %d %d %d %x %x %d %d \n",

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      	SlaveMap1, 

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      	SlaveMap2, 

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      	SlaveMap3, 

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      	SlaveMap4, 

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      	SlaveMap5, 

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      	SlaveMap6, 

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      	SlaveMap7, 

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      	SlaveMap8, 

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      	SlaveMap9, 

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      	SlaveMap10,

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      	SlaveMap11, 

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      	SlaveMap12,

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      	SlaveMap13);

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}

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void TestSlave_post_TPDO(CO_Data* d)

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{

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        SlaveMap13 += 1;

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	eprintf("TestSlave_post_TPDO\n");

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	/* send an error and recover inmediately every 12 cycles */

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	if(SlaveMap13 % 12 == 0)

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	{

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		EMCY_setError(&TestSlave_Data, 0x4200, 0x08, 0x0000);

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		EMCY_errorRecovered(&TestSlave_Data, 0x4200);

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	}

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}

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void TestSlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)

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{

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	/*TODO : 

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	 * - call getODEntry for index and subindex, 

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	 * - save content to file, database, flash, nvram, ...

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	 * 

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	 * To ease flash organisation, index of variable to store

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	 * can be established by scanning d->objdict[d->ObjdictSize]

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	 * for variables to store.

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	 * 

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	 * */

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	eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex,  bSubindex);

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}

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void TestSlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)

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{

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	eprintf("Slave received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);

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}