examples/TestMasterSlave/Master.c
author Robert Lehmann <robert.lehmann@sitec-systems.de>
Tue, 28 Jul 2015 16:36:55 +0200
changeset 793 72e9e1064432
parent 664 a03f0aa7d219
permissions -rw-r--r--
timers_unix: Fix termination problem of WaitReceiveTaskEnd

The function pthread_kill sends the Signal thread and to the own process.
If you use this construct than the application which calls uses the
canfestival api will terminate at the call of canClose. To avoid that
use pthread_cancel instead of pthread_kill. To use the pthread_cancel call
you need to set the cancel ability in the thread function. That means
you need to call pthread_setcancelstate and pthread_setcanceltype.
For the termination of the thread at any time it is important to set the
cancel type to PTHREAD_CANCEL_ASYNCHRONOUS.
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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 "Master.h"
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#include "Slave.h"
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#include "TestMasterSlave.h"
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extern s_BOARD MasterBoard;
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/*****************************************************************************/
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void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
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{
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	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
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}
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/********************************************************
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 * ConfigureSlaveNode is responsible to
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 *  - setup master RPDO 1 to receive TPDO 1 from id 2
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 *  - setup master RPDO 2 to receive TPDO 2 from id 2
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 ********************************************************/
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void TestMaster_initialisation(CO_Data* d)
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{
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	UNS32 PDO1_COBID = 0x0182; 
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	UNS32 PDO2_COBID = 0x0282;
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	UNS32 size = sizeof(UNS32); 
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	UNS32 SINC_cicle=0;
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	UNS8 data_type = 0;
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	eprintf("TestMaster_initialisation\n");
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	/*****************************************
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	 * Define RPDOs to match slave ID=2 TPDOs*
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	 *****************************************/
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	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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			0x1400, /*UNS16 index*/
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			0x01, /*UNS8 subind*/ 
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			&PDO1_COBID, /*void * pSourceData,*/ 
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			&size, /* UNS8 * pExpectedSize*/
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			RW);  /* UNS8 checkAccess */
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	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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			0x1401, /*UNS16 index*/
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			0x01, /*UNS8 subind*/ 
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			&PDO2_COBID, /*void * pSourceData,*/ 
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			&size, /* UNS8 * pExpectedSize*/
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			RW);  /* UNS8 checkAccess */
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}
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// Step counts number of times ConfigureSlaveNode is called
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static int init_step = 0;
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/*Froward declaration*/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
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/**/
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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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{
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	UNS32 abortCode;	
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	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
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		eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
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	/* Finalise last SDO transfer with this node */
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	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
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	ConfigureSlaveNode(d, nodeId);
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}
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/********************************************************
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 * ConfigureSlaveNode is responsible to
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 *  - setup slave TPDO 1 transmit type
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 *  - setup slave TPDO 2 transmit type
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 *  - switch to operational mode
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 *  - send NMT to slave
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 ********************************************************
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 * This an example of :
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 * Network Dictionary Access (SDO) with Callback 
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 * Slave node state change request (NMT) 
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 ********************************************************
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 * This is called first by TestMaster_post_SlaveBootup
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 * then it called again each time a SDO exchange is
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 * finished.
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 ********************************************************/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
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{
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	/* Master configure heartbeat producer time at 1000 ms 
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	 * for slave node-id 0x02 by DCF concise */
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	UNS8 Transmission_Type = 0x01;
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	UNS8 res;
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	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
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	switch(++init_step){
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		case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
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			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
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			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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					nodeId, /*UNS8 nodeId*/
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					0x1800, /*UNS16 index*/
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					0x02, /*UNS8 subindex*/
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					1, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&Transmission_Type,/*void *data*/
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					CheckSDOAndContinue, /*SDOCallback_t Callback*/
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                    0); /* use block mode */
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					break;
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		case 2:	/*Second step*/
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			eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
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			writeNetworkDictCallBack (d, /*CO_Data* d*/
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					nodeId, /*UNS8 nodeId*/
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					0x1801, /*UNS16 index*/
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					0x02, /*UNS16 index*/
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					1, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&Transmission_Type,/*void *data*/
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					CheckSDOAndContinue, /*SDOCallback_t Callback*/
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                    0); /* use block mode */
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					break;
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		case 3: 
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		/****************************** START *******************************/
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			/* Put the master in operational mode */
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			setState(d, Operational);
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			/* Ask slave node to go in operational mode */
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			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
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	}
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}
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void TestMaster_preOperational(CO_Data* d)
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{
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	eprintf("TestMaster_preOperational\n");
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}
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void TestMaster_operational(CO_Data* d)
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{
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	eprintf("TestMaster_operational\n");
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}
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void TestMaster_stopped(CO_Data* d)
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{
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	eprintf("TestMaster_stopped\n");
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}
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void TestMaster_post_sync(CO_Data* d)
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{
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	eprintf("TestMaster_post_sync\n");
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	eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n",
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		MasterMap1,
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		MasterMap2,
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		MasterMap3, 
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		MasterMap4,
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		MasterMap5,
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		MasterMap6,
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		MasterMap7,
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		MasterMap8,
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		MasterMap9,
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		MasterMap10,
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		MasterMap11,
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		MasterMap12,
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		MasterMap13);
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}
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void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
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{
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	eprintf("Master received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
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}
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char query_result = 0;
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char waiting_answer = 0;
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static void CheckSDO(CO_Data* d, UNS8 nodeId)
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{
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	UNS32 abortCode;	
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	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
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		eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode);
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	/* Finalise last SDO transfer with this node */
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	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
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}
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static int MasterSyncCount = 0;
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void TestMaster_post_TPDO(CO_Data* d)
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{
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	eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
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	if(MasterSyncCount % 17 == 0){
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		eprintf("Master : Ask RTR PDO (0x1402)\n");
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		sendPDOrequest(&TestMaster_Data, 0x1402 );
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		sendPDOrequest(&TestMaster_Data, 0x1403 );
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	}
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	if(MasterSyncCount % 50 == 0){
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		UNS8 transmitiontype;
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		eprintf("Master : Change slave's transmit type to 0xFF\n");
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		transmitiontype = 0xFF;
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		writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
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					2, /*UNS8 nodeId*/
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					0x1802, /*UNS16 index*/
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					0x02, /*UNS16 index*/
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					1, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&transmitiontype,/*void *data*/
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					CheckSDO, /*SDOCallback_t Callback*/
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                    0); /* use block mode */
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	}   
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	if(MasterSyncCount % 50 == 25){
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		UNS8 transmitiontype = 0x00;
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		eprintf("Master : Change slave's transmit type to 0x00\n");
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		writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
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					2, /*UNS8 nodeId*/
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					0x1802, /*UNS16 index*/
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					0x02, /*UNS16 index*/
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					1, /*UNS8 count*/
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					0, /*UNS8 dataType*/
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					&transmitiontype,/*void *data*/
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					CheckSDO, /*SDOCallback_t Callback*/
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                    0); /* use block mode */
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	}
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	MasterSyncCount++;
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}
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void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
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{
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	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
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	ConfigureSlaveNode(d, nodeid);
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}