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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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/*****************************************************************************/
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void TestMaster_heartbeatError(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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void TestMaster_SDOtimeoutError (UNS8 line)
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{
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eprintf("TestMaster_SDOtimeoutError %d\n", line);
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}
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/*****************************************************************************/
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// CanSend store message in a FIFO, for Slave
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UNS8 TestMaster_canSend(Message *m)
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{
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eprintf("M->S ");
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print_message(m);
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canSend(MasterCanHandle, m);
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return 0;
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}
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void TestMaster_initialisation()
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{
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eprintf("TestMaster_initialisation\n");
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}
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void TestMaster_preOperational()
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{
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eprintf("TestMaster_preOperational\n");
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}
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void TestMaster_operational()
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{
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eprintf("TestMaster_operational\n");
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}
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void TestMaster_stopped()
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{
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eprintf("TestMaster_stopped\n");
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}
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void TestMaster_post_sync()
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{
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eprintf("TestMaster_post_sync\n");
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eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);
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}
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char query_result = 0;
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char waiting_answer = 0;
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void TestMaster_post_TPDO()
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{
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eprintf("TestMaster_post_TPDO\n");
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// {
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// char zero = 0;
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// if(MasterMap4 > 0x80){
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// writeNetworkDict (
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// &TestMaster_Data,
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// TestSlave_Data->bDeviceNodeId,
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// 0x2002,
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// 0x00,
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// 1,
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// 0,
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// &zero);
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// }
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// }
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if(waiting_answer){
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UNS32 abortCode;
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UNS8 size;
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switch(getReadResultNetworkDict (
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&TestMaster_Data,
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*TestSlave_Data.bDeviceNodeId,
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&query_result,
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&size,
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&abortCode))
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{
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case SDO_FINISHED:
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/* Do something with result here !!*/
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eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
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case SDO_ABORTED_RCV:
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case SDO_ABORTED_INTERNAL:
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case SDO_RESET:
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waiting_answer = 0;
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closeSDOtransfer(
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&TestMaster_Data,
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*TestSlave_Data. bDeviceNodeId,
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SDO_CLIENT);
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break;
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case SDO_DOWNLOAD_IN_PROGRESS:
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case SDO_UPLOAD_IN_PROGRESS:
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break;
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}
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}else if(MasterMap1 % 10 == 0){
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readNetworkDict (
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&TestMaster_Data,
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*TestSlave_Data.bDeviceNodeId,
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0x2002,
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0x00,
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0);
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waiting_answer = 1;
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}
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}
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