author | etisserant |
Thu, 20 Mar 2008 15:14:07 +0100 | |
changeset 426 | 8011552b1319 |
parent 381 | 854c43cdc24a |
child 454 | bc000083297a |
permissions | -rw-r--r-- |
0 | 1 |
/* |
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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 |
0 | 31 |
#include <stdio.h> |
32 |
#include <string.h> |
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#include <unistd.h> |
0 | 34 |
#include <stdlib.h> |
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#include <signal.h> |
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#endif |
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#include "canfestival.h" |
39 |
//#include <can_driver.h> |
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//#include <timers_driver.h> |
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0 | 41 |
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42 |
#include "Master.h" |
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43 |
#include "Slave.h" |
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44 |
#include "TestMasterSlave.h" |
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45 |
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46 |
UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
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47 |
{ |
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48 |
eprintf("OnSlaveMap1Update:%d\n", SlaveMap1); |
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31 | 49 |
return 0; |
0 | 50 |
} |
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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) |
57 |
{ |
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58 |
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() |
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{ |
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66 |
printf("**************************************************************\n"); |
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67 |
printf("* TestMasterSlave *\n"); |
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68 |
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"); |
0 | 88 |
printf("* *\n"); |
89 |
printf("**************************************************************\n"); |
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90 |
} |
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91 |
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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); |
343 | 98 |
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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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109 |
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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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0 | 116 |
/****************************************************************************/ |
117 |
/*************************** MAIN *****************************************/ |
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118 |
/****************************************************************************/ |
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119 |
int main(int argc,char **argv) |
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120 |
{ |
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121 |
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191 | 122 |
int c; |
0 | 123 |
extern char *optarg; |
343 | 124 |
char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so"; |
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while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF) |
0 | 127 |
{ |
128 |
switch(c) |
|
129 |
{ |
|
130 |
case 's' : |
|
131 |
if (optarg[0] == 0) |
|
132 |
{ |
|
133 |
help(); |
|
134 |
exit(1); |
|
135 |
} |
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136 |
SlaveBoard.busname = optarg; |
|
137 |
break; |
|
138 |
case 'm' : |
|
139 |
if (optarg[0] == 0) |
|
140 |
{ |
|
141 |
help(); |
|
142 |
exit(1); |
|
143 |
} |
|
144 |
MasterBoard.busname = optarg; |
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145 |
break; |
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case 'S' : |
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if (optarg[0] == 0) |
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{ |
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149 |
help(); |
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150 |
exit(1); |
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151 |
} |
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SlaveBoard.baudrate = optarg; |
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153 |
break; |
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154 |
case 'M' : |
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155 |
if (optarg[0] == 0) |
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156 |
{ |
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157 |
help(); |
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158 |
exit(1); |
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159 |
} |
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MasterBoard.baudrate = optarg; |
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161 |
break; |
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162 |
case 'l' : |
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163 |
if (optarg[0] == 0) |
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164 |
{ |
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165 |
help(); |
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166 |
exit(1); |
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167 |
} |
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168 |
LibraryPath = optarg; |
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169 |
break; |
0 | 170 |
default: |
171 |
help(); |
|
172 |
exit(1); |
|
173 |
} |
|
174 |
} |
|
175 |
||
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176 |
#if !defined(WIN32) || defined(__CYGWIN__) |
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177 |
/* install signal handler for manual break */ |
0 | 178 |
signal(SIGTERM, catch_signal); |
179 |
signal(SIGINT, catch_signal); |
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180 |
#endif |
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181 |
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182 |
#ifndef NOT_USE_DYNAMIC_LOADING |
331 | 183 |
if (LoadCanDriver(LibraryPath) == NULL) |
184 |
printf("Unable to load library: %s\n",LibraryPath); |
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185 |
#endif |
0 | 186 |
// Open CAN devices |
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187 |
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188 |
if(strcmp(SlaveBoard.baudrate, "none")){ |
149 | 189 |
|
190 |
TestSlave_Data.heartbeatError = TestSlave_heartbeatError; |
|
191 |
TestSlave_Data.initialisation = TestSlave_initialisation; |
|
192 |
TestSlave_Data.preOperational = TestSlave_preOperational; |
|
193 |
TestSlave_Data.operational = TestSlave_operational; |
|
194 |
TestSlave_Data.stopped = TestSlave_stopped; |
|
195 |
TestSlave_Data.post_sync = TestSlave_post_sync; |
|
196 |
TestSlave_Data.post_TPDO = TestSlave_post_TPDO; |
|
284 | 197 |
TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; |
198 |
TestSlave_Data.post_emcy = TestSlave_post_emcy; |
|
149 | 199 |
|
200 |
if(!canOpen(&SlaveBoard,&TestSlave_Data)){ |
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201 |
eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
202 |
goto fail_slave; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
203 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
204 |
} |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
205 |
if(strcmp(MasterBoard.baudrate, "none")){ |
149 | 206 |
|
207 |
TestMaster_Data.heartbeatError = TestMaster_heartbeatError; |
|
208 |
TestMaster_Data.initialisation = TestMaster_initialisation; |
|
209 |
TestMaster_Data.preOperational = TestMaster_preOperational; |
|
210 |
TestMaster_Data.operational = TestMaster_operational; |
|
211 |
TestMaster_Data.stopped = TestMaster_stopped; |
|
212 |
TestMaster_Data.post_sync = TestMaster_post_sync; |
|
213 |
TestMaster_Data.post_TPDO = TestMaster_post_TPDO; |
|
284 | 214 |
TestMaster_Data.post_emcy = TestMaster_post_emcy; |
343 | 215 |
TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup; |
149 | 216 |
|
217 |
if(!canOpen(&MasterBoard,&TestMaster_Data)){ |
|
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
218 |
eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate); |
145
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
219 |
goto fail_master; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
220 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
221 |
} |
194 | 222 |
|
32 | 223 |
// Start timer thread |
224 |
StartTimerLoop(&InitNodes); |
|
225 |
||
226 |
// wait Ctrl-C |
|
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
227 |
|
32 | 228 |
pause(); |
262
f1c892f3f93c
Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents:
194
diff
changeset
|
229 |
|
32 | 230 |
eprintf("Finishing.\n"); |
262
f1c892f3f93c
Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents:
194
diff
changeset
|
231 |
EnterMutex(); |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
232 |
masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node); |
262
f1c892f3f93c
Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents:
194
diff
changeset
|
233 |
LeaveMutex(); |
f1c892f3f93c
Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents:
194
diff
changeset
|
234 |
|
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
235 |
eprintf("reset\n"); |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
236 |
// Stop master |
262
f1c892f3f93c
Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents:
194
diff
changeset
|
237 |
EnterMutex(); |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
238 |
setState(&TestMaster_Data, Stopped); |
262
f1c892f3f93c
Added exclusion mechanism to TestMasterSlave finish code
etisserant
parents:
194
diff
changeset
|
239 |
LeaveMutex(); |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
240 |
|
32 | 241 |
// Stop timer thread |
242 |
StopTimerLoop(); |
|
243 |
||
244 |
// Close CAN devices (and can threads) |
|
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
245 |
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
|
246 |
fail_master: |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
247 |
if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data); |
36
ff3ba4a90548
Added bauderate/disable option to TestMasterSlave Master and Slave nodes.
etisserant
parents:
32
diff
changeset
|
248 |
fail_slave: |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
249 |
return 0; |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
250 |
} |