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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 <stdio.h>
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#include <string.h>
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#include <sys/time.h>
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#include <pthread.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <applicfg.h>
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#include <timerhw.h>
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#include <linuxCan.h>
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#include "def.h"
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#include "can.h"
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#include "objdictdef.h"
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#include "objacces.h"
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#include "canOpenDriver.h"
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#include "sdo.h"
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#include "pdo.h"
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#include "init.h"
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#include "timer.h"
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#include "lifegrd.h"
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#include "sync.h"
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#include "nmtMaster.h"
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// For prototype of exit();
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#define exit _exit
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// Adlink 7841 or Peak PCI/CAN board
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// ---------------------------------
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// Baudrate values for Peak board :
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// CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K
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// CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K
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#ifdef CAN_BAUD_250K
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# define BAUDRATE CAN_BAUD_250K
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#else
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// Appli have been compiled for Adlink-arbraca. Baudrate not used
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# define BAUDRATE 0
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#endif
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s_BOARD board = {"0", BAUDRATE};
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// Required definition variables
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// -----------------------------
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// The variables that you should define for debugging.
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// They are used by the macro MSG_ERR and MSG_WAR in applicfg.h
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// if the node is a slave, they can be mapped in the object dictionnary.
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UNS8 printMsgErrToConsole = 1;
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UNS8 printMsgWarToConsole = 1;
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// The variables mapped in the object dictionnary
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// ----------------------------------------------
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extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0
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extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0
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extern UNS8 second; // Mapped at index 0x6002, subindex 0x1
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extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2
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extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3
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extern UNS8 day; // Mapped at index 0x6002, subindex 0x4
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extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1
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extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2
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/*************************User's variables declaration**************************/
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pthread_t threadM;
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pthread_t threadH;
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pthread_t threadS;
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UNS8 connectedNode[128];
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/* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */
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typedef struct mappedVar
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{
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UNS32 index;
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UNS8 subIndex;
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UNS8 size; // in byte
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} s_mappedVar;
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typedef struct heartbeatConsumer
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{
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UNS8 nodeProducer;
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UNS16 time_ms;
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} s_heartbeatConsumer;
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/**************************prototypes*****************************************/
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/* You *must* have these 2 functions in your code*/
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void heartbeatError (UNS8 heartbeatID );
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void SD0timeoutError(UNS8 bus_id, UNS8 line);
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void waitMessage (void );
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void heartBeat (void );
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void transmitSync (void);
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e_nodeState stateNode (UNS8 node);
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void configure_master_SDO (UNS32 index, UNS8 serverNode);
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UNS8 waitingWriteToSlaveDict (UNS8 slaveNode, UNS8 error);
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UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error);
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UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode);
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void masterMappingPDO (UNS32 indexPDO, UNS32 cobId,
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s_mappedVar *tabMappedVar, UNS8 nbVar);
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void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId,
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s_mappedVar *tabMappedVar, UNS8 nbVar);
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void masterHeartbeatConsumer (s_heartbeatConsumer
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*tabHeartbeatConsumer, UNS8 nbHeartbeats);
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void masterHeartbeatProducer (UNS16 time);
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void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer
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*tabHeartbeatConsumer, UNS8 nbHeartbeats);
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void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time);
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void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType);
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void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType);
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void masterSYNCPeriod (UNS32 SYNCPeriod);
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int main (int argc,char **argv);
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/*****************************************************************************/
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void heartbeatError(UNS8 heartbeatID)
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{
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// MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO,
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// But we do not have mapped the variables in a PDO, so it sends nothing.
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// See the note at the end of END CONFIGURING THE NETWORK.
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MSG_WAR(0x2F00, "HeartBeat, no response from node : ", heartbeatID);
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}
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/*****************************************************************************/
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void SD0timeoutError (UNS8 bus_id, UNS8 line)
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{
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// Informations on what occurs are in transfers[bus_id][line]....
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// See scanSDOtimeout() in sdo.c
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}
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/*********************************** THREADS **********************************/
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//------------------------------------------------------------------------------
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// Wait for a received message
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void waitMessage(void)
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{
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while (1) {
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receiveMsgHandler(0); // blocked until new message
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}
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}
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//------------------------------------------------------------------------------
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/* Sending SYNC */
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void transmitSync(void)
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{
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while (1) {
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computeSYNC(); // Use the value in the dictionnary
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usleep(1000); // Sleep 1 ms
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}
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}
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/************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/
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//------------------------------------------------------------------------------
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/* Node mode result after NodeGuard query */
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e_nodeState stateNode(UNS8 node)
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{
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e_nodeState state = getNodeState(0, node);
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switch (state) {
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case Unknown_state:
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MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node);
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break;
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case Operational:
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MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node);
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break;
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case Pre_operational:
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MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node);
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break;
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default:
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MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node);
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}
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return state;
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}
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//------------------------------------------------------------------------------
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/* The master is writing in its dictionnary to configure the SDO parameters
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to communicate with server_node
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*/
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void configure_master_SDO(UNS32 index, UNS8 serverNode)
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{
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UNS32 data32;
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UNS8 data8;
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UNS8 sizeData = 4 ; // in bytes
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/* At subindex 1, the cobId of the Can message from the client.
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It is always defined inside the server dictionnary as 0x600 + server_node.
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So, we have no choice here ! */
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data32 = 0x600 + serverNode;
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setODentry(index, 1, &data32, sizeData, 0);
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{
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// Test
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UNS32 *pbData;
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UNS8 length;
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UNS32 returnValue;
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UNS8 dataType;
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// Relecture
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MSG_WAR(0x1000, "Reading index : ", index);
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MSG_WAR(0x1000, " subindex : ", 1);
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returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
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MSG_WAR(0x1000, " val : ", *pbData);
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}
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/* At subindex 2, the cobId of the Can message from the server to the client.
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It is always defined inside the server dictionnary as 0x580 + client_node.
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So, we have no choice here ! */
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data32 = 0x580 + serverNode;
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setODentry(index, 2, &data32, sizeData, 0);
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/* At subindex 3, the node of the server */
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data8 = serverNode;
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sizeData = 1;
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setODentry(index, 3, &data8, sizeData, 0);
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{
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UNS8 *pbData;
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UNS8 length;
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UNS32 returnValue;
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UNS8 dataType;
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// Relecture
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MSG_WAR(0x1000, "Reading index : ", index);
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MSG_WAR(0x1000, " subindex : ", 3);
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returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
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MSG_WAR(0x1000, " val : ", *pbData);
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}
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}
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//------------------------------------------------------------------------------
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/*
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*/
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UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error)
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{
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UNS8 err;
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UNS32 abortCode;
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MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode);
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if (error) {
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MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode);
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return -1;
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}
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/* Waiting until the slave has responded */
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while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) {
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// Check if some SDO response are missing
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scanSDOtimeout();
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}
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err = getWriteResultNetworkDict (0, slaveNode, &abortCode);
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if (err == SDO_FINISHED) {
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MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode);
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// Release the line. Don't forget !!!
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closeSDOtransfer(0, slaveNode, SDO_CLIENT);
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return 0;
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}
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if (err == SDO_ABORTED_RCV) {
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MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode);
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}
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if (err == SDO_ABORTED_INTERNAL) {
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MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode);
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}
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// Looking for the line transfert number to read the index, subindex and releasing the line.
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{
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UNS8 line;
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err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
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if (err) {
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MSG_WAR(0x2F21, "No line found for node : ", slaveNode);
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exit(-1);
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}
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MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index);
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MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex);
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//Releasing the line.
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closeSDOtransfer(0, slaveNode, SDO_CLIENT);
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exit(-1);
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}
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return 0;
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}
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//------------------------------------------------------------------------------
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/*
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*/
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UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error)
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{
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UNS8 err;
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UNS32 abortCode;
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MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode);
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if (error) {
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MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode);
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return -1;
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}
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/* Waiting until the slave has responded */
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while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) {
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// Check if some SDO response are missing
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scanSDOtimeout();
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}
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err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode);
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if (err == SDO_FINISHED) {
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MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode);
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// Release the line. Don't forget !!!
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closeSDOtransfer(0, slaveNode, SDO_CLIENT);
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return 0;
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}
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if (err == SDO_ABORTED_RCV) {
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MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode);
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}
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if (err == SDO_ABORTED_INTERNAL) {
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MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode);
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}
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// Looking for the line transfert number to read the index, subindex and releasing the line.
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339 |
{
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UNS8 line;
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err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
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if (err) {
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MSG_WAR(0x2F2F, "No line found for node : ", slaveNode);
|
|
|
344 |
exit(-1);
|
|
|
345 |
}
|
|
|
346 |
MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index);
|
|
|
347 |
MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex);
|
|
|
348 |
//Releasing the line.
|
|
|
349 |
closeSDOtransfer(0, slaveNode, SDO_CLIENT);
|
|
|
350 |
exit(-1);
|
|
|
351 |
}
|
|
|
352 |
|
|
|
353 |
return 0;
|
|
|
354 |
}
|
|
|
355 |
|
|
|
356 |
|
|
|
357 |
//------------------------------------------------------------------------------
|
|
|
358 |
/* The master is writing in the slave dictionnary to configure the SDO parameters
|
|
|
359 |
Remember that the slave is the server, and the master is the client.
|
|
|
360 |
*/
|
|
|
361 |
UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode)
|
|
|
362 |
{
|
|
|
363 |
UNS8 data;
|
|
|
364 |
UNS8 NbDataToWrite = 1 ; // in bytes
|
|
|
365 |
UNS8 err = 0;
|
|
|
366 |
MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node", slaveNode);
|
|
|
367 |
/* It is only to put at subindex 3 the serverNode. It is optionnal.
|
|
|
368 |
In the slave dictionary, only one SDO server is defined, at index
|
|
|
369 |
0x1200 */
|
|
|
370 |
data = clientNode;
|
|
|
371 |
err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data);
|
|
|
372 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
373 |
|
|
|
374 |
return 0;
|
|
|
375 |
}
|
|
|
376 |
|
|
|
377 |
//------------------------------------------------------------------------------
|
|
|
378 |
|
|
|
379 |
void masterMappingPDO(UNS32 indexPDO, UNS32 cobId,
|
|
|
380 |
s_mappedVar *tabMappedVar, UNS8 nbVar)
|
|
|
381 |
{
|
|
|
382 |
UNS32 *pbData;
|
|
|
383 |
UNS32 data32;
|
|
|
384 |
UNS8 i;
|
|
|
385 |
UNS8 size = 0;
|
|
|
386 |
UNS8 dataType;
|
|
|
387 |
|
|
|
388 |
if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
|
|
|
389 |
MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId);
|
|
|
390 |
|
|
|
391 |
if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
|
|
|
392 |
MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId);
|
|
|
393 |
|
|
|
394 |
/* At indexPDO, subindex 1, defining the cobId of the PDO */
|
|
|
395 |
setODentry(indexPDO, 1, &cobId, 4, 0);
|
|
|
396 |
/* The mapping ... */
|
|
|
397 |
/* ----------------*/
|
|
|
398 |
/* At subindex 0, the number of variables in the PDO */
|
|
|
399 |
setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0);
|
|
|
400 |
getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0);
|
|
|
401 |
/* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in
|
|
|
402 |
the PDO. The first variable after the COBID is defined at subindex 1, ...
|
|
|
403 |
The data to write is the concatenation on 32 bits of (msb ... lsb) :
|
|
|
404 |
index(16b),subIndex(8b),sizeVariable(8b)
|
|
|
405 |
*/
|
|
|
406 |
for (i = 0 ; i < nbVar ; i++) {
|
|
|
407 |
data32 = ((tabMappedVar + i)->index << 16) |
|
|
|
408 |
(((tabMappedVar + i)->subIndex & 0xFF) << 8) |
|
|
|
409 |
((tabMappedVar + i)->size & 0xFF);
|
|
|
410 |
// Write dictionary
|
|
|
411 |
setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0);
|
|
|
412 |
|
|
|
413 |
# ifdef MORE_COMMENTS
|
|
|
414 |
printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n",
|
|
|
415 |
(tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
|
|
|
416 |
// Only to verify.
|
|
|
417 |
// Read dictionnary
|
|
|
418 |
getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0);
|
|
|
419 |
printf("Writen à index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n",
|
|
|
420 |
indexPDO + 0x200, i + 1, 8 * size, *pbData);
|
|
|
421 |
# endif
|
|
|
422 |
|
|
|
423 |
}
|
|
|
424 |
}
|
|
|
425 |
|
|
|
426 |
//------------------------------------------------------------------------------
|
|
|
427 |
/*
|
|
|
428 |
*/
|
|
|
429 |
|
|
|
430 |
void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId,
|
|
|
431 |
s_mappedVar *tabMappedVar, UNS8 nbVar)
|
|
|
432 |
{
|
|
|
433 |
UNS32 data32;
|
|
|
434 |
UNS8 i;
|
|
|
435 |
UNS8 err;
|
|
|
436 |
UNS8 nbBytes = 1;
|
|
|
437 |
if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
|
|
|
438 |
MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId);
|
|
|
439 |
|
|
|
440 |
if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
|
|
|
441 |
MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId);
|
|
|
442 |
|
|
|
443 |
/* At indexPDO, subindex 1, defining the cobId of the PDO */
|
|
|
444 |
err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId);
|
|
|
445 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
446 |
|
|
|
447 |
/* The mapping ... */
|
|
|
448 |
/* ----------------*/
|
|
|
449 |
/* At subindex 0, the number of variables in the PDO */
|
|
|
450 |
err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar);
|
|
|
451 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
452 |
|
|
|
453 |
/* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in
|
|
|
454 |
the PDO. The first variable after the COBID is defined at subindex 1, ...
|
|
|
455 |
The data to write is the concatenation on 32 bits of (msb ... lsb) :
|
|
|
456 |
index(16b),subIndex(8b),sizeVariable(8b)
|
|
|
457 |
*/
|
|
|
458 |
for (i = 0 ; i < nbVar ; i++) {
|
|
|
459 |
data32 = ((tabMappedVar + i)->index << 16) |
|
|
|
460 |
(((tabMappedVar + i)->subIndex & 0xFF) << 8) |
|
|
|
461 |
((tabMappedVar + i)->size & 0xFF);
|
|
|
462 |
|
|
|
463 |
// Write dictionary
|
|
|
464 |
err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32);
|
|
|
465 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
466 |
|
|
|
467 |
# ifdef MORE_COMMENTS
|
|
|
468 |
printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n",
|
|
|
469 |
(tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
|
|
|
470 |
|
|
|
471 |
printf("At node 0x%X Writen at index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n",
|
|
|
472 |
slaveNode, indexPDO + 0x200, i + 1, 32, data32);
|
|
|
473 |
# endif
|
|
|
474 |
|
|
|
475 |
}
|
|
|
476 |
}
|
|
|
477 |
|
|
|
478 |
//------------------------------------------------------------------------------
|
|
|
479 |
/*
|
|
|
480 |
*/
|
|
|
481 |
void masterHeartbeatConsumer(s_heartbeatConsumer
|
|
|
482 |
*tabHeartbeatConsumer, UNS8 nbHeartbeats)
|
|
|
483 |
{
|
|
|
484 |
UNS32 data;
|
|
|
485 |
UNS8 i;
|
|
|
486 |
UNS8 nbHB = nbHeartbeats;
|
|
|
487 |
|
|
|
488 |
MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0);
|
|
|
489 |
/* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */
|
|
|
490 |
setODentry(0x1016, 0, & nbHB, 1, 0);
|
|
|
491 |
|
|
|
492 |
/* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
|
|
|
493 |
00 - node_consumer (8b) - time_ms (16b)
|
|
|
494 |
Put 0 to ignore the entry.
|
|
|
495 |
*/
|
|
|
496 |
for (i = 0 ; i < nbHeartbeats ; i++) {
|
|
|
497 |
data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
|
|
|
498 |
setODentry(0x1016, i + 1, & data, 4, 0);
|
|
|
499 |
}
|
|
|
500 |
}
|
|
|
501 |
|
|
|
502 |
//------------------------------------------------------------------------------
|
|
|
503 |
/*
|
|
|
504 |
*/
|
|
|
505 |
|
|
|
506 |
void masterHeartbeatProducer(UNS16 time)
|
|
|
507 |
{
|
|
|
508 |
UNS16 hbTime = time;
|
|
|
509 |
MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0);
|
|
|
510 |
/* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
|
|
|
511 |
setODentry(0x1017, 0, &hbTime, 2, 0);
|
|
|
512 |
}
|
|
|
513 |
|
|
|
514 |
//------------------------------------------------------------------------------
|
|
|
515 |
/*
|
|
|
516 |
*/
|
|
|
517 |
void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer
|
|
|
518 |
*tabHeartbeatConsumer, UNS8 nbHeartbeats)
|
|
|
519 |
{
|
|
|
520 |
UNS32 data;
|
|
|
521 |
UNS8 err;
|
|
|
522 |
UNS8 i;
|
|
|
523 |
|
|
|
524 |
MSG_WAR(0x3F46, "Configuring heartbeats consumers for node : ", slaveNode);
|
|
|
525 |
|
|
|
526 |
/* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
|
|
|
527 |
00 - node_consumer (8b) - time_ms (16b)
|
|
|
528 |
Put 0 to ignore the entry.
|
|
|
529 |
*/
|
|
|
530 |
for (i = 0 ; i < nbHeartbeats ; i++) {
|
|
|
531 |
data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) |
|
|
|
532 |
((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
|
|
|
533 |
err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data);
|
|
|
534 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
535 |
}
|
|
|
536 |
}
|
|
|
537 |
|
|
|
538 |
//------------------------------------------------------------------------------
|
|
|
539 |
/*
|
|
|
540 |
*/
|
|
|
541 |
|
|
|
542 |
void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time)
|
|
|
543 |
{
|
|
|
544 |
UNS8 err;
|
|
|
545 |
MSG_WAR(0x3F47, "Configuring heartbeat producer for node : ", slaveNode);
|
|
|
546 |
/* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
|
|
|
547 |
|
|
|
548 |
err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time);
|
|
|
549 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
550 |
}
|
|
|
551 |
|
|
|
552 |
//------------------------------------------------------------------------------
|
|
|
553 |
/*
|
|
|
554 |
*/
|
|
|
555 |
|
|
|
556 |
void masterPDOTransmissionMode(UNS32 indexPDO, UNS8 transType)
|
|
|
557 |
{
|
|
|
558 |
MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO);
|
|
|
559 |
|
|
|
560 |
/* At subindex 2, the transmission type */
|
|
|
561 |
setODentry(indexPDO, 2, &transType, 1, 0);
|
|
|
562 |
}
|
|
|
563 |
|
|
|
564 |
|
|
|
565 |
//------------------------------------------------------------------------------
|
|
|
566 |
/*
|
|
|
567 |
*/
|
|
|
568 |
|
|
|
569 |
void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO, UNS8 transType)
|
|
|
570 |
{
|
|
|
571 |
UNS8 err;
|
|
|
572 |
MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode);
|
|
|
573 |
MSG_WAR(0x3F42, " indexPDO : ", indexPDO);
|
|
|
574 |
|
|
|
575 |
err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType);
|
|
|
576 |
waitingWriteToSlaveDict(slaveNode, err);
|
|
|
577 |
|
|
|
578 |
}
|
|
|
579 |
|
|
|
580 |
//------------------------------------------------------------------------------
|
|
|
581 |
/*
|
|
|
582 |
*/
|
|
|
583 |
|
|
|
584 |
void masterSYNCPeriod(UNS32 SYNCPeriod)
|
|
|
585 |
{
|
|
|
586 |
UNS32 cobId = 0x40000080;
|
|
|
587 |
MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod);
|
|
|
588 |
/* At index 0x1006, subindex 0 : the period in ms */
|
|
|
589 |
setODentry(0x1006, 0, &SYNCPeriod , 4, 0);
|
|
|
590 |
/* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */
|
|
|
591 |
setODentry(0x1005, 0, &cobId, 4, 0);
|
|
|
592 |
}
|
|
|
593 |
|
|
|
594 |
void help()
|
|
|
595 |
{
|
|
|
596 |
printf("**************************************************************\n");
|
|
|
597 |
printf("* AppliMaster *\n");
|
|
|
598 |
printf("* [-b b] *\n");
|
|
|
599 |
printf("* *\n");
|
|
|
600 |
printf("* b : bus [default 0] *\n");
|
|
|
601 |
printf("* *\n");
|
|
|
602 |
printf("* This exemple run AppliMaster on bus 0 *\n");
|
|
|
603 |
printf("* AppliMaster -b 0 *\n");
|
|
|
604 |
printf("* *\n");
|
|
|
605 |
printf("**************************************************************\n");
|
|
|
606 |
}
|
|
|
607 |
|
|
|
608 |
/****************************************************************************/
|
|
|
609 |
/*************************** MAIN *****************************************/
|
|
|
610 |
/****************************************************************************/
|
|
|
611 |
int main(int argc,char **argv)
|
|
|
612 |
{
|
|
|
613 |
UNS8 second_last;
|
|
|
614 |
UNS8 minutes_last;
|
|
|
615 |
UNS8 sendingResetError = 0;
|
|
|
616 |
int i;
|
|
|
617 |
HANDLE ok;
|
|
|
618 |
char c;
|
|
|
619 |
extern char *optarg;
|
|
|
620 |
|
|
|
621 |
while ((c = getopt(argc, argv, "-b:")) != EOF)
|
|
|
622 |
{
|
|
|
623 |
switch(c)
|
|
|
624 |
{
|
|
|
625 |
case 'b' :
|
|
|
626 |
if (optarg[0] == 0)
|
|
|
627 |
{
|
|
|
628 |
help();
|
|
|
629 |
exit(1);
|
|
|
630 |
}
|
|
|
631 |
board.busname = optarg;
|
|
|
632 |
break;
|
|
|
633 |
default:
|
|
|
634 |
help();
|
|
|
635 |
exit(1);
|
|
|
636 |
}
|
|
|
637 |
}
|
|
|
638 |
|
|
|
639 |
/****************************** INITIALISATION *******************************/
|
|
|
640 |
|
|
|
641 |
/* Launch the timer*/
|
|
|
642 |
initTimer( );
|
|
|
643 |
|
|
|
644 |
/* arrays initialisation, etc */
|
|
|
645 |
initCANopenMain();
|
|
|
646 |
|
|
|
647 |
/* arrays initialisation, etc */
|
|
|
648 |
initCANopenMaster();
|
|
|
649 |
|
|
|
650 |
/* Defining the node Id */
|
|
|
651 |
setNodeId(0x01);
|
|
|
652 |
MSG_WAR(0x3F50, "My node ID is : ", getNodeId());
|
|
|
653 |
|
|
|
654 |
/* Put the master in operational mode */
|
|
|
655 |
setState(Operational);
|
|
|
656 |
|
|
|
657 |
|
|
|
658 |
/* Init the table of connected nodes */
|
|
|
659 |
for (i = 0 ; i < 128 ; i++)
|
|
|
660 |
connectedNode[i] = 0;
|
|
|
661 |
|
|
|
662 |
|
|
|
663 |
ok = f_can_open(& board);
|
|
|
664 |
if (ok == NULL) {
|
|
|
665 |
MSG_ERR(0x1F02,"Unable to open the board", 0);
|
|
|
666 |
MSG_ERR(0x1F03,"Edit includeMakefileLinux to verify that the application is configured for the good board", 0);
|
|
|
667 |
exit (-1);
|
|
|
668 |
}
|
|
|
669 |
else {
|
|
|
670 |
MSG_WAR(0x3F03, "Board 0 opened ", 0);
|
|
|
671 |
}
|
|
|
672 |
|
|
|
673 |
|
|
|
674 |
/* Launch the thread to receive the messages */
|
|
|
675 |
pthread_create( &threadM, NULL, (void *)&waitMessage, NULL);
|
|
|
676 |
|
|
|
677 |
|
|
|
678 |
|
|
|
679 |
|
|
|
680 |
|
|
|
681 |
|
|
|
682 |
|
|
|
683 |
|
|
|
684 |
|
|
|
685 |
|
|
|
686 |
|
|
|
687 |
|
|
|
688 |
|
|
|
689 |
|
|
|
690 |
|
|
|
691 |
/******************** CONFIGURING THE NETWORK **************************/
|
|
|
692 |
|
|
|
693 |
/* Which nodes are connected ? */
|
|
|
694 |
/* Sending a request Node guard to node 5 and 6 */
|
|
|
695 |
MSG_WAR(0x3F04, "Sending a node guard to node : ", 5);
|
|
|
696 |
masterReadNodeState(0, 0x05);
|
|
|
697 |
/* Sending a message to the node 6, only as example */
|
|
|
698 |
MSG_WAR(0x3F04, "Sending a node guard to node : ", 6);
|
|
|
699 |
masterReadNodeState(0, 0x06);
|
|
|
700 |
/* Waiting for a second the response */
|
|
|
701 |
sleep(1);
|
|
|
702 |
|
|
|
703 |
/* Whose node have answered ? */
|
|
|
704 |
connectedNode[5] = stateNode(5);
|
|
|
705 |
connectedNode[6] = stateNode(6);
|
|
|
706 |
|
|
|
707 |
/* Configure the SDO master to communicate with node 5 and node 6 */
|
|
|
708 |
configure_master_SDO(0x1280, 0x05);
|
|
|
709 |
|
|
|
710 |
|
|
|
711 |
/* Configure the SDO of node 5 */
|
|
|
712 |
/* getNodeId() returns my node Id */
|
|
|
713 |
configure_client_SDO(0x05, getNodeId());
|
|
|
714 |
/* Mapping of the PDO
|
|
|
715 |
Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F,
|
|
|
716 |
381-3FF, 401-47F, 481-4FF, 501-57F,
|
|
|
717 |
without other restriction.
|
|
|
718 |
(Of course, you must not define 2 PDO transmit with the same cobId !!)
|
|
|
719 |
*/
|
|
|
720 |
|
|
|
721 |
/*
|
|
|
722 |
*** PDO node 1 <-- node 5 ***
|
|
|
723 |
*** cobId 0x181 *************
|
|
|
724 |
MASTER (node 1)
|
|
|
725 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
726 |
day [0x6002 - 0x04 - 8]
|
|
|
727 |
hour [0x6002 - 0x03 - 8]
|
|
|
728 |
second [0x6002 - 0x01 - 8]
|
|
|
729 |
|
|
|
730 |
SLAVE (node 5)
|
|
|
731 |
Mapped to variables (node5) [index-subindex-size_bits]:
|
|
|
732 |
day [0x2000 - 0x04 - 8]
|
|
|
733 |
hour [0x2000 - 0x03 - 8]
|
|
|
734 |
second [0x2000 - 0x01 - 8]
|
|
|
735 |
*/
|
|
|
736 |
|
|
|
737 |
/* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */
|
|
|
738 |
{
|
|
|
739 |
s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, };
|
|
|
740 |
masterMappingPDO(0x1400, 0x181, tabMappedVar, 3);
|
|
|
741 |
}
|
|
|
742 |
|
|
|
743 |
/* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */
|
|
|
744 |
{
|
|
|
745 |
s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, };
|
|
|
746 |
slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3);
|
|
|
747 |
}
|
|
|
748 |
/*
|
|
|
749 |
*** PDO node 1 <-- node 5 ***
|
|
|
750 |
*** cobId 0x182 *************
|
|
|
751 |
MASTER (node 1)
|
|
|
752 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
753 |
minute [0x6002 - 0x02 - 8]
|
|
|
754 |
|
|
|
755 |
SLAVE (node 5)
|
|
|
756 |
Mapped to variables (node5) [index-subindex-size_bits]:
|
|
|
757 |
minute [0x2000 - 0x02 - 8]
|
|
|
758 |
*/
|
|
|
759 |
|
|
|
760 |
/* Configuring PDO receive, defined at index 0x1400 and 0x1600 */
|
|
|
761 |
{
|
|
|
762 |
s_mappedVar tabMappedVar[8] = { {0x6002,2,8} };
|
|
|
763 |
masterMappingPDO(0x1401, 0x182, tabMappedVar, 1);
|
|
|
764 |
}
|
|
|
765 |
|
|
|
766 |
/* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */
|
|
|
767 |
{
|
|
|
768 |
s_mappedVar tabMappedVar[8] = { {0x2000,2,8} };
|
|
|
769 |
slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1);
|
|
|
770 |
}
|
|
|
771 |
|
|
|
772 |
|
|
|
773 |
/*
|
|
|
774 |
*** PDO node 1 <-- node 5 ***
|
|
|
775 |
*** cobId 0x183 *************
|
|
|
776 |
Error management : By this way, The node can send by PDO an error
|
|
|
777 |
MASTER (node 1)
|
|
|
778 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
779 |
canopenErrNb_node5 [0x6000 - 0x00 - 32]
|
|
|
780 |
canopenErrVal_node5 [0x6001 - 0x00 - 32]
|
|
|
781 |
|
|
|
782 |
SLAVE (node 5)
|
|
|
783 |
Mapped to variables (node5) [index-subindex-size_bytes]:
|
|
|
784 |
canopenErrNb [0x6000 - 0x00 - 32]
|
|
|
785 |
canopenErrVal [0x6001 - 0x00 - 32]
|
|
|
786 |
*/
|
|
|
787 |
|
|
|
788 |
/* Configuring PDO receive, defined at index 0x1402 and 0x1602 */
|
|
|
789 |
{
|
|
|
790 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
791 |
masterMappingPDO(0x1402, 0x183, tabMappedVar, 2);
|
|
|
792 |
}
|
|
|
793 |
|
|
|
794 |
/* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */
|
|
|
795 |
{
|
|
|
796 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
797 |
slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2);
|
|
|
798 |
}
|
|
|
799 |
|
|
|
800 |
/*
|
|
|
801 |
*** PDO node 1 --> node 5 ***
|
|
|
802 |
*** cobId 0x184 *************
|
|
|
803 |
Error management : To reset the error
|
|
|
804 |
MASTER (node 1)
|
|
|
805 |
Mapped to variables (node1) [index-subindex-size_bits]:
|
|
|
806 |
canopenErrNb_node5 [0x6000 - 0x00 - 32]
|
|
|
807 |
canopenErrVal_node5 [0x6001 - 0x00 - 32]
|
|
|
808 |
|
|
|
809 |
SLAVE (node 5)
|
|
|
810 |
Mapped to variables (node5) [index-subindex-size_bytes]:
|
|
|
811 |
canopenErrNb [0x6000 - 0x00 - 32]
|
|
|
812 |
canopenErrVal [0x6001 - 0x00 - 32]
|
|
|
813 |
*/
|
|
|
814 |
|
|
|
815 |
/* Configuring PDO transmit, defined at index 0x1803 and 0x1103 */
|
|
|
816 |
{
|
|
|
817 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
818 |
masterMappingPDO(0x1801, 0x184, tabMappedVar, 2);
|
|
|
819 |
}
|
|
|
820 |
|
|
|
821 |
/* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */
|
|
|
822 |
{
|
|
|
823 |
s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
|
|
|
824 |
slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2);
|
|
|
825 |
}
|
|
|
826 |
|
|
|
827 |
/* Configuring the node 5 heartbeat */
|
|
|
828 |
/* Check every 3000 ms if it have received a heartbeat from node 1 */
|
|
|
829 |
{
|
|
|
830 |
UNS8 nbHeartbeatsToReceive = 1;
|
|
|
831 |
s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}};
|
|
|
832 |
slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive);
|
|
|
833 |
}
|
|
|
834 |
/* Sending every 1000 ms an heartbeat */
|
|
|
835 |
slaveHeartbeatProducer(0x05, 0x3E8);
|
|
|
836 |
|
|
|
837 |
/* Configuring the master heartbeat */
|
|
|
838 |
/* Check every 3000 ms if it have received a heartbeat from node 5 */
|
|
|
839 |
{
|
|
|
840 |
UNS8 nbHeartbeatsToReceive = 1;
|
|
|
841 |
s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}};
|
|
|
842 |
masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive);
|
|
|
843 |
}
|
|
|
844 |
|
|
|
845 |
/* Sending every 1000 ms an heartbeat */
|
|
|
846 |
masterHeartbeatProducer(0x3E8);
|
|
|
847 |
|
|
|
848 |
|
|
|
849 |
|
|
|
850 |
/* Configuring the transmission mode of the PDO */
|
|
|
851 |
slavePDOTransmissionMode(0x05, 0x1800, TRANS_EVERY_N_SYNC (1));
|
|
|
852 |
slavePDOTransmissionMode(0x05, 0x1801, TRANS_EVENT);
|
|
|
853 |
slavePDOTransmissionMode(0x05, 0x1802, TRANS_EVENT);
|
|
|
854 |
masterPDOTransmissionMode(0x1801, TRANS_EVENT);
|
|
|
855 |
|
|
|
856 |
/* Configuring the master to send a SYNC message every 1 s */
|
|
|
857 |
/* Note than any other node can send the SYNC instead of the master */
|
|
|
858 |
masterSYNCPeriod(1000000);
|
|
|
859 |
|
|
|
860 |
{
|
|
|
861 |
// Reading the period of heartbeat which has been written in node 5 dictionary
|
|
|
862 |
UNS8 node = 5;
|
|
|
863 |
UNS16 index = 0x1017;
|
|
|
864 |
UNS8 subindex = 0;
|
|
|
865 |
//UNS8 notused = 0;
|
|
|
866 |
UNS16 hb = 0;
|
|
|
867 |
UNS8 size_data = 0;
|
|
|
868 |
UNS8 error;
|
|
|
869 |
MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0);
|
|
|
870 |
error = readNetworkDict(0, node, index, subindex, 0);
|
|
|
871 |
//error = readNetworkDict(0, node, index, subindex, ¬used);
|
|
|
872 |
if (error) {
|
|
|
873 |
MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0);
|
|
|
874 |
exit (-1);
|
|
|
875 |
}
|
|
|
876 |
/* Waiting until the server has responded */
|
|
|
877 |
error = waitingReadToSlaveDict(node, (UNS16 *)&hb, &size_data, error);
|
|
|
878 |
MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb);
|
|
|
879 |
MSG_WAR(0x1F51, " size of data (bytes) = ", size_data);
|
|
|
880 |
}
|
|
|
881 |
|
|
|
882 |
|
|
|
883 |
|
|
|
884 |
/* Put the node 5 in operational mode
|
|
|
885 |
The mode is changed according to the slave state machine mode :
|
|
|
886 |
initialisation ---> pre-operational (Automatic transition)
|
|
|
887 |
pre-operational <--> operational
|
|
|
888 |
pre-operational <--> stopped
|
|
|
889 |
pre-operational, operational, stopped -> initialisation
|
|
|
890 |
NMT_Start_Node // Put the node in operational mode
|
|
|
891 |
NMT_Stop_Node // Put the node in stopped mode
|
|
|
892 |
NMT_Enter_PreOperational // Put the node in pre_operational mode
|
|
|
893 |
NMT_Reset_Node // Put the node in initialization mode
|
|
|
894 |
NMT_Reset_Comunication // Put the node in initialization mode
|
|
|
895 |
*/
|
|
|
896 |
masterSendNMTstateChange(0, 0x05, NMT_Start_Node);
|
|
|
897 |
|
|
|
898 |
|
|
|
899 |
// Note
|
|
|
900 |
//-----
|
|
|
901 |
// We do not have mapped the variable canopenErrNB and canopenErrVAL.
|
|
|
902 |
// We should have done that !
|
|
|
903 |
// the macro MSG_ERR try to send the PDO(s) which contains these two variables.
|
|
|
904 |
// While the PDO will not be found, if you are printing the warnings in file pdo.c,
|
|
|
905 |
// it will print "0X393B Unable to send variable on event : not mapped in a PDO to send on event" for
|
|
|
906 |
// example when you enter the function heartbeatError.
|
|
|
907 |
|
|
|
908 |
/******************** END CONFIGURING THE NETWORK **********************/
|
|
|
909 |
|
|
|
910 |
/* Launch the thread to send the SYNC message */
|
|
|
911 |
pthread_create( &threadS, NULL, (void *)&transmitSync , NULL);
|
|
|
912 |
/* Init the errors values that may send the node 5 */
|
|
|
913 |
canopenErrNB_node5 = 0;
|
|
|
914 |
canopenErrVAL_node5 = 0;
|
|
|
915 |
|
|
|
916 |
/****************************** RUNNING *******************************/
|
|
|
917 |
|
|
|
918 |
/* SDO test with node 5 */
|
|
|
919 |
{
|
|
|
920 |
// Reading string
|
|
|
921 |
UNS8 dataW[20];
|
|
|
922 |
UNS8 dataR[20];
|
|
|
923 |
UNS8 size;
|
|
|
924 |
UNS8 err;
|
|
|
925 |
MSG_WAR(0x3F05, "Test SDO", 0);
|
|
|
926 |
|
|
|
927 |
MSG_WAR(0x3F10, "Writing string to node 5 index 0x6002, subindex 0 ...", 0);
|
|
|
928 |
strcpy(dataW, "Au Revoir");
|
|
|
929 |
MSG_WAR(0x3F10, dataW, 0);
|
|
|
930 |
size = 20;
|
|
|
931 |
err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW);
|
|
|
932 |
err = waitingWriteToSlaveDict(5, err);
|
|
|
933 |
|
|
|
934 |
err = readNetworkDict(0, 5, 0x6002, 0, visible_string);
|
|
|
935 |
err = waitingReadToSlaveDict(5, dataR, &size, err);
|
|
|
936 |
MSG_WAR(0x3F08, "Data read from node 5 index 0x6002, subindex 0 ..." , 0);
|
|
|
937 |
MSG_WAR(0x3F08, dataR, 0);
|
|
|
938 |
|
|
|
939 |
MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0);
|
|
|
940 |
err = readNetworkDict(0, 5, 0x1009, 0, visible_string);
|
|
|
941 |
err = waitingReadToSlaveDict(5, dataR, &size, err);
|
|
|
942 |
MSG_WAR(0x3F08, dataR, 0);
|
|
|
943 |
|
|
|
944 |
MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0);
|
|
|
945 |
err = readNetworkDict(0, 5, 0x100A, 0, visible_string);
|
|
|
946 |
err = waitingReadToSlaveDict(5, dataR, &size, err);
|
|
|
947 |
MSG_WAR(0x3F08, dataR, 0);
|
|
|
948 |
}
|
|
|
949 |
|
|
|
950 |
// Node identity ?
|
|
|
951 |
{
|
|
|
952 |
UNS8 *data;
|
|
|
953 |
UNS8 size;
|
|
|
954 |
UNS8 dataType;
|
|
|
955 |
// Manufacturer Device name (default = empty string)
|
|
|
956 |
getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
957 |
MSG_WAR(0x3F09, data, 0);
|
|
|
958 |
// Manufacturer Hardware version. (default = compilation. date)
|
|
|
959 |
getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
960 |
MSG_WAR(0x3F09, data, 0);
|
|
|
961 |
// Manufacturer Software version. (default = compilation. time)
|
|
|
962 |
getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
|
|
|
963 |
MSG_WAR(0x3F09, data, 0);
|
|
|
964 |
}
|
|
|
965 |
|
|
|
966 |
while (1) {
|
|
|
967 |
if (minutes != minutes_last) {
|
|
|
968 |
printf("Minutes changed\n");
|
|
|
969 |
minutes_last = minutes;
|
|
|
970 |
}
|
|
|
971 |
|
|
|
972 |
if (second != second_last) {
|
|
|
973 |
printf("Date : %d, %02dH%02d-%02d\n", day, hour, minutes, second);
|
|
|
974 |
second_last = second;
|
|
|
975 |
|
|
|
976 |
if (canopenErrNB_node5) {
|
|
|
977 |
printf("Received an error from node 5, NB : 0x%X, value : 0x%X\n",
|
|
|
978 |
canopenErrNB_node5 , canopenErrVAL_node5);
|
|
|
979 |
// Resetting the error
|
|
|
980 |
canopenErrNB_node5 = 0;
|
|
|
981 |
canopenErrVAL_node5 = 0;
|
|
|
982 |
sendingResetError = 1;
|
|
|
983 |
}
|
|
|
984 |
|
|
|
985 |
if ((second < 5) && sendingResetError) {
|
|
|
986 |
printf("Sending to node 5 a PDO event to reset the error NB: 0x%X and VAL: 0x%X\n",
|
|
|
987 |
canopenErrNB_node5, canopenErrVAL_node5);
|
|
|
988 |
|
|
|
989 |
sendPDOevent(0, &canopenErrNB_node5);
|
|
|
990 |
sendingResetError = 0;
|
|
|
991 |
}
|
|
|
992 |
|
|
|
993 |
|
|
|
994 |
} // end if (second != second_last)
|
|
|
995 |
|
|
|
996 |
// Testing if heartsbeat have been received, and send a heartbeat if it is time.
|
|
|
997 |
// I have put that in a thread, but I don't know why, on HB not received,
|
|
|
998 |
// it doesn't returns from heartbeatError() to the thread.
|
|
|
999 |
heartbeatMGR();
|
|
|
1000 |
|
|
|
1001 |
usleep(10000);
|
|
|
1002 |
|
|
|
1003 |
}
|
|
|
1004 |
return 0;
|
|
|
1005 |
}
|