author | leonid |
Wed, 08 Aug 2007 01:43:02 +0200 | |
changeset 252 | b0dd37421d28 |
parent 194 | 90d740ff7c21 |
child 262 | f1c892f3f93c |
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 |
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#include <stdio.h> |
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#include <string.h> |
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#include <unistd.h> |
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#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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40 |
//#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) |
|
47 |
{ |
|
48 |
eprintf("OnSlaveMap1Update:%d\n", SlaveMap1); |
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31 | 49 |
return 0; |
0 | 50 |
} |
51 |
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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 |
{ |
|
58 |
signal(SIGTERM, catch_signal); |
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59 |
signal(SIGINT, catch_signal); |
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eprintf("Got Signal %d\n",sig); |
61 |
} |
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#endif |
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void help() |
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65 |
{ |
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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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69 |
printf("* A simple example for PC. It does implement 2 CanOpen *\n"); |
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70 |
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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/* Defining the node Id */ |
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setNodeId(&TestSlave_Data, 0x02); |
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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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/* 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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/****************************************************************************/ |
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int main(int argc,char **argv) |
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{ |
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191 | 122 |
int c; |
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extern char *optarg; |
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char* LibraryPath="libcanfestival_can_virtual.so"; |
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while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF) |
0 | 127 |
{ |
128 |
switch(c) |
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129 |
{ |
|
130 |
case 's' : |
|
131 |
if (optarg[0] == 0) |
|
132 |
{ |
|
133 |
help(); |
|
134 |
exit(1); |
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135 |
} |
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136 |
SlaveBoard.busname = optarg; |
|
137 |
break; |
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138 |
case 'm' : |
|
139 |
if (optarg[0] == 0) |
|
140 |
{ |
|
141 |
help(); |
|
142 |
exit(1); |
|
143 |
} |
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144 |
MasterBoard.busname = optarg; |
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145 |
break; |
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146 |
case 'S' : |
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if (optarg[0] == 0) |
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148 |
{ |
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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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{ |
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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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182 |
#ifndef NOT_USE_DYNAMIC_LOADING |
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183 |
LoadCanDriver(LibraryPath); |
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184 |
#endif |
0 | 185 |
// Open CAN devices |
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186 |
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187 |
if(strcmp(SlaveBoard.baudrate, "none")){ |
149 | 188 |
|
189 |
TestSlave_Data.heartbeatError = TestSlave_heartbeatError; |
|
190 |
TestSlave_Data.initialisation = TestSlave_initialisation; |
|
191 |
TestSlave_Data.preOperational = TestSlave_preOperational; |
|
192 |
TestSlave_Data.operational = TestSlave_operational; |
|
193 |
TestSlave_Data.stopped = TestSlave_stopped; |
|
194 |
TestSlave_Data.post_sync = TestSlave_post_sync; |
|
195 |
TestSlave_Data.post_TPDO = TestSlave_post_TPDO; |
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|
196 |
TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; |
149 | 197 |
|
198 |
if(!canOpen(&SlaveBoard,&TestSlave_Data)){ |
|
145
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
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diff
changeset
|
199 |
eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
200 |
goto fail_slave; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
201 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
202 |
} |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
203 |
if(strcmp(MasterBoard.baudrate, "none")){ |
149 | 204 |
|
205 |
TestMaster_Data.heartbeatError = TestMaster_heartbeatError; |
|
206 |
TestMaster_Data.initialisation = TestMaster_initialisation; |
|
207 |
TestMaster_Data.preOperational = TestMaster_preOperational; |
|
208 |
TestMaster_Data.operational = TestMaster_operational; |
|
209 |
TestMaster_Data.stopped = TestMaster_stopped; |
|
210 |
TestMaster_Data.post_sync = TestMaster_post_sync; |
|
211 |
TestMaster_Data.post_TPDO = TestMaster_post_TPDO; |
|
212 |
||
213 |
if(!canOpen(&MasterBoard,&TestMaster_Data)){ |
|
179
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greg
parents:
172
diff
changeset
|
214 |
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
|
215 |
goto fail_master; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
216 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
40
diff
changeset
|
217 |
} |
194 | 218 |
|
32 | 219 |
// Start timer thread |
220 |
StartTimerLoop(&InitNodes); |
|
221 |
||
222 |
// wait Ctrl-C |
|
179
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greg
parents:
172
diff
changeset
|
223 |
|
32 | 224 |
pause(); |
225 |
eprintf("Finishing.\n"); |
|
226 |
||
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
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parents:
172
diff
changeset
|
227 |
masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node); |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
228 |
eprintf("reset\n"); |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
229 |
// Stop master |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
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172
diff
changeset
|
230 |
setState(&TestMaster_Data, Stopped); |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
231 |
|
32 | 232 |
// Stop timer thread |
233 |
StopTimerLoop(); |
|
234 |
||
235 |
// Close CAN devices (and can threads) |
|
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
236 |
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
|
237 |
fail_master: |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
238 |
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
|
239 |
fail_slave: |
179
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
240 |
return 0; |
763b6d32c1a6
Master configure slave's heartbeat producer time by concise DCF.
greg
parents:
172
diff
changeset
|
241 |
} |