examples/kerneltest/TestMasterSlave.c
author greg
Tue, 27 May 2008 17:43:33 +0200
changeset 466 b71655eca5e2
parent 391 7802a7d5584f
child 467 40efa79d27dd
permissions -rw-r--r--
fix bug MasterMap1 callback
391
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     1
#include "canfestival.h"
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     2
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     3
#include "Master.h"
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     4
#include "Slave.h"
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     5
#include "TestMasterSlave.h"
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     6
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     7
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     8
static UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
     9
{
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    10
	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    11
	return 0;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    12
}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    13
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    14
s_BOARD SlaveBoard = {"0", "125K"};
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    15
s_BOARD MasterBoard = {"1", "125K"};
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    16
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    17
/***************************  INIT  *****************************************/
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    18
static void InitNodes(CO_Data* d, UNS32 id)
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    19
{
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    20
	/****************************** INITIALISATION SLAVE *******************************/
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    21
	if(strcmp(SlaveBoard.baudrate, "none")) {
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    22
		setNodeId(&TestSlave_Data, 0x02);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    23
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    24
		setState(&TestSlave_Data, Initialisation);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    25
	}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    26
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    27
	/****************************** INITIALISATION MASTER *******************************/
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    28
	if(strcmp(MasterBoard.baudrate, "none")){
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    29
 		RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    30
		
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    31
		// Defining the node Id
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    32
		setNodeId(&TestMaster_Data, 0x01);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    33
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    34
		setState(&TestMaster_Data, Initialisation);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    35
	}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    36
}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    37
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    38
int TestMasterSlave_start (void)
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    39
{
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    40
	if(strcmp(SlaveBoard.baudrate, "none")){
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    41
		
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    42
		TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    43
		TestSlave_Data.initialisation = TestSlave_initialisation;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    44
		TestSlave_Data.preOperational = TestSlave_preOperational;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    45
		TestSlave_Data.operational = TestSlave_operational;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    46
		TestSlave_Data.stopped = TestSlave_stopped;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    47
		TestSlave_Data.post_sync = TestSlave_post_sync;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    48
		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    49
		TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    50
		TestSlave_Data.post_emcy = TestSlave_post_emcy;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    51
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    52
		if(!canOpen(&SlaveBoard,&TestSlave_Data)){
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    53
			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    54
			return 1;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    55
		}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    56
	}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    57
	if(strcmp(MasterBoard.baudrate, "none")){
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    58
		
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    59
		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    60
		TestMaster_Data.initialisation = TestMaster_initialisation;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    61
		TestMaster_Data.preOperational = TestMaster_preOperational;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    62
		TestMaster_Data.operational = TestMaster_operational;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    63
		TestMaster_Data.stopped = TestMaster_stopped;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    64
		TestMaster_Data.post_sync = TestMaster_post_sync;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    65
		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    66
		TestMaster_Data.post_emcy = TestMaster_post_emcy;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    67
		TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    68
		
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    69
		if(!canOpen(&MasterBoard,&TestMaster_Data)){
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    70
			eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    71
			if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    72
			return 1;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    73
		}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    74
	}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    75
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    76
	// Start timer thread
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    77
	StartTimerLoop(&InitNodes);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    78
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    79
	return 0;
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    80
}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    81
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    82
void TestMasterSlave_stop (void)
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    83
{
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    84
	eprintf("Finishing.\n");
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    85
	
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    86
	EnterMutex();
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    87
	masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    88
	LeaveMutex();
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    89
	
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    90
	// Stop master
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    91
	EnterMutex();
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    92
	setState(&TestMaster_Data, Stopped);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    93
	LeaveMutex();
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    94
	
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    95
	// Stop timer thread
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    96
	StopTimerLoop();
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    97
	
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    98
	// Close CAN devices (and can threads)
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
    99
	if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
   100
	if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
   101
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
   102
	eprintf("End.\n");
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents:
diff changeset
   103
}