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381
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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 , Francis DUPIN and Jorge BERZOSA
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "Master.h"
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#include "SlaveA.h"
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#include "SlaveB.h"
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384
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#include "TestMasterSlaveLSS.h"
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extern s_BOARD MasterBoard;
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381
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/*****************************************************************************/
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void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
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{
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eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
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}
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/********************************************************
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* TestMaster_initialisation is responsible to
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* - setup master RPDO 1 to receive TPDO 1 from id 2
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* - setup master RPDO 2 to receive TPDO 1 from id 3
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********************************************************/
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void TestMaster_initialisation(CO_Data* d)
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{
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UNS32 PDO1_COBID = 0x0182;
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UNS32 PDO2_COBID = 0x0183;
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UNS8 size = sizeof(UNS32);
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eprintf("TestMaster_initialisation\n");
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/*****************************************
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* Define RPDO to match slave ID=2 TPDO1*
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*****************************************/
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writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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0x1400, /*UNS16 index*/
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0x01, /*UNS8 subind*/
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&PDO1_COBID, /*void * pSourceData,*/
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&size, /* UNS8 * pExpectedSize*/
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RW); /* UNS8 checkAccess */
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/*****************************************
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* Define RPDO to match slave ID=3 TPDO1*
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*****************************************/
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writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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0x1401, /*UNS16 index*/
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0x01, /*UNS8 subind*/
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&PDO2_COBID, /*void * pSourceData,*/
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&size, /* UNS8 * pExpectedSize*/
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RW); /* UNS8 checkAccess */
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}
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// Step counts number of times ConfigureSlaveNode is called
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// There is one per each slave
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static init_step[] ={0,0};
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/*Forward declaration*/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
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{
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UNS32 abortCode;
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if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
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eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
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/* Finalise last SDO transfer with this node */
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closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
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ConfigureSlaveNode(d, nodeId);
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}
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/********************************************************
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* ConfigureSlaveNode is responsible to
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* - setup slave 'n' TPDO 1 transmit type
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* - setup slave 'n' Producer Hertbeat Time
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* - setup the Consumer Heartbeat Time for slave 'n'
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* - switch to operational mode
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* - send NMT to slave
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********************************************************
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* This an example of :
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* Network Dictionary Access (SDO) with Callback
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* Slave node state change request (NMT)
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********************************************************
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* This is called first by TestMaster_post_SlaveBootup
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* after the LSS configuration has been done
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* then it called again each time a SDO exchange is
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* finished.
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********************************************************/
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static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
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{
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/* Master configure heartbeat producer time at 0 ms
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* for slaves node-id 0x02 and 0x03 by DCF concise */
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UNS8 Transmission_Type = 0x01;
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UNS16 Slave_Prod_Heartbeat_T=1000;//ms
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UNS32 Master_Cons_Heartbeat_Base=0x05DC; //1500ms
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UNS32 abortCode;
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UNS8 res;
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eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
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switch(++init_step[nodeId-2]){
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case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
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eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
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res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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nodeId, /*UNS8 nodeId*/
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0x1800, /*UNS16 index*/
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0x02, /*UNS8 subindex*/
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1, /*UNS8 count*/
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0, /*UNS8 dataType*/
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&Transmission_Type,/*void *data*/
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CheckSDOAndContinue); /*SDOCallback_t Callback*/
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break;
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case 2: /* Second step : Set the new heartbeat producer time in the slave */
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{
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UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000);
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UNS8 size = sizeof(UNS32);
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eprintf("Master : set slave %2.2x Producer Heartbeat Time = %d\n", nodeId,Slave_Prod_Heartbeat_T);
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res = writeNetworkDictCallBack (d, /*CO_Data* d*/
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nodeId, /*UNS8 nodeId*/
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0x1017, /*UNS16 index*/
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0x00, /*UNS8 subindex*/
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2, /*UNS8 count*/
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0, /*UNS8 dataType*/
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&Slave_Prod_Heartbeat_T,/*void *data*/
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CheckSDOAndContinue); /*SDOCallback_t Callback*/
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break;
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/* Set the new heartbeat consumer time in the master*/
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eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T);
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writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
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0x1016, /*UNS16 index*/
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nodeId-1, /*UNS8 subind*/
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&Master_Cons_Heartbeat_T, /*void * pSourceData,*/
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&size, /* UNS8 * pExpectedSize*/
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RW); /* UNS8 checkAccess */
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}
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break;
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case 3:
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/****************************** START *******************************/
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/* Put the master in operational mode */
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setState(d, Operational);
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/* Ask slave node to go in operational mode */
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masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
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}
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}
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static void ConfigureLSSNode(CO_Data* d);
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// Step counts number of times ConfigureLSSNode is called
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UNS8 init_step_LSS=1;
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static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
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{
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UNS32 dat1;
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UNS8 dat2;
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printf("CheckLSS->");
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if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
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eprintf("Master : Failed in LSS comand %d. Trying again\n", command);
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}
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else
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{
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init_step_LSS++;
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switch(command){
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case LSS_CONF_NODE_ID:
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switch(dat1){
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case 0: printf("Node ID change succesful\n");break;
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case 1: printf("Node ID change error:out of range\n");break;
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case 0xFF:printf("Node ID change error:specific error\n");break;
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default:break;
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}
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break;
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case LSS_CONF_BIT_TIMING:
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switch(dat1){
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case 0: printf("Baud rate change succesful\n");break;
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case 1: printf("Baud rate change error: change baud rate not supported\n");break;
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case 0xFF:printf("Baud rate change error:specific error\n");break;
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default:break;
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}
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break;
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case LSS_CONF_STORE:
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switch(dat1){
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case 0: printf("Store configuration succesful\n");break;
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case 1: printf("Store configuration error:not supported\n");break;
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case 0xFF:printf("Store configuration error:specific error\n");break;
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default:break;
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}
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break;
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case LSS_CONF_ACT_BIT_TIMING:
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if(dat1==0){
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UNS8 LSS_mode=LSS_WAITING_MODE;
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UNS32 SINC_cicle=50000;// us
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UNS8 size = sizeof(UNS32);
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/* The slaves are now configured (nodeId and Baudrate) via the LSS services.
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* Switch the LSS state to WAITING and restart the slaves. */
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517
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/*TODO: change the baud rate of the master!!*/
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384
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MasterBoard.baudrate="250K";
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517
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381
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printf("Master : Switch Delay period finished. Switching to LSS WAITING state\n");
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384
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configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
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381
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printf("Master : Restarting all the slaves\n");
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517
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masterSendNMTstateChange (d, 0x00, NMT_Reset_Comunication);
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381
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printf("Master : Starting the SYNC producer\n");
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384
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writeLocalDict( d, /*CO_Data* d*/
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381
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0x1006, /*UNS16 index*/
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0x00, /*UNS8 subind*/
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&SINC_cicle, /*void * pSourceData,*/
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&size, /* UNS8 * pExpectedSize*/
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RW); /* UNS8 checkAccess */
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return;
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}
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else{
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384
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UNS16 Switch_delay=1;
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UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
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eprintf("Master : unable to activate bit timing. trying again\n");
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configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
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return;
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381
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}
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break;
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case LSS_SM_SELECTIVE_SERIAL:
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printf("Slave in LSS CONFIGURATION state\n");
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break;
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case LSS_IDENT_REMOTE_SERIAL_HIGH:
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printf("node identified\n");
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break;
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case LSS_IDENT_REMOTE_NON_CONF:
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if(dat1==0)
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eprintf("There are no-configured remote slave(s) in the net\n");
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else
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{
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UNS16 Switch_delay=1;
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UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
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/*The configuration of the slaves' nodeId ended.
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* Start the configuration of the baud rate. */
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eprintf("Master : There are not no-configured slaves in the net\n", command);
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eprintf("Switching all the nodes to LSS CONFIGURATION state\n");
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384
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configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
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381
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eprintf("LSS=>Activate Bit Timing\n");
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384
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configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
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381
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return;
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}
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break;
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case LSS_INQ_VENDOR_ID:
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printf("Slave VendorID %x\n", dat1);
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break;
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case LSS_INQ_PRODUCT_CODE:
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printf("Slave Product Code %x\n", dat1);
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break;
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case LSS_INQ_REV_NUMBER:
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printf("Slave Revision Number %x\n", dat1);
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break;
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case LSS_INQ_SERIAL_NUMBER:
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printf("Slave Serial Number %x\n", dat1);
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break;
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case LSS_INQ_NODE_ID:
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printf("Slave nodeid %x\n", dat1);
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break;
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#ifdef CO_ENABLE_LSS_FS
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case LSS_IDENT_FASTSCAN:
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if(dat1==0)
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printf("Slave node identified with FastScan\n");
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else
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{
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printf("There is not unconfigured node in the net\n");
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return;
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}
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init_step_LSS++;
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break;
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#endif
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300 |
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}
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}
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303 |
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printf("\n");
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ConfigureLSSNode(d);
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}
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307 |
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308 |
/* Initial nodeID and VendorID. They are incremented by one for each slave*/
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309 |
UNS8 NodeID=0x02;
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UNS32 Vendor_ID=0x12345678;
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311 |
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/* Configuration of the nodeID and baudrate with LSS services:
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* --First ask if there is a node with an invalid nodeID.
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* --If FastScan is activated it is used to put the slave in the state “configuration”.
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* --If FastScan is not activated, identification services are used to identify the slave. Then
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* switch mode service is used to put it in configuration state.
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* --Next, all the inquire services are used (only for example) and a valid nodeId and a
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* new baudrate are assigned to the slave.
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* --Finally, the slave's LSS state is restored to “waiting” and all the process is repeated
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* again until there isn't any node with an invalid nodeID.
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* --After the configuration of all the slaves finished the LSS state of all of them is switched
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* again to "configuration" and the Activate Bit Timing service is requested. On sucessfull, the
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* LSS state is restored to "waiting" and NMT state is changed to reset (by means of the NMT services).
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324 |
* */
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|
325 |
static void ConfigureLSSNode(CO_Data* d)
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326 |
{
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327 |
UNS32 Product_Code=0x90123456;
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328 |
UNS32 Revision_Number=0x78901234;
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329 |
UNS32 Serial_Number=0x56789012;
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330 |
UNS32 Revision_Number_high=0x78901240;
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331 |
UNS32 Revision_Number_low=0x78901230;
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332 |
UNS32 Serial_Number_high=0x56789020;
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333 |
UNS32 Serial_Number_low=0x56789010;
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|
334 |
UNS8 LSS_mode=LSS_WAITING_MODE;
|
|
|
335 |
UNS8 Baud_Table=0;
|
|
384
|
336 |
//UNS8 Baud_BitTiming=3;
|
|
|
337 |
char* Baud_BitTiming="250K";
|
|
381
|
338 |
UNS8 res;
|
|
|
339 |
eprintf("ConfigureLSSNode step %d -> ",init_step_LSS);
|
|
|
340 |
|
|
|
341 |
switch(init_step_LSS){
|
|
|
342 |
case 1: /* LSS=>identify non-configured remote slave */
|
|
|
343 |
eprintf("LSS=>identify no-configured remote slave(s)\n");
|
|
|
344 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
|
|
|
345 |
break;
|
|
|
346 |
#ifdef CO_ENABLE_LSS_FS
|
|
|
347 |
case 2: /* LSS=>FastScan */
|
|
517
|
348 |
{
|
|
|
349 |
lss_fs_transfer_t lss_fs;
|
|
381
|
350 |
eprintf("LSS=>FastScan\n");
|
|
517
|
351 |
/* The VendorID and ProductCode are partialy known, except the last two digits (8 bits). */
|
|
|
352 |
lss_fs.FS_LSS_ID[0]=Vendor_ID;
|
|
|
353 |
lss_fs.FS_BitChecked[0]=8;
|
|
|
354 |
lss_fs.FS_LSS_ID[1]=Product_Code;
|
|
|
355 |
lss_fs.FS_BitChecked[1]=8;
|
|
|
356 |
/* serialNumber and RevisionNumber are unknown, i.e. the 8 digits (32bits) are unknown. */
|
|
|
357 |
lss_fs.FS_BitChecked[2]=32;
|
|
|
358 |
lss_fs.FS_BitChecked[3]=32;
|
|
|
359 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_FASTSCAN,&lss_fs,0,CheckLSSAndContinue);
|
|
|
360 |
}
|
|
|
361 |
break;
|
|
381
|
362 |
#else
|
|
|
363 |
case 2: /* LSS=>identify node */
|
|
|
364 |
eprintf("LSS=>identify node\n");
|
|
|
365 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0,NULL);
|
|
|
366 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0,NULL);
|
|
|
367 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0,NULL);
|
|
|
368 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0,NULL);
|
|
|
369 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0,NULL);
|
|
|
370 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
|
|
|
371 |
break;
|
|
|
372 |
case 3: /*LSS=>put in configuration mode*/
|
|
|
373 |
eprintf("LSS=>put in configuration mode\n");
|
|
|
374 |
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0,NULL);
|
|
|
375 |
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0,NULL);
|
|
|
376 |
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0,NULL);
|
|
|
377 |
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
|
|
|
378 |
Vendor_ID++;
|
|
|
379 |
break;
|
|
|
380 |
#endif
|
|
|
381 |
case 4: /* LSS=>inquire nodeID */
|
|
|
382 |
eprintf("LSS=>inquire nodeID\n");
|
|
|
383 |
res=configNetworkNode(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
|
|
|
384 |
break;
|
|
|
385 |
case 5: /* LSS=>inquire VendorID */
|
|
|
386 |
eprintf("LSS=>inquire VendorID\n");
|
|
|
387 |
res=configNetworkNode(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
|
|
|
388 |
break;
|
|
|
389 |
case 6: /* LSS=>inquire Product code */
|
|
|
390 |
eprintf("LSS=>inquire Product code\n");
|
|
|
391 |
res=configNetworkNode(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
|
|
|
392 |
break;
|
|
|
393 |
case 7: /* LSS=>inquire Revision Number */
|
|
|
394 |
eprintf("LSS=>inquire Revision Number\n");
|
|
|
395 |
res=configNetworkNode(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
|
|
|
396 |
break;
|
|
|
397 |
case 8: /* LSS=>inquire Serial Number */
|
|
|
398 |
eprintf("LSS=>inquire Serial Number\n");
|
|
|
399 |
res=configNetworkNode(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
|
|
|
400 |
break;
|
|
|
401 |
case 9: /* LSS=>change the nodeID */
|
|
|
402 |
eprintf("LSS=>change the nodeId\n");
|
|
|
403 |
res=configNetworkNode(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
|
|
|
404 |
NodeID++;
|
|
|
405 |
break;
|
|
|
406 |
case 10: /* LSS=>change the Baud rate */
|
|
|
407 |
eprintf("LSS=>change the Baud rate\n");
|
|
|
408 |
res=configNetworkNode(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
|
|
|
409 |
break;
|
|
|
410 |
case 11:
|
|
|
411 |
/*LSS=>store configuration*/
|
|
|
412 |
eprintf("LSS=>store configuration\n");
|
|
|
413 |
res=configNetworkNode(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
|
|
|
414 |
break;
|
|
|
415 |
case 12: /* LSS=>put in waiting mode */
|
|
|
416 |
eprintf("LSS=>put in waiting mode\n");
|
|
|
417 |
res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
|
|
|
418 |
/* Search again for no-configured slaves*/
|
|
|
419 |
eprintf("LSS=>identify no-configured remote slave(s)\n");
|
|
|
420 |
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
|
|
|
421 |
init_step_LSS=1;
|
|
|
422 |
break;
|
|
|
423 |
}
|
|
|
424 |
}
|
|
|
425 |
|
|
|
426 |
void TestMaster_preOperational(CO_Data* d)
|
|
|
427 |
{
|
|
|
428 |
eprintf("TestMaster_preOperational\n");
|
|
|
429 |
|
|
|
430 |
/* Ask slaves to go in stop mode */
|
|
|
431 |
masterSendNMTstateChange (d, 0, NMT_Stop_Node);
|
|
|
432 |
ConfigureLSSNode(&TestMaster_Data);
|
|
|
433 |
}
|
|
|
434 |
|
|
|
435 |
void TestMaster_operational(CO_Data* d)
|
|
|
436 |
{
|
|
|
437 |
eprintf("TestMaster_operational\n");
|
|
|
438 |
}
|
|
|
439 |
|
|
|
440 |
void TestMaster_stopped(CO_Data* d)
|
|
|
441 |
{
|
|
|
442 |
eprintf("TestMaster_stopped\n");
|
|
|
443 |
}
|
|
|
444 |
|
|
|
445 |
void TestMaster_post_sync(CO_Data* d)
|
|
|
446 |
{
|
|
|
447 |
eprintf("TestMaster_post_sync\n");
|
|
|
448 |
eprintf("Master: %d %d %d\n",
|
|
|
449 |
MasterMap1,
|
|
|
450 |
MasterMap2,
|
|
|
451 |
MasterMap3);
|
|
|
452 |
}
|
|
|
453 |
|
|
|
454 |
void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
|
|
|
455 |
{
|
|
|
456 |
eprintf("Master received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
|
|
|
457 |
}
|
|
|
458 |
|
|
|
459 |
void TestMaster_post_TPDO(CO_Data* d)
|
|
|
460 |
{
|
|
|
461 |
eprintf("TestMaster_post_TPDO\n");
|
|
|
462 |
}
|
|
|
463 |
|
|
|
464 |
void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
|
|
|
465 |
{
|
|
|
466 |
eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
|
|
|
467 |
/* Wait until the new baud rate is stored before configure the slaves*/
|
|
|
468 |
if(MasterBoard.baudrate=="250K")
|
|
|
469 |
ConfigureSlaveNode(d, nodeid);
|
|
|
470 |
}
|
|
|
471 |
|