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/*

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Copyright (C): Giuseppe Massimo BERTANI

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gmbertani@users.sourceforge.net

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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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/**

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 * @file slave.c

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 * @author GMB

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 * @date 17/1/08

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 *

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 * This file is part of SillySlave demo for CANfestival

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 * open source CANopen stack.

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 */ 

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#include "SillySlave.h"

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#include "slave.h"

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#include "main.h"

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static UNS8 slaveNode = 0;  

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void InitNode(CO_Data* d, UNS32 id)

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{

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    /* Defining the node Id */

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    setNodeId(&SillySlave_Data, slaveNode);

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    /* CAN init */

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    setState(&SillySlave_Data, Initialisation);

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}

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void Exit(CO_Data* d, UNS32 id)

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{

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	/* Stop slave */

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    setState(&SillySlave_Data, Stopped);

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}

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INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node )

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{ 

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char busName[2];

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char baudRate[7];

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s_BOARD board;

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    sprintf(busName, "%u", bus);

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    sprintf(baudRate, "%uK", baudrate);

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    board.busname = busName;

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    board.baudrate = baudRate;

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    slaveNode = node;

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    SillySlave_Data.heartbeatError = SillySlave_heartbeatError;

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    SillySlave_Data.initialisation = SillySlave_initialisation;

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    SillySlave_Data.preOperational = SillySlave_preOperational;

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    SillySlave_Data.operational = SillySlave_operational;

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    SillySlave_Data.stopped = SillySlave_stopped;

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    SillySlave_Data.post_sync = SillySlave_post_sync;

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    SillySlave_Data.post_TPDO = SillySlave_post_TPDO;

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    SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex;

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    SillySlave_Data.post_emcy = SillySlave_post_emcy;

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	TimerInit();

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    if(!canOpen(&board, &SillySlave_Data))

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    {

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        printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate);

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        return -1;

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    }

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    printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n");

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	/* Start timer thread */

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    StartTimerLoop(&InitNode); 

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	/* wait Ctrl-C */

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	pause();

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	printf("\nFinishing.\n");

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	/* Stop timer thread */

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	StopTimerLoop(&Exit);

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    return 0;

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}

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void SillySlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)

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{

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    printf("SillySlave_heartbeatError %d\n", heartbeatID);

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}

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void SillySlave_initialisation(CO_Data* d )

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{

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    UNS32 PDO1_COBID = 0x0180 + NODE_MASTER; 

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    UNS8 size = sizeof(PDO1_COBID); 

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    printf("SillySlave_initialisation\n");

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    /* sets TXPDO1 COB-ID to match master node ID */

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    writeLocalDict( 

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            &SillySlave_Data,       /*CO_Data* d*/

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            0x1800,                 /*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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    /* value sent to master at each SYNC received */

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    LifeSignal = 0;

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}

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void SillySlave_preOperational(CO_Data* d)

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{

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    printf("SillySlave_preOperational\n");

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}

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void SillySlave_operational(CO_Data* d)

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{

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    printf("SillySlave_operational\n");

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}

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void SillySlave_stopped(CO_Data* d)

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{

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    printf("SillySlave_stopped\n");

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}

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void SillySlave_post_sync(CO_Data* d)

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{

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    printf("SillySlave_post_sync: \n");

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    LifeSignal++;

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}

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void SillySlave_post_TPDO(CO_Data* d)

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{

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    printf("SillySlave_post_TPDO: \n");

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    printf("LifeSignal = %u\n", LifeSignal);    

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}

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void SillySlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)

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{

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    /*TODO : 

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     * - call getODEntry for index and subindex, 

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     * - save content to file, database, flash, nvram, ...

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     * 

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     * To ease flash organisation, index of variable to store

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     * can be established by scanning d->objdict[d->ObjdictSize]

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     * for variables to store.

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     * 

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     * */

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    printf("SillySlave_storeODSubIndex : %4.4x %2.2xh\n", wIndex,  bSubindex);

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}

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void SillySlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)

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{

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    printf("Slave received EMCY message. Node: %2.2xh  ErrorCode: %4.4x  ErrorRegister: %2.2xh\n", nodeID, errCode, errReg);

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}

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