examples/TestMasterSlave/TestMasterSlave.c
author etisserant
Tue, 08 Aug 2006 22:34:32 +0200
changeset 41 e70439f50539
parent 40 ddeeb217ed71
child 145 e747d2e26af0
permissions -rw-r--r--
First working cygwin/pcan_light commit. can_peak_win32.c is obfuscated.
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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 <unistd.h>
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#include <stdlib.h>
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#include <signal.h>
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#include <applicfg.h>
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#include <can_driver.h>
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#include <timers_driver.h>
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#include "Master.h"
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#include "Slave.h"
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#include "TestMasterSlave.h"
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#define MyCase(fc) case fc: eprintf(#fc);break;
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void print_message(Message *m)
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{
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	int i;
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	switch(m->cob_id.w >> 7)
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	{
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		MyCase(SYNC)
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		MyCase(TIME_STAMP)
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		MyCase(PDO1tx)
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		MyCase(PDO1rx)
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		MyCase(PDO2tx)
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		MyCase(PDO2rx)
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		MyCase(PDO3tx)
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		MyCase(PDO3rx)
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		MyCase(PDO4tx)
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		MyCase(PDO4rx)
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		MyCase(SDOtx)
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		MyCase(SDOrx)
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		MyCase(NODE_GUARD)
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		MyCase(NMT)
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	}
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	eprintf(" rtr:%d", m->rtr);
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	eprintf(" len:%d", m->len);
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	for (i = 0 ; i < m->len ; i++)
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		eprintf(" %02x", m->data[i]);
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	eprintf("\n");
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}
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UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
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{
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	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
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	return 0;
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}
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CAN_HANDLE SlaveCanHandle;
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CAN_HANDLE MasterCanHandle;
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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_500K
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int TranslateBaudeRate(char* optarg){
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	if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
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	if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
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	if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
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	if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
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	if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
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	if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
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	if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
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	if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
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	if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
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	if(!strcmp( optarg, "none")) return 0;
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	return 0x0000;
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}
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s_BOARD SlaveBoard = {"0", CAN_BAUD_500K, &TestSlave_Data};
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s_BOARD MasterBoard = {"1", CAN_BAUD_500K, &TestMaster_Data};
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#else
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int TranslateBaudeRate(char* optarg){
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	if(!strcmp( optarg, "1M")) return 1000;
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	if(!strcmp( optarg, "500K")) return 500;
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	if(!strcmp( optarg, "250K")) return 250;
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	if(!strcmp( optarg, "125K")) return 125;
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	if(!strcmp( optarg, "100K")) return 100;
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	if(!strcmp( optarg, "50K")) return 50;
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	if(!strcmp( optarg, "20K")) return 20;
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	if(!strcmp( optarg, "10K")) return 10;
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	if(!strcmp( optarg, "5K")) return 5;
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	if(!strcmp( optarg, "none")) return 0;
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	return 0;
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}
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s_BOARD SlaveBoard = {"0", 500, &TestSlave_Data};
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s_BOARD MasterBoard = {"1", 500, &TestMaster_Data};
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#endif
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void catch_signal(int sig)
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{
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  signal(SIGTERM, catch_signal);
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  signal(SIGINT, catch_signal);
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  eprintf("Got Signal %d\n",sig);
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}
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void help()
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{
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  printf("**************************************************************\n");
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  printf("*  TestMasterSlave                                           *\n");
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  printf("*                                                            *\n");
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  printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
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  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.                                              *\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("*    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");
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  printf("*                                                            *\n");
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  printf("**************************************************************\n");
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}
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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(SlaveBoard.baudrate) {
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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(MasterBoard.baudrate){
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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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		/****************************** START *******************************/
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		/* Put the master in operational mode */
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		setState(&TestMaster_Data, Operational);
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		/* Ask slave node to go in operational mode */
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		masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
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	}
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}
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0
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/****************************************************************************/
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/***************************  MAIN  *****************************************/
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/****************************************************************************/
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int main(int argc,char **argv)
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{
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  char c;
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  extern char *optarg;
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  while ((c = getopt(argc, argv, "-m:s:M:S:")) != EOF)
0
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  {
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    switch(c)
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    {
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      case 's' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        SlaveBoard.busname = optarg;
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        break;
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      case 'm' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        MasterBoard.busname = optarg;
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        break;
36
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      case 'S' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        SlaveBoard.baudrate = TranslateBaudeRate(optarg);
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        break;
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      case 'M' :
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        if (optarg[0] == 0)
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        {
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          help();
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          exit(1);
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        }
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        MasterBoard.baudrate = TranslateBaudeRate(optarg);
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        break;
0
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      default:
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        help();
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        exit(1);
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    }
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  }
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	/* install signal handler for manual break */
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	signal(SIGTERM, catch_signal);
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	signal(SIGINT, catch_signal);
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	// Open CAN devices
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	if(SlaveBoard.baudrate)
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		if((SlaveCanHandle = canOpen(&SlaveBoard))==NULL) goto fail_slave;
40
ddeeb217ed71 Updated configure and fixes in Makefiles.in for cygwin compiling.
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	if(MasterBoard.baudrate)
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		if((MasterCanHandle = canOpen(&MasterBoard))==NULL) goto fail_master;
0
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	// Start timer thread
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	StartTimerLoop(&InitNodes);
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	// wait Ctrl-C
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	pause();
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	eprintf("Finishing.\n");
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	// Stop timer thread
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	StopTimerLoop();
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	// Close CAN devices (and can threads)
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	if(SlaveBoard.baudrate) canClose(SlaveCanHandle);
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fail_master:
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	if(MasterBoard.baudrate) canClose(MasterCanHandle);	
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fail_slave:
0
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  return 0;
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}