author | etisserant |
Wed, 25 Jun 2008 17:02:17 +0200 | |
changeset 486 | edf526bd34b5 |
parent 465 | 2ef560acfa86 |
child 540 | 6857b6ffb7a7 |
permissions | -rw-r--r-- |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
1 |
/* |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
2 |
This file is part of CanFestival, a library implementing CanOpen Stack. |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
3 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
4 |
Copyright (C): Edouard TISSERANT and Francis DUPIN |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
5 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
6 |
See COPYING file for copyrights details. |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
7 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
8 |
This library is free software; you can redistribute it and/or |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
9 |
modify it under the terms of the GNU Lesser General Public |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
10 |
License as published by the Free Software Foundation; either |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
11 |
version 2.1 of the License, or (at your option) any later version. |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
12 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
13 |
This library is distributed in the hope that it will be useful, |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
16 |
Lesser General Public License for more details. |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
17 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
18 |
You should have received a copy of the GNU Lesser General Public |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
19 |
License along with this library; if not, write to the Free Software |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
20 |
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
21 |
*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
22 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
23 |
#if defined(WIN32) && !defined(__CYGWIN__) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
24 |
#include <windows.h> |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
25 |
#include "getopt.h" |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
26 |
void pause(void) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
27 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
28 |
system("PAUSE"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
29 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
30 |
#else |
169
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
31 |
#include <unistd.h> |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
32 |
#include <stdio.h> |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
33 |
#include <string.h> |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
34 |
#include <stdlib.h> |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
35 |
#include <signal.h> |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
36 |
#endif |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
37 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
38 |
#include "canfestival.h" |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
39 |
#include "TestMasterMicroMod.h" |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
40 |
#include "TestMaster.h" |
331 | 41 |
UNS8 slavenodeid = 0x40; |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
42 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
43 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
44 |
/*****************************************************************************/ |
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
45 |
void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
46 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
47 |
eprintf("TestMaster_heartbeatError %d\n", heartbeatID); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
48 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
49 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
50 |
/******************************************************** |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
51 |
* ConfigureSlaveNode is responsible to |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
52 |
* - setup master RPDO 1 to receive TPDO 1 from id 0x40 |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
53 |
* - setup master TPDO 1 to send RPDO 1 to id 0x40 |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
54 |
********************************************************/ |
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
55 |
void TestMaster_initialisation(CO_Data* d) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
56 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
57 |
UNS32 PDO1_COBID = 0x0180 + slavenodeid; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
58 |
UNS32 PDO2_COBID = 0x0200 + slavenodeid; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
59 |
UNS8 size = sizeof(UNS32); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
60 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
61 |
eprintf("TestMaster_initialisation\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
62 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
63 |
/***************************************** |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
64 |
* Define RPDOs to match slave ID=0x40 TPDOs* |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
65 |
*****************************************/ |
175
e255529b6f7d
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
etisserant
parents:
173
diff
changeset
|
66 |
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
67 |
0x1400, /*UNS16 index*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
68 |
0x01, /*UNS8 subind*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
69 |
&PDO1_COBID, /*void * pSourceData,*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
70 |
&size, /* UNS8 * pExpectedSize*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
71 |
RW); /* UNS8 checkAccess */ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
72 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
73 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
74 |
/***************************************** |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
75 |
* Define TPDOs to match slave ID=0x40 RPDOs* |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
76 |
*****************************************/ |
175
e255529b6f7d
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
etisserant
parents:
173
diff
changeset
|
77 |
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
78 |
0x1800, /*UNS16 index*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
79 |
0x01, /*UNS8 subind*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
80 |
&PDO2_COBID, /*void * pSourceData,*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
81 |
&size, /* UNS8 * pExpectedSize*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
82 |
RW); /* UNS8 checkAccess */ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
83 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
84 |
|
454 | 85 |
static int init_step = 0; |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
86 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
87 |
/*Froward declaration*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
88 |
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
89 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
90 |
/**/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
91 |
static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
92 |
{ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
93 |
UNS32 abortCode; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
94 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
95 |
if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
96 |
eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
97 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
98 |
/* Finalise last SDO transfer with this node */ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
99 |
closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
100 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
101 |
ConfigureSlaveNode(d, nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
102 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
103 |
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
104 |
/******************************************************** |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
105 |
* ConfigureSlaveNode is responsible to |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
106 |
* - setup slave TPDO 1 transmit time |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
107 |
* - setup slave TPDO 2 transmit time |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
108 |
* - setup slave Heartbeat Producer time |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
109 |
* - switch to operational mode |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
110 |
* - send NMT to slave |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
111 |
******************************************************** |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
112 |
* This an example of : |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
113 |
* Network Dictionary Access (SDO) with Callback |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
114 |
* Slave node state change request (NMT) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
115 |
******************************************************** |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
116 |
* This is called first by TestMaster_preOperational |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
117 |
* then it called again each time a SDO exchange is |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
118 |
* finished. |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
119 |
********************************************************/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
120 |
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
121 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
122 |
UNS8 res; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
123 |
eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId); |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
124 |
switch(++init_step){ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
125 |
case 1: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
126 |
{ /*disable Slave's TPDO 1 */ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
127 |
UNS32 TPDO_COBId = 0x80000180 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
128 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
129 |
eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
130 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
131 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
132 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
133 |
0x1800, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
134 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
135 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
136 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
137 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
138 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
139 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
140 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
141 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
142 |
case 2: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
143 |
{ /*setup Slave's TPDO 1 to be transmitted on SYNC*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
144 |
UNS8 Transmission_Type = 0x01; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
145 |
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
146 |
eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
147 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
148 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
149 |
nodeId, /*UNS8 nodeId*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
150 |
0x1800, /*UNS16 index*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
151 |
0x02, /*UNS8 subindex*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
152 |
1, /*UNS8 count*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
153 |
0, /*UNS8 dataType*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
154 |
&Transmission_Type,/*void *data*/ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
155 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
156 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
157 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
158 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
159 |
case 3: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
160 |
{ /*re-enable Slave's TPDO 1 */ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
161 |
UNS32 TPDO_COBId = 0x00000180 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
162 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
163 |
eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
164 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
165 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
166 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
167 |
0x1800, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
168 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
169 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
170 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
171 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
172 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
173 |
} |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
174 |
break; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
175 |
|
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
176 |
case 4: |
335 | 177 |
{ /*disable Slave's RPDO 1 */ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
178 |
UNS32 TPDO_COBId = 0x80000200 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
179 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
180 |
eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
181 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
182 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
183 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
184 |
0x1400, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
185 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
186 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
187 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
188 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
189 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
190 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
191 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
192 |
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
193 |
|
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
194 |
case 5: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
195 |
{ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
196 |
UNS8 Transmission_Type = 0x01; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
197 |
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
198 |
eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
199 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
200 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
201 |
nodeId, /*UNS8 nodeId*/ |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
202 |
0x1400, /*UNS16 index*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
203 |
0x02, /*UNS8 subindex*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
204 |
1, /*UNS8 count*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
205 |
0, /*UNS8 dataType*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
206 |
&Transmission_Type,/*void *data*/ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
207 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
208 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
209 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
210 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
211 |
case 6: |
335 | 212 |
{ /*re-enable Slave's RPDO 1 */ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
213 |
UNS32 TPDO_COBId = 0x00000200 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
214 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
215 |
eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
216 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
217 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
218 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
219 |
0x1400, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
220 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
221 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
222 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
223 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
224 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
225 |
} |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
226 |
break; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
227 |
|
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
228 |
case 7: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
229 |
{ |
335 | 230 |
/*set the heartbeat Producer Time*/ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
231 |
UNS16 Heartbeat_Producer_Time = 0x03E8; |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
232 |
eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
233 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
234 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
235 |
nodeId, /*UNS8 nodeId*/ |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
236 |
0x1017, /*UNS16 index*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
237 |
0x00, /*UNS8 subindex*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
238 |
2, /*UNS8 count*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
239 |
0, /*UNS8 dataType*/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
240 |
&Heartbeat_Producer_Time,/*void *data*/ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
241 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
242 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
243 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
244 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
245 |
case 8: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
246 |
{ /*disable Slave's TPDO 2 */ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
247 |
UNS32 TPDO_COBId = 0x80000280 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
248 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
249 |
eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
250 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
251 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
252 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
253 |
0x1801, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
254 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
255 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
256 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
257 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
258 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
259 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
260 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
261 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
262 |
case 9: |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
263 |
{ /*disable Slave's TPDO 3 */ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
264 |
UNS32 TPDO_COBId = 0x80000380 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
265 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
266 |
eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
267 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
268 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
269 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
270 |
0x1802, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
271 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
272 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
273 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
274 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
275 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
276 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
277 |
break; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
278 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
279 |
case 10: |
335 | 280 |
{ /*disable Slave's TPDO 4 */ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
281 |
UNS32 TPDO_COBId = 0x80000480 + nodeId; |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
282 |
|
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
283 |
eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId); |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
284 |
res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
285 |
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
286 |
nodeId, /*UNS8 nodeId*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
287 |
0x1803, /*UNS16 index*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
288 |
0x01, /*UNS8 subindex*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
289 |
4, /*UNS8 count*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
290 |
0, /*UNS8 dataType*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
291 |
&TPDO_COBId,/*void *data*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
292 |
CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
293 |
} |
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
294 |
break; |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
295 |
|
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
296 |
case 11: |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
297 |
/* Put the master in operational mode */ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
298 |
setState(d, Operational); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
299 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
300 |
/* Ask slave node to go in operational mode */ |
173
d776314a1efc
Set PDO transmit time according to ESA perceptionof CanOpen
etisserant
parents:
172
diff
changeset
|
301 |
masterSendNMTstateChange (d, nodeId, NMT_Start_Node); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
302 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
303 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
304 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
305 |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
306 |
void TestMaster_preOperational(CO_Data* d) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
307 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
308 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
309 |
eprintf("TestMaster_preOperational\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
310 |
ConfigureSlaveNode(&TestMaster_Data, slavenodeid); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
311 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
312 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
313 |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
314 |
void TestMaster_operational(CO_Data* d) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
315 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
316 |
eprintf("TestMaster_operational\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
317 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
318 |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
319 |
void TestMaster_stopped(CO_Data* d) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
320 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
321 |
eprintf("TestMaster_stopped\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
322 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
323 |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
324 |
void TestMaster_post_sync(CO_Data* d) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
325 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
326 |
DO++; |
201 | 327 |
eprintf("MicroMod Digital Out: %2.2x\n",DO); |
328 |
eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8); |
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
329 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
330 |
|
378
d2abf6c8c27b
As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
etisserant
parents:
335
diff
changeset
|
331 |
void TestMaster_post_TPDO(CO_Data* d) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
332 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
333 |
// eprintf("TestMaster_post_TPDO\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
334 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
335 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
336 |
//s_BOARD SlaveBoard = {"0", "500K"}; |
331 | 337 |
s_BOARD MasterBoard = {"0", "125K"}; |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
338 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
339 |
#if !defined(WIN32) || defined(__CYGWIN__) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
340 |
void catch_signal(int sig) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
341 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
342 |
signal(SIGTERM, catch_signal); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
343 |
signal(SIGINT, catch_signal); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
344 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
345 |
eprintf("Got Signal %d\n",sig); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
346 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
347 |
#endif |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
348 |
|
454 | 349 |
void help(void) |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
350 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
351 |
printf("**************************************************************\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
352 |
printf("* TestMasterMicroMod *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
353 |
printf("* *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
354 |
printf("* A simple example for PC. *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
355 |
printf("* A CanOpen master that control a MicroMod module: *\n"); |
180 | 356 |
printf("* - setup module TPDO 1 transmit type *\n"); |
357 |
printf("* - setup module RPDO 1 transmit type *\n"); |
|
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
358 |
printf("* - setup module hearbeatbeat period *\n"); |
180 | 359 |
printf("* - disable others TPDOs *\n"); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
360 |
printf("* - set state to operational *\n"); |
180 | 361 |
printf("* - send periodic SYNC *\n"); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
362 |
printf("* - send periodic RPDO 1 to Micromod (digital output) *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
363 |
printf("* - listen Micromod's TPDO 1 (digital input) *\n"); |
201 | 364 |
printf("* - Mapping RPDO 1 bit per bit (digital input) *\n"); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
365 |
printf("* *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
366 |
printf("* Usage: *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
367 |
printf("* ./TestMasterMicroMod [OPTIONS] *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
368 |
printf("* *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
369 |
printf("* OPTIONS: *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
370 |
printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
371 |
printf("* *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
372 |
printf("* Slave: *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
373 |
printf("* -i : Slave Node id format [0x01 , 0x7F] *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
374 |
printf("* *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
375 |
printf("* Master: *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
376 |
printf("* -m : bus name [\"1\"] *\n"); |
169
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
377 |
printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K *\n"); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
378 |
printf("* *\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
379 |
printf("**************************************************************\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
380 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
381 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
382 |
/*************************** INIT *****************************************/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
383 |
void InitNodes(CO_Data* d, UNS32 id) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
384 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
385 |
/****************************** INITIALISATION MASTER *******************************/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
386 |
if(MasterBoard.baudrate){ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
387 |
/* Defining the node Id */ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
388 |
setNodeId(&TestMaster_Data, 0x01); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
389 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
390 |
/* init */ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
391 |
setState(&TestMaster_Data, Initialisation); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
392 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
393 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
394 |
|
454 | 395 |
/*************************** EXIT *****************************************/ |
396 |
void Exit(CO_Data* d, UNS32 id) |
|
397 |
{ |
|
465 | 398 |
if(strcmp(MasterBoard.baudrate, "none")){ |
399 |
masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node); |
|
454 | 400 |
|
465 | 401 |
//Stop master |
402 |
setState(&TestMaster_Data, Stopped); |
|
403 |
} |
|
454 | 404 |
} |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
405 |
/****************************************************************************/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
406 |
/*************************** MAIN *****************************************/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
407 |
/****************************************************************************/ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
408 |
int main(int argc,char **argv) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
409 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
410 |
|
191 | 411 |
int c; |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
412 |
extern char *optarg; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
413 |
char* LibraryPath="libcanfestival_can_virtual.so"; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
414 |
char *snodeid; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
415 |
while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
416 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
417 |
switch(c) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
418 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
419 |
case 'm' : |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
420 |
if (optarg[0] == 0) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
421 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
422 |
help(); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
423 |
exit(1); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
424 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
425 |
MasterBoard.busname = optarg; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
426 |
break; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
427 |
case 'M' : |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
428 |
if (optarg[0] == 0) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
429 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
430 |
help(); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
431 |
exit(1); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
432 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
433 |
MasterBoard.baudrate = optarg; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
434 |
break; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
435 |
case 'l' : |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
436 |
if (optarg[0] == 0) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
437 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
438 |
help(); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
439 |
exit(1); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
440 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
441 |
LibraryPath = optarg; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
442 |
break; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
443 |
case 'i' : |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
444 |
if (optarg[0] == 0) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
445 |
{ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
446 |
help(); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
447 |
exit(1); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
448 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
449 |
snodeid = optarg; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
450 |
sscanf(snodeid,"%x",&slavenodeid); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
451 |
break; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
452 |
default: |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
453 |
help(); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
454 |
exit(1); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
455 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
456 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
457 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
458 |
#if !defined(WIN32) || defined(__CYGWIN__) |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
459 |
/* install signal handler for manual break */ |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
460 |
signal(SIGTERM, catch_signal); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
461 |
signal(SIGINT, catch_signal); |
454 | 462 |
TimerInit(); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
463 |
#endif |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
464 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
465 |
#ifndef NOT_USE_DYNAMIC_LOADING |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
466 |
LoadCanDriver(LibraryPath); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
467 |
#endif |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
468 |
|
169
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
469 |
TestMaster_Data.heartbeatError = TestMaster_heartbeatError; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
470 |
TestMaster_Data.initialisation = TestMaster_initialisation; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
471 |
TestMaster_Data.preOperational = TestMaster_preOperational; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
472 |
TestMaster_Data.operational = TestMaster_operational; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
473 |
TestMaster_Data.stopped = TestMaster_stopped; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
474 |
TestMaster_Data.post_sync = TestMaster_post_sync; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
475 |
TestMaster_Data.post_TPDO = TestMaster_post_TPDO; |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
476 |
|
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
477 |
if(!canOpen(&MasterBoard,&TestMaster_Data)){ |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
478 |
eprintf("Cannot open Master Board\n"); |
90c0a676e631
Removed compilation warnings with some GCC. + Fixed test for baudrate = none
etisserant
parents:
166
diff
changeset
|
479 |
goto fail_master; |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
480 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
481 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
482 |
// Start timer thread |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
483 |
StartTimerLoop(&InitNodes); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
484 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
485 |
// wait Ctrl-C |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
486 |
pause(); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
487 |
eprintf("Finishing.\n"); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
488 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
489 |
// Stop timer thread |
454 | 490 |
StopTimerLoop(&Exit); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
491 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
492 |
fail_master: |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
493 |
if(MasterBoard.baudrate) canClose(&TestMaster_Data); |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
494 |
|
454 | 495 |
TimerCleanup(); |
166
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
496 |
return 0; |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
497 |
} |
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
498 |
|
b6fbc1c59a44
Added a MicroMod Master sample in examples/TestMasterMicroMod. Fixed some SDO abort code and callback problem in sdo.c.
etisserant
parents:
diff
changeset
|
499 |