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<a class="el" href="dir_fc8d77725c328f9de5a130dceab5a508.html">examples</a> » <a class="el" href="dir_cb9d6d827bc8780b4808994475b6fec1.html">TestMasterSlave</a></div>
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<h1>Master.c</h1><a href="Master_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
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<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
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<a name="l00003"></a>00003 <span class="comment"></span>
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<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
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<a name="l00005"></a>00005 <span class="comment"></span>
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<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
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<a name="l00007"></a>00007 <span class="comment"></span>
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<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
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<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
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<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
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<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
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<a name="l00012"></a>00012 <span class="comment"></span>
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<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
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<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
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<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
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<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
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<a name="l00017"></a>00017 <span class="comment"></span>
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<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
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<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
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<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
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<a name="l00021"></a>00021 <span class="comment">*/</span>
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<a name="l00022"></a>00022
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<a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="Master_8h.html">Master.h</a>"</span>
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<a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="Slave_8h.html">Slave.h</a>"</span>
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<a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="TestMasterSlave_8h.html">TestMasterSlave.h</a>"</span>
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<a name="l00026"></a>00026
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<a name="l00027"></a>00027 <span class="comment">/*****************************************************************************/</span>
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<a name="l00028"></a><a class="code" href="Master_8h.html#68bcbab35a7a058c874ac3af06cbf240">00028</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#47eb45e75b4db150fb465fcf171ef4b4">TestMaster_heartbeatError</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> heartbeatID)
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<a name="l00029"></a>00029 {
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<a name="l00030"></a>00030 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_heartbeatError %d\n"</span>, heartbeatID);
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<a name="l00031"></a>00031 }
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<a name="l00032"></a>00032
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<a name="l00033"></a>00033 <span class="comment">/********************************************************</span>
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<a name="l00034"></a>00034 <span class="comment"> * ConfigureSlaveNode is responsible to</span>
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56 |
<a name="l00035"></a>00035 <span class="comment"> * - setup master RPDO 1 to receive TPDO 1 from id 2</span>
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<a name="l00036"></a>00036 <span class="comment"> * - setup master RPDO 2 to receive TPDO 2 from id 2</span>
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<a name="l00037"></a>00037 <span class="comment"> ********************************************************/</span>
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<a name="l00038"></a><a class="code" href="Master_8h.html#0c39246491ef97103fad9f8087c7994b">00038</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#e08dfb379eebaa62524fac5bba2196d5">TestMaster_initialisation</a>()
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<a name="l00039"></a>00039 {
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<a name="l00040"></a>00040 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> PDO1_COBID = 0x0182;
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<a name="l00041"></a>00041 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> PDO2_COBID = 0x0282;
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<a name="l00042"></a>00042 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> size = <span class="keyword">sizeof</span>(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>);
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<a name="l00043"></a>00043
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<a name="l00044"></a>00044 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_initialisation\n"</span>);
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<a name="l00045"></a>00045
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<a name="l00046"></a>00046 <span class="comment">/*****************************************</span>
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68 |
<a name="l00047"></a>00047 <span class="comment"> * Define RPDOs to match slave ID=2 TPDOs*</span>
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<a name="l00048"></a>00048 <span class="comment"> *****************************************/</span>
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<a name="l00049"></a>00049 <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>( &<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
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<a name="l00050"></a>00050 0x1400, <span class="comment">/*UNS16 index*/</span>
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72 |
<a name="l00051"></a>00051 0x01, <span class="comment">/*UNS8 subind*/</span>
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73 |
<a name="l00052"></a>00052 &PDO1_COBID, <span class="comment">/*void * pSourceData,*/</span>
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74 |
<a name="l00053"></a>00053 &size, <span class="comment">/* UNS8 * pExpectedSize*/</span>
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75 |
<a name="l00054"></a>00054 <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>); <span class="comment">/* UNS8 checkAccess */</span>
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<a name="l00055"></a>00055
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77 |
<a name="l00056"></a>00056 <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>( &<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
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<a name="l00057"></a>00057 0x1401, <span class="comment">/*UNS16 index*/</span>
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<a name="l00058"></a>00058 0x01, <span class="comment">/*UNS8 subind*/</span>
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80 |
<a name="l00059"></a>00059 &PDO2_COBID, <span class="comment">/*void * pSourceData,*/</span>
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81 |
<a name="l00060"></a>00060 &size, <span class="comment">/* UNS8 * pExpectedSize*/</span>
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82 |
<a name="l00061"></a>00061 <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>); <span class="comment">/* UNS8 checkAccess */</span>
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<a name="l00062"></a>00062 }
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84 |
<a name="l00063"></a>00063
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<a name="l00064"></a>00064 <span class="comment">// Step counts number of times ConfigureSlaveNode is called</span>
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86 |
<a name="l00065"></a>00065 <span class="keyword">static</span> init_step = 0;
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87 |
<a name="l00066"></a>00066
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88 |
<a name="l00067"></a>00067 <span class="comment">/*Froward declaration*/</span>
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89 |
<a name="l00068"></a>00068 <span class="keyword">static</span> <span class="keywordtype">void</span> ConfigureSlaveNode(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId);
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90 |
<a name="l00069"></a>00069
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91 |
<a name="l00070"></a>00070
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<a name="l00071"></a>00071 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
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93 |
<a name="l00072"></a>00072 {
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94 |
<a name="l00073"></a>00073 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> abortCode;
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95 |
<a name="l00074"></a>00074 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &abortCode) != <a class="code" href="def_8h.html#7d9dad1485ed532424092d21b1e22ad2">SDO_FINISHED</a>)
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96 |
<a name="l00075"></a>00075 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n"</span>, nodeId, init_step, abortCode);
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97 |
<a name="l00076"></a>00076
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98 |
<a name="l00077"></a>00077 <span class="comment">/* Finalise last SDO transfer with this node */</span>
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99 |
<a name="l00078"></a>00078 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, nodeId, <a class="code" href="def_8h.html#b1dccfddc653c2a7c4eaf3e1cc8d8e57">SDO_CLIENT</a>);
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100 |
<a name="l00079"></a>00079
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101 |
<a name="l00080"></a>00080 ConfigureSlaveNode(d, nodeId);
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<a name="l00081"></a>00081 }
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103 |
<a name="l00082"></a>00082
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<a name="l00083"></a>00083 <span class="comment">/********************************************************</span>
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105 |
<a name="l00084"></a>00084 <span class="comment"> * ConfigureSlaveNode is responsible to</span>
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106 |
<a name="l00085"></a>00085 <span class="comment"> * - setup slave TPDO 1 transmit time</span>
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<a name="l00086"></a>00086 <span class="comment"> * - setup slave TPDO 2 transmit time</span>
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<a name="l00087"></a>00087 <span class="comment"> * - switch to operational mode</span>
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109 |
<a name="l00088"></a>00088 <span class="comment"> * - send NMT to slave</span>
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<a name="l00089"></a>00089 <span class="comment"> ********************************************************</span>
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<a name="l00090"></a>00090 <span class="comment"> * This an example of :</span>
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112 |
<a name="l00091"></a>00091 <span class="comment"> * Network Dictionary Access (SDO) with Callback </span>
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113 |
<a name="l00092"></a>00092 <span class="comment"> * Slave node state change request (NMT) </span>
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<a name="l00093"></a>00093 <span class="comment"> ********************************************************</span>
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<a name="l00094"></a>00094 <span class="comment"> * This is called first by TestMaster_preOperational</span>
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<a name="l00095"></a>00095 <span class="comment"> * then it called again each time a SDO exchange is</span>
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117 |
<a name="l00096"></a>00096 <span class="comment"> * finished.</span>
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<a name="l00097"></a>00097 <span class="comment"> ********************************************************/</span>
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<a name="l00098"></a>00098
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<a name="l00099"></a>00099 <span class="keyword">static</span> <span class="keywordtype">void</span> ConfigureSlaveNode(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
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<a name="l00100"></a>00100 {
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<a name="l00101"></a>00101 <span class="comment">/* Master configure heartbeat producer time at 1000 ms </span>
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<a name="l00102"></a>00102 <span class="comment"> * for slave node-id 0x02 by DCF concise */</span>
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<a name="l00103"></a>00103
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<a name="l00104"></a>00104 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Transmission_Type = 0x01;
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126 |
<a name="l00105"></a>00105 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> abortCode;
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127 |
<a name="l00106"></a>00106 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res;
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128 |
<a name="l00107"></a>00107 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : ConfigureSlaveNode %2.2x\n"</span>, nodeId);
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129 |
<a name="l00108"></a>00108
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<a name="l00109"></a>00109 <span class="keywordflow">switch</span>(++init_step){
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<a name="l00110"></a>00110 <span class="keywordflow">case</span> 1: <span class="comment">/*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/</span>
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132 |
<a name="l00111"></a>00111 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x TPDO 1 transmit type\n"</span>, nodeId);
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<a name="l00112"></a>00112 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
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<a name="l00113"></a>00113 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
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135 |
<a name="l00114"></a>00114 0x1800, <span class="comment">/*UNS16 index*/</span>
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<a name="l00115"></a>00115 0x02, <span class="comment">/*UNS8 subindex*/</span>
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<a name="l00116"></a>00116 1, <span class="comment">/*UNS8 count*/</span>
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<a name="l00117"></a>00117 0, <span class="comment">/*UNS8 dataType*/</span>
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<a name="l00118"></a>00118 &Transmission_Type,<span class="comment">/*void *data*/</span>
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<a name="l00119"></a>00119 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
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141 |
<a name="l00120"></a>00120 <span class="keywordflow">break</span>;
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142 |
<a name="l00121"></a>00121
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<a name="l00122"></a>00122 <span class="keywordflow">case</span> 2: <span class="comment">/*Second step*/</span>
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144 |
<a name="l00123"></a>00123 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x TPDO 2 transmit type\n"</span>, nodeId);
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145 |
<a name="l00124"></a>00124 <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
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<a name="l00125"></a>00125 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
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<a name="l00126"></a>00126 0x1801, <span class="comment">/*UNS16 index*/</span>
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148 |
<a name="l00127"></a>00127 0x02, <span class="comment">/*UNS16 index*/</span>
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<a name="l00128"></a>00128 1, <span class="comment">/*UNS8 count*/</span>
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<a name="l00129"></a>00129 0, <span class="comment">/*UNS8 dataType*/</span>
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<a name="l00130"></a>00130 &Transmission_Type,<span class="comment">/*void *data*/</span>
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<a name="l00131"></a>00131 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
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153 |
<a name="l00132"></a>00132 <span class="keywordflow">break</span>;
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<a name="l00133"></a>00133 <span class="keywordflow">case</span> 3:
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155 |
<a name="l00134"></a>00134
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<a name="l00135"></a>00135 <span class="comment">/****************************** START *******************************/</span>
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157 |
<a name="l00136"></a>00136
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158 |
<a name="l00137"></a>00137 <span class="comment">/* Put the master in operational mode */</span>
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159 |
<a name="l00138"></a>00138 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>);
|
|
|
160 |
<a name="l00139"></a>00139
|
|
|
161 |
<a name="l00140"></a>00140 <span class="comment">/* Ask slave node to go in operational mode */</span>
|
|
|
162 |
<a name="l00141"></a>00141 <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a> (d, nodeId, <a class="code" href="def_8h.html#9654207fdc32413aa792c8a2dc9d414f">NMT_Start_Node</a>);
|
|
|
163 |
<a name="l00142"></a>00142
|
|
|
164 |
<a name="l00143"></a>00143 }
|
|
|
165 |
<a name="l00144"></a>00144 }
|
|
|
166 |
<a name="l00145"></a>00145
|
|
|
167 |
<a name="l00146"></a><a class="code" href="Master_8h.html#f8fc4f9c510c05a678c123cfde42c2b9">00146</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#8fe2bae5bb407a3a71ee5fa5ea5d617f">TestMaster_preOperational</a>()
|
|
|
168 |
<a name="l00147"></a>00147 {
|
|
|
169 |
<a name="l00148"></a>00148
|
|
|
170 |
<a name="l00149"></a>00149 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_preOperational\n"</span>);
|
|
|
171 |
<a name="l00150"></a>00150 ConfigureSlaveNode(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, 0x02);
|
|
|
172 |
<a name="l00151"></a>00151
|
|
|
173 |
<a name="l00152"></a>00152 }
|
|
|
174 |
<a name="l00153"></a>00153
|
|
|
175 |
<a name="l00154"></a><a class="code" href="Master_8h.html#3e91c546626b971be52999974e9a09d7">00154</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#81c297f2b4b9676e906286bf46541fc1">TestMaster_operational</a>()
|
|
|
176 |
<a name="l00155"></a>00155 {
|
|
|
177 |
<a name="l00156"></a>00156 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_operational\n"</span>);
|
|
|
178 |
<a name="l00157"></a>00157 }
|
|
|
179 |
<a name="l00158"></a>00158
|
|
|
180 |
<a name="l00159"></a><a class="code" href="Master_8h.html#54990cb4513be0eb2f3690131204d375">00159</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#897d573cafc13ac80abbc207c0ee41b0">TestMaster_stopped</a>()
|
|
|
181 |
<a name="l00160"></a>00160 {
|
|
|
182 |
<a name="l00161"></a>00161 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_stopped\n"</span>);
|
|
|
183 |
<a name="l00162"></a>00162 }
|
|
|
184 |
<a name="l00163"></a>00163
|
|
|
185 |
<a name="l00164"></a><a class="code" href="Master_8h.html#600981dd777d30387dc8eb3ec85d8ea3">00164</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#9a8f72cab7f649481ca84ab2222dd179">TestMaster_post_sync</a>()
|
|
|
186 |
<a name="l00165"></a>00165 {
|
|
|
187 |
<a name="l00166"></a>00166 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_post_sync\n"</span>);
|
|
|
188 |
<a name="l00167"></a>00167 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master: %d %d %d %d %d %d %d %d %d %x %x\n"</span>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#32c087b93caccbf9ac0ea5b102c8ade9">MasterMap1</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#09011bbcfc806441b93e55a7fe9a83fd">MasterMap2</a> ,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#b02953cfe4e6a7e062a8df3a9172f22f">MasterMap3</a>, <a class="code" href="TestMasterSlave_2TestMaster_8c.html#f80c09b8b3b29ecad8a29b2c59d6b162">MasterMap4</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#eceba88eac6acbd80cef98a80f1c410c">MasterMap5</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#96f1954ed1b765243bb81c57e477ffa2">MasterMap6</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#67e30e278b7b612cd39d9e79e63fe4ee">MasterMap7</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#866ced0f5e068d57225314a62494f765">MasterMap8</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#cad1f2ea598ebf92e76d34037051d357">MasterMap9</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#43631b768357ffe1d4aca9a9c2ff7176">MasterMap10</a>,<a class="code" href="TestMasterSlave_2TestMaster_8c.html#d96648d9fcdf655bd0eb459fbdea3e2e">MasterMap11</a>);
|
|
|
189 |
<a name="l00168"></a>00168 }
|
|
|
190 |
<a name="l00169"></a>00169
|
|
|
191 |
<a name="l00170"></a><a class="code" href="Master_8c.html#14755b0ad32c861583eb69c946f3d9aa">00170</a> <span class="keywordtype">char</span> <a class="code" href="Master_8c.html#14755b0ad32c861583eb69c946f3d9aa">query_result</a> = 0;
|
|
|
192 |
<a name="l00171"></a><a class="code" href="Master_8c.html#5ac78804c899f5179534e6f75346f23c">00171</a> <span class="keywordtype">char</span> <a class="code" href="Master_8c.html#5ac78804c899f5179534e6f75346f23c">waiting_answer</a> = 0;
|
|
|
193 |
<a name="l00172"></a>00172
|
|
|
194 |
<a name="l00173"></a><a class="code" href="Master_8h.html#b85edc6945cb2404d6eef4a11cd66c82">00173</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#5e466aa03eae00c269cf20359a7ee074">TestMaster_post_TPDO</a>()
|
|
|
195 |
<a name="l00174"></a>00174 {
|
|
|
196 |
<a name="l00175"></a>00175 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_post_TPDO\n"</span>);
|
|
|
197 |
<a name="l00176"></a>00176 <span class="comment">//</span>
|
|
|
198 |
<a name="l00177"></a>00177 <span class="comment">// {</span>
|
|
|
199 |
<a name="l00178"></a>00178 <span class="comment">// char zero = 0;</span>
|
|
|
200 |
<a name="l00179"></a>00179 <span class="comment">// if(MasterMap4 > 0x80){</span>
|
|
|
201 |
<a name="l00180"></a>00180 <span class="comment">// writeNetworkDict (</span>
|
|
|
202 |
<a name="l00181"></a>00181 <span class="comment">// &TestMaster_Data,</span>
|
|
|
203 |
<a name="l00182"></a>00182 <span class="comment">// TestSlave_Data->bDeviceNodeId,</span>
|
|
|
204 |
<a name="l00183"></a>00183 <span class="comment">// 0x2002,</span>
|
|
|
205 |
<a name="l00184"></a>00184 <span class="comment">// 0x00,</span>
|
|
|
206 |
<a name="l00185"></a>00185 <span class="comment">// 1,</span>
|
|
|
207 |
<a name="l00186"></a>00186 <span class="comment">// 0,</span>
|
|
|
208 |
<a name="l00187"></a>00187 <span class="comment">// &zero); </span>
|
|
|
209 |
<a name="l00188"></a>00188 <span class="comment">// }</span>
|
|
|
210 |
<a name="l00189"></a>00189 <span class="comment">// }</span>
|
|
|
211 |
<a name="l00190"></a>00190
|
|
|
212 |
<a name="l00191"></a>00191 <span class="keywordflow">if</span>(waiting_answer){
|
|
|
213 |
<a name="l00192"></a>00192 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> abortCode;
|
|
|
214 |
<a name="l00193"></a>00193 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> size;
|
|
|
215 |
<a name="l00194"></a>00194 <span class="keywordflow">switch</span>(<a class="code" href="sdo_8c.html#05b0c8eee1faee3c7a2f6e2ba3a16533">getReadResultNetworkDict</a> (
|
|
|
216 |
<a name="l00195"></a>00195 &<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>,
|
|
|
217 |
<a name="l00196"></a>00196 0x02,
|
|
|
218 |
<a name="l00197"></a>00197 &query_result,
|
|
|
219 |
<a name="l00198"></a>00198 &size,
|
|
|
220 |
<a name="l00199"></a>00199 &abortCode))
|
|
|
221 |
<a name="l00200"></a>00200 {
|
|
|
222 |
<a name="l00201"></a>00201 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#7d9dad1485ed532424092d21b1e22ad2">SDO_FINISHED</a>:
|
|
|
223 |
<a name="l00202"></a>00202 <span class="comment">/* Do something with result here !!*/</span>
|
|
|
224 |
<a name="l00203"></a>00203 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Got SDO answer (0x2002, 0x00), %d %d\n"</span>,query_result,size);
|
|
|
225 |
<a name="l00204"></a>00204 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#fbea04ded6a0ca1dfd63637bce9e0200">SDO_ABORTED_RCV</a>:
|
|
|
226 |
<a name="l00205"></a>00205 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#2acbeebb18a23287a9fe30f1f9e3f964">SDO_ABORTED_INTERNAL</a>:
|
|
|
227 |
<a name="l00206"></a>00206 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#b97393c9473837a2886583a1d5f69cf9">SDO_RESET</a>:
|
|
|
228 |
<a name="l00207"></a>00207 waiting_answer = 0;
|
|
|
229 |
<a name="l00208"></a>00208 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(
|
|
|
230 |
<a name="l00209"></a>00209 &TestMaster_Data,
|
|
|
231 |
<a name="l00210"></a>00210 0x02,
|
|
|
232 |
<a name="l00211"></a>00211 <a class="code" href="def_8h.html#b1dccfddc653c2a7c4eaf3e1cc8d8e57">SDO_CLIENT</a>);
|
|
|
233 |
<a name="l00212"></a>00212 <span class="keywordflow">break</span>;
|
|
|
234 |
<a name="l00213"></a>00213 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#749536d7d8c9a60beb8d3c8d1210b6d2">SDO_DOWNLOAD_IN_PROGRESS</a>:
|
|
|
235 |
<a name="l00214"></a>00214 <span class="keywordflow">case</span> <a class="code" href="def_8h.html#f05e95a564b579b94d14a218264d13e1">SDO_UPLOAD_IN_PROGRESS</a>:
|
|
|
236 |
<a name="l00215"></a>00215 <span class="keywordflow">break</span>;
|
|
|
237 |
<a name="l00216"></a>00216 }
|
|
|
238 |
<a name="l00217"></a>00217 }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(<a class="code" href="TestMasterSlave_2TestMaster_8c.html#32c087b93caccbf9ac0ea5b102c8ade9">MasterMap1</a> % 10 == 0){
|
|
|
239 |
<a name="l00218"></a>00218 <a class="code" href="sdo_8c.html#0e102a0835e4115920cd406e80a8d135">readNetworkDict</a> (
|
|
|
240 |
<a name="l00219"></a>00219 &<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>,
|
|
|
241 |
<a name="l00220"></a>00220 0x02,
|
|
|
242 |
<a name="l00221"></a>00221 0x2002,
|
|
|
243 |
<a name="l00222"></a>00222 0x00,
|
|
|
244 |
<a name="l00223"></a>00223 0);
|
|
|
245 |
<a name="l00224"></a>00224 waiting_answer = 1;
|
|
|
246 |
<a name="l00225"></a>00225 }
|
|
|
247 |
<a name="l00226"></a>00226 }
|
|
|
248 |
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by
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|
249 |
<a href="http://www.doxygen.org/index.html">
|
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|
250 |
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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251 |
</body>
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252 |
</html>
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