Master.c

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/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include "Master.h"
#include "Slave.h"
#include "TestMasterSlave.h"

/*****************************************************************************/
void TestMaster_heartbeatError(UNS8 heartbeatID)
{
        eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
}

/********************************************************
 * ConfigureSlaveNode is responsible to
 *  - setup master RPDO 1 to receive TPDO 1 from id 2
 *  - setup master RPDO 2 to receive TPDO 2 from id 2
 ********************************************************/
void TestMaster_initialisation()
{
        UNS32 PDO1_COBID = 0x0182; 
        UNS32 PDO2_COBID = 0x0282;
        UNS8 size = sizeof(UNS32); 
        
        eprintf("TestMaster_initialisation\n");

        /*****************************************
         * Define RPDOs to match slave ID=2 TPDOs*
         *****************************************/
        writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
                        0x1400, /*UNS16 index*/
                        0x01, /*UNS8 subind*/ 
                        &PDO1_COBID, /*void * pSourceData,*/ 
                        &size, /* UNS8 * pExpectedSize*/
                        RW);  /* UNS8 checkAccess */
                        
        writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
                        0x1401, /*UNS16 index*/
                        0x01, /*UNS8 subind*/ 
                        &PDO2_COBID, /*void * pSourceData,*/ 
                        &size, /* UNS8 * pExpectedSize*/
                        RW);  /* UNS8 checkAccess */
}

// Step counts number of times ConfigureSlaveNode is called
static init_step = 0;

/*Froward declaration*/
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);


static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
{
        UNS32 abortCode;        
        if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
                eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);

        /* Finalise last SDO transfer with this node */
        closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);

        ConfigureSlaveNode(d, nodeId);
}

/********************************************************
 * ConfigureSlaveNode is responsible to
 *  - setup slave TPDO 1 transmit time
 *  - setup slave TPDO 2 transmit time
 *  - switch to operational mode
 *  - send NMT to slave
 ********************************************************
 * This an example of :
 * Network Dictionary Access (SDO) with Callback 
 * Slave node state change request (NMT) 
 ********************************************************
 * This is called first by TestMaster_preOperational
 * then it called again each time a SDO exchange is
 * finished.
 ********************************************************/
 
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
{
        /* Master configure heartbeat producer time at 1000 ms 
         * for slave node-id 0x02 by DCF concise */
         
        UNS8 Transmission_Type = 0x01;
        UNS32 abortCode;
        UNS8 res;
        eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);

        switch(++init_step){
                case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
                        eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
                        res = writeNetworkDictCallBack (d, /*CO_Data* d*/
                                        nodeId, /*UNS8 nodeId*/
                                        0x1800, /*UNS16 index*/
                                        0x02, /*UNS8 subindex*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &Transmission_Type,/*void *data*/
                                        CheckSDOAndContinue); /*SDOCallback_t Callback*/
                                        break;
                
                case 2: /*Second step*/
                        eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
                        writeNetworkDictCallBack (d, /*CO_Data* d*/
                                        nodeId, /*UNS8 nodeId*/
                                        0x1801, /*UNS16 index*/
                                        0x02, /*UNS16 index*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &Transmission_Type,/*void *data*/
                                        CheckSDOAndContinue); /*SDOCallback_t Callback*/
                                        break;
                case 3: 
                
                /****************************** START *******************************/
                
                        /* Put the master in operational mode */
                        setState(d, Operational);
                 
                        /* Ask slave node to go in operational mode */
                        masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
                        
        }
}

void TestMaster_preOperational()
{

        eprintf("TestMaster_preOperational\n");
        ConfigureSlaveNode(&TestMaster_Data, 0x02);
        
}

void TestMaster_operational()
{
        eprintf("TestMaster_operational\n");
}

void TestMaster_stopped()
{
        eprintf("TestMaster_stopped\n");
}

void TestMaster_post_sync()
{
        eprintf("TestMaster_post_sync\n");
        eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n",
                MasterMap1,
                MasterMap2,
                MasterMap3, 
                MasterMap4,
                MasterMap5,
                MasterMap6,
                MasterMap7,
                MasterMap8,
                MasterMap9,
                MasterMap10,
                MasterMap11,
                MasterMap12,
                MasterMap13);
}

char query_result = 0;
char waiting_answer = 0;


static void CheckSDO(CO_Data* d, UNS8 nodeId)
{
        UNS32 abortCode;        
        if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
                eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode);

        /* Finalise last SDO transfer with this node */
        closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
}


static int MasterSyncCount = 0;
void TestMaster_post_TPDO()
{
        eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
//
//      {
//              char zero = 0;
//              if(MasterMap4 > 0x80){
//                      writeNetworkDict (
//                              &TestMaster_Data,
//                              TestSlave_Data->bDeviceNodeId,
//                              0x2002,
//                              0x00,
//                              1,
//                              0,
//                              &zero); 
//              }
//      }

#if 0
        if(waiting_answer){
                UNS32 abortCode;                        
                UNS8 size;                      
                switch(getReadResultNetworkDict (
                        &TestMaster_Data, 
                        0x02,
                        &query_result,
                        &size,
                        &abortCode))
                {
                        case SDO_FINISHED:
                                /* Do something with result here !!*/
                                eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
                        case SDO_ABORTED_RCV:
                        case SDO_ABORTED_INTERNAL:
                        case SDO_RESET:
                                waiting_answer = 0;
                                closeSDOtransfer(
                                        &TestMaster_Data,
                                        0x02,
                                        SDO_CLIENT);
                        break;
                        case SDO_DOWNLOAD_IN_PROGRESS:
                        case SDO_UPLOAD_IN_PROGRESS:
                        break;
                }
        }else if(MasterSyncCount % 10 == 0){
                readNetworkDict (
                        &TestMaster_Data,
                        0x02,
                        0x2002,
                        0x00,
                        0);
                waiting_answer = 1;
        }
#endif  
        if(MasterSyncCount % 17 == 0){
                eprintf("Master : Ask RTR PDO (0x1402)\n");
                sendPDOrequest(&TestMaster_Data, 0x1402 );
                sendPDOrequest(&TestMaster_Data, 0x1403 );
        }
        if(MasterSyncCount % 50 == 0){
                eprintf("Master : Change slave's transmit type to 0xFF\n");
                UNS8 transmitiontype = 0xFF;
                writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
                                        2, /*UNS8 nodeId*/
                                        0x1802, /*UNS16 index*/
                                        0x02, /*UNS16 index*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &transmitiontype,/*void *data*/
                                        CheckSDO); /*SDOCallback_t Callback*/
        }
        if(MasterSyncCount % 50 == 25){
                eprintf("Master : Change slave's transmit type to 0x00\n");
                UNS8 transmitiontype = 0x00;
                writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
                                        2, /*UNS8 nodeId*/
                                        0x1802, /*UNS16 index*/
                                        0x02, /*UNS16 index*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &transmitiontype,/*void *data*/
                                        CheckSDO); /*SDOCallback_t Callback*/
        }
        MasterSyncCount++;
}

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