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examples/TestMasterSlave/Master.c
changeset 362 1134fc19aa74
parent 349 1e6dd4ef46b9
child 378 d2abf6c8c27b
equal deleted inserted replaced
361:2220813498f2 362:1134fc19aa74 
    38 void TestMaster_initialisation()
 
    38 void TestMaster_initialisation()
 
    39 {
 
    39 {
 
    40 	UNS32 PDO1_COBID = 0x0182; 
    40 	UNS32 PDO1_COBID = 0x0182; 
    41 	UNS32 PDO2_COBID = 0x0282;
 
    41 	UNS32 PDO2_COBID = 0x0282;
 
    42 	UNS8 size = sizeof(UNS32); 
    42 	UNS8 size = sizeof(UNS32); 
       
    43 	UNS32 SINC_cicle=0;
 
       
    44 	UNS8 data_type = 0;
 
    43 	
    45 	
    44 	eprintf("TestMaster_initialisation\n");
 
    46 	eprintf("TestMaster_initialisation\n");
 
    45 
    47 
    46 	/*****************************************
 
    48 	/*****************************************
 
    47 	 * Define RPDOs to match slave ID=2 TPDOs*
 
    49 	 * Define RPDOs to match slave ID=2 TPDOs*
 
    57 			0x1401, /*UNS16 index*/
 
    59 			0x1401, /*UNS16 index*/
 
    58 			0x01, /*UNS8 subind*/ 
    60 			0x01, /*UNS8 subind*/ 
    59 			&PDO2_COBID, /*void * pSourceData,*/ 
    61 			&PDO2_COBID, /*void * pSourceData,*/ 
    60 			&size, /* UNS8 * pExpectedSize*/
 
    62 			&size, /* UNS8 * pExpectedSize*/
 
    61 			RW);  /* UNS8 checkAccess */
 
    63 			RW);  /* UNS8 checkAccess */
 
       
    64 			
    62 }
 
    65 }
 
    63 
    66 
    64 // Step counts number of times ConfigureSlaveNode is called
 
    67 // Step counts number of times ConfigureSlaveNode is called
 
    65 static init_step = 0;
 
    68 static init_step = 0;
 
    66 
    69 
   143 	}
 
   146 	}
 
   144 }
 
   147 }
 
   145 
   148 
   146 #ifdef CO_ENABLE_LSS
 
   149 #ifdef CO_ENABLE_LSS
 
   147 static void ConfigureLSSNode(CO_Data* d);
 
   150 static void ConfigureLSSNode(CO_Data* d);
 
       
   151 // Step counts number of times ConfigureLSSNode is called
 
   148 UNS8 init_step_LSS=1;
 
   152 UNS8 init_step_LSS=1;
 
   149 
   153 
   150 static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
 
   154 static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
 
   151 {
 
   155 {
 
   152 	UNS32 dat1;
 
   156 	UNS32 dat1;
 
   153 	UNS8 dat2;
 
   157 	UNS8 dat2;
 
   154 	printf("CheckLSS->");
 
   158 	printf("CheckLSS->");
 
   155 	if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
 
   159 	if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
 
   156 		if(command==LSS_IDENT_NON_CONF_SLAVE){
 
   160 		if(command==LSS_IDENT_REMOTE_NON_CONF){
 
   157 			eprintf("Master : There are not no-configured slaves in the net\n", command);
 
   161 			eprintf("Master : There are not no-configured slaves in the net\n", command);
 
   158 			return;
 
   162 			return;
 
   159 		}
 
   163 		}
 
   160 		else{
 
   164 		else{
 
   161 			eprintf("Master : Failed in LSS comand %d.  Trying again\n", command);
 
   165 			eprintf("Master : Failed in LSS comand %d.  Trying again\n", command);
 
   188    				case 1: printf("Store configuration error:not supported\n");break;
 
   192    				case 1: printf("Store configuration error:not supported\n");break;
 
   189    				case 0xFF:printf("Store configuration error:specific error\n");break;
 
   193    				case 0xFF:printf("Store configuration error:specific error\n");break;
 
   190    				default:break;
 
   194    				default:break;
 
   191    			}
 
   195    			}
 
   192    			break;
 
   196    			break;
 
   193 		case LSS_SM_SELECTIVE_RESP:
 
   197 		case LSS_SM_SELECTIVE_SERIAL:
 
   194    			printf("Slave in CONFIGURATION mode\n");
 
   198    			printf("Slave in CONFIGURATION mode\n");
 
   195    			break;
 
   199    			break;
 
   196    		case LSS_IDENT_SLAVE:
 
   200    		case LSS_IDENT_REMOTE_SERIAL_HIGH:
 
   197    			printf("node identified\n");
 
   201    			printf("node identified\n");
 
   198    			break;
 
   202    			break;
 
   199    		case LSS_IDENT_NON_CONF_SLAVE:
 
   203    		case LSS_IDENT_REMOTE_NON_CONF:
 
   200    			printf("non-configured remote slave in the net\n");
 
   204    			printf("non-configured remote slave in the net\n");
 
   201    			break;
 
   205    			break;
 
   202    		case LSS_INQ_VENDOR_ID:
 
   206    		case LSS_INQ_VENDOR_ID:
 
   203    			printf("Slave VendorID %x\n", dat1);
 
   207    			printf("Slave VendorID %x\n", dat1);
 
   204    			break;
 
   208    			break;
 
   212    			printf("Slave Serial Number %x\n", dat1);
 
   216    			printf("Slave Serial Number %x\n", dat1);
 
   213    			break;
 
   217    			break;
 
   214    		case LSS_INQ_NODE_ID:
 
   218    		case LSS_INQ_NODE_ID:
 
   215    			printf("Slave nodeid %x\n", dat1);
 
   219    			printf("Slave nodeid %x\n", dat1);
 
   216    			break;
 
   220    			break;
 
       
   221 #ifdef CO_ENABLE_LSS_FS
 
       
   222    		case LSS_IDENT_FASTSCAN:
 
       
   223    			if(dat1==0)
 
       
   224    				printf("Slave node identified with FastScan\n");
 
       
   225    			else
 
       
   226    			{
 
       
   227    				printf("There is not unconfigured node in the net\n");
 
       
   228    				return;
 
       
   229    			}	
       
   230    			init_step_LSS++;
 
       
   231    			break;
 
       
   232 #endif		
   217 		}
 
   233 		}
 
   218 	}
 
   234 	}
 
   219 
   235 
   220 	printf("\n");
 
   236 	printf("\n");
 
   221 	ConfigureLSSNode(d);
 
   237 	ConfigureLSSNode(d);
 
   222 }
 
   238 }
 
   223 
   239 
   224 
   240 
   225 struct timeval master_prev_time,master_current_time;
 
   241 /* First ask if there is a node with an invalid nodeID.
 
       
   242  * If FastScan is activated it is used to put the node in the state “configuration”.
 
       
   243  * If FastScan is not activated, identification services are used to identify the node.
 
       
   244  * Then  switch mode service is used to put it in configuration state.
 
       
   245  * Next all the inquire and configuration services are used.
 
       
   246  * Finally, the node LSS state is restored to “waiting” and all the process is repeated 
       
   247  * again until there isn't any node with a invalid nodeID.
 
       
   248  * */
 
   226 static void ConfigureLSSNode(CO_Data* d)
 
   249 static void ConfigureLSSNode(CO_Data* d)
 
   227 {
 
   250 {
 
   228 	UNS32 Vendor_ID=0x12345678;
 
   251 	UNS32 Vendor_ID=0x12345678;
 
   229 	UNS32 Product_Code=0x90123456;
 
   252 	UNS32 Product_Code=0x90123456;
 
   230 	UNS32 Revision_Number=0x78901234;
 
   253 	UNS32 Revision_Number=0x78901234;
 
   237 	UNS8 Baud_Table=0;
 
   260 	UNS8 Baud_Table=0;
 
   238 	UNS8 Baud_BitTiming=3;
 
   261 	UNS8 Baud_BitTiming=3;
 
   239 	UNS16 Switch_delay=1;
 
   262 	UNS16 Switch_delay=1;
 
   240 	UNS8 LSS_mode=LSS_WAITING_MODE;
 
   263 	UNS8 LSS_mode=LSS_WAITING_MODE;
 
   241 	UNS8 res;
 
   264 	UNS8 res;
 
   242 	eprintf("ConfigureLSSNode-> ");
 
   265 	eprintf("ConfigureLSSNode -> ",0);
 
   243 
   266 
   244 	switch(init_step_LSS){
 
   267 	switch(init_step_LSS){
 
   245 		case 1:	/* LSS=>identify non-configured remote slave */
 
   268 		case 1:	/* LSS=>identify non-configured remote slave */
 
   246 			eprintf("LSS=>identify non-configured remote slave\n");
 
   269 			eprintf("LSS=>identify non-configured remote slave\n");
 
   247 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
 
   270 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
 
   248 			break;
 
   271 			break;
 
       
   272 #ifdef CO_ENABLE_LSS_FS
 
       
   273 		case 2:	/* LSS=>FastScan */
 
       
   274 			eprintf("LSS=>FastScan\n");
 
       
   275 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_FASTSCAN,0,0,CheckLSSAndContinue);
 
       
   276 			break;
 
       
   277 #else
 
   249 		case 2:	/* LSS=>identify node */
 
   278 		case 2:	/* LSS=>identify node */
 
   250 			eprintf("LSS=>identify node\n");
 
   279 			eprintf("LSS=>identify node\n");
 
   251 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);
 
   280 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);
 
   252 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0);
 
   281 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0);
 
   253 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0);
 
   282 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0);
 
   254 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0);
 
   283 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0);
 
   255 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);
 
   284 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);
 
   256 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
 
   285 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
 
   257 			break;
 
   286 			break;
 
   258 		case 3: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
 
   287 		case 3: /*LSS=>put in configuration mode*/
 
   259 			eprintf("LSS=>put in configuration mode\n");
 
   288 			eprintf("LSS=>put in configuration mode\n");
 
   260 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);
 
   289 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);
 
   261 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);
 
   290 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);
 
   262 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);
 
   291 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);
 
   263 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
 
   292 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
 
   264 			break;
 
   293 			break;
 
       
   294 #endif
 
   265 		case 4:	/* LSS=>inquire nodeID */
 
   295 		case 4:	/* LSS=>inquire nodeID */
 
   266 			eprintf("LSS=>inquire nodeID\n");
 
   296 			eprintf("LSS=>inquire nodeID\n");
 
   267 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
 
   297 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
 
   268 			break;
 
   298 			break;
 
   269 		case 5:	/* LSS=>inquire VendorID */
 
   299 		case 5:	/* LSS=>inquire VendorID */
 
   303 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
 
   333 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
 
   304 			break;
 
   334 			break;
 
   305 		case 13: /* LSS=>put in operation mod */
 
   335 		case 13: /* LSS=>put in operation mod */
 
   306 			eprintf("LSS=>put in operation mode\n");
 
   336 			eprintf("LSS=>put in operation mode\n");
 
   307 			res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);
 
   337 			res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);
 
       
   338 			/* Search again for not-configured slaves*/
 
       
   339 			eprintf("LSS=>identify not-configured remote slave\n");
 
       
   340 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
 
       
   341 			init_step_LSS=1;
 
   308 			break;
 
   342 			break;
 
   309 	}
 
   343 	}
 
   310 }
 
   344 }
 
   311 #endif
 
   345 #endif
 
   312 
   346 
   457 }
 
   491 }
 
   458 
   492 
   459 void TestMaster_post_SlaveBootup(UNS8 nodeid)
 
   493 void TestMaster_post_SlaveBootup(UNS8 nodeid)
 
   460 {
 
   494 {
 
   461 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
 
   495 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
 
   462 
   496 	
   463 	ConfigureSlaveNode(&TestMaster_Data, nodeid);
 
   497 	ConfigureSlaveNode(&TestMaster_Data, nodeid);
 
   464 
   498 }
 
   465 }
 
   499 
   466
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