equal
deleted
inserted
replaced
92 /*************************** INIT *****************************************/ |
92 /*************************** INIT *****************************************/ |
93 void InitNodes(CO_Data* d, UNS32 id) |
93 void InitNodes(CO_Data* d, UNS32 id) |
94 { |
94 { |
95 /****************************** INITIALISATION SLAVE *******************************/ |
95 /****************************** INITIALISATION SLAVE *******************************/ |
96 if(strcmp(SlaveBoard.baudrate, "none")) { |
96 if(strcmp(SlaveBoard.baudrate, "none")) { |
97 /* Defining the node Id */ |
97 |
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98 #ifdef CO_ENABLE_LSS |
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99 /* Set an invalid nodeID */ |
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100 setNodeId(&TestSlave_Data, 0xFF); |
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101 #else |
98 setNodeId(&TestSlave_Data, 0x02); |
102 setNodeId(&TestSlave_Data, 0x02); |
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103 #endif |
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104 |
99 /* init */ |
105 /* init */ |
100 setState(&TestSlave_Data, Initialisation); |
106 setState(&TestSlave_Data, Initialisation); |
101 } |
107 } |
102 |
108 |
103 /****************************** INITIALISATION MASTER *******************************/ |
109 /****************************** INITIALISATION MASTER *******************************/ |
119 int main(int argc,char **argv) |
125 int main(int argc,char **argv) |
120 { |
126 { |
121 |
127 |
122 int c; |
128 int c; |
123 extern char *optarg; |
129 extern char *optarg; |
124 char* LibraryPath="libcanfestival_can_virtual.so"; |
130 char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so"; |
125 |
131 |
126 while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF) |
132 while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF) |
127 { |
133 { |
128 switch(c) |
134 switch(c) |
129 { |
135 { |
194 TestSlave_Data.stopped = TestSlave_stopped; |
200 TestSlave_Data.stopped = TestSlave_stopped; |
195 TestSlave_Data.post_sync = TestSlave_post_sync; |
201 TestSlave_Data.post_sync = TestSlave_post_sync; |
196 TestSlave_Data.post_TPDO = TestSlave_post_TPDO; |
202 TestSlave_Data.post_TPDO = TestSlave_post_TPDO; |
197 TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; |
203 TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; |
198 TestSlave_Data.post_emcy = TestSlave_post_emcy; |
204 TestSlave_Data.post_emcy = TestSlave_post_emcy; |
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205 #ifdef CO_ENABLE_LSS |
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206 /* in this example the slave doesn't support Store configuration*/ |
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207 //TestSlave_Data.lss_StoreConfiguration = TestSlave_StoreConfiguration; |
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208 TestSlave_Data.lss_ChangeBaudRate=TestSlave_ChangeBaudRate; |
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209 #endif |
199 |
210 |
200 if(!canOpen(&SlaveBoard,&TestSlave_Data)){ |
211 if(!canOpen(&SlaveBoard,&TestSlave_Data)){ |
201 eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); |
212 eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); |
202 goto fail_slave; |
213 goto fail_slave; |
203 } |
214 } |
210 TestMaster_Data.operational = TestMaster_operational; |
221 TestMaster_Data.operational = TestMaster_operational; |
211 TestMaster_Data.stopped = TestMaster_stopped; |
222 TestMaster_Data.stopped = TestMaster_stopped; |
212 TestMaster_Data.post_sync = TestMaster_post_sync; |
223 TestMaster_Data.post_sync = TestMaster_post_sync; |
213 TestMaster_Data.post_TPDO = TestMaster_post_TPDO; |
224 TestMaster_Data.post_TPDO = TestMaster_post_TPDO; |
214 TestMaster_Data.post_emcy = TestMaster_post_emcy; |
225 TestMaster_Data.post_emcy = TestMaster_post_emcy; |
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226 TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup; |
215 |
227 |
216 if(!canOpen(&MasterBoard,&TestMaster_Data)){ |
228 if(!canOpen(&MasterBoard,&TestMaster_Data)){ |
217 eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate); |
229 eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate); |
218 goto fail_master; |
230 goto fail_master; |
219 } |
231 } |