1 /* |
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2 This file is part of CanFestival, a library implementing CanOpen Stack. |
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3 |
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4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
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5 |
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6 See COPYING file for copyrights details. |
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7 |
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8 This library is free software; you can redistribute it and/or |
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9 modify it under the terms of the GNU Lesser General Public |
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10 License as published by the Free Software Foundation; either |
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11 version 2.1 of the License, or (at your option) any later version. |
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12 |
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13 This library is distributed in the hope that it will be useful, |
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14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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16 Lesser General Public License for more details. |
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17 |
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18 You should have received a copy of the GNU Lesser General Public |
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19 License along with this library; if not, write to the Free Software |
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20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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21 */ |
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22 |
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23 #include <stdio.h> |
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24 #include <string.h> |
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25 #include <sys/time.h> |
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26 #include <pthread.h> |
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27 #include <unistd.h> |
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28 #include <stdlib.h> |
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29 |
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30 |
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31 #include <applicfg.h> |
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32 #include <timerhw.h> |
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33 #include <linuxCan.h> |
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34 |
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35 #include "def.h" |
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36 #include "can.h" |
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37 #include "objdictdef.h" |
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38 #include "objacces.h" |
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39 #include "canOpenDriver.h" |
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40 #include "sdo.h" |
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41 #include "pdo.h" |
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42 #include "init.h" |
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43 #include "timer.h" |
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44 #include "lifegrd.h" |
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45 #include "sync.h" |
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46 |
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47 #include "nmtMaster.h" |
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48 |
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49 |
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50 |
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51 // For prototype of exit(); |
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52 #define exit _exit |
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53 |
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54 |
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55 // Adlink 7841 or Peak PCI/CAN board |
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56 // --------------------------------- |
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57 |
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58 // Baudrate values for Peak board : |
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59 // CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K |
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60 // CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K |
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61 |
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62 #ifdef CAN_BAUD_250K |
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63 # define BAUDRATE CAN_BAUD_250K |
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64 #else |
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65 // Appli have been compiled for Adlink-arbraca. Baudrate not used |
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66 # define BAUDRATE 0 |
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67 #endif |
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68 |
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69 s_BOARD board = {"0", BAUDRATE}; |
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70 |
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71 |
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72 // Required definition variables |
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73 // ----------------------------- |
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74 // The variables that you should define for debugging. |
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75 // They are used by the macro MSG_ERR and MSG_WAR in applicfg.h |
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76 // if the node is a slave, they can be mapped in the object dictionnary. |
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77 |
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78 UNS8 printMsgErrToConsole = 1; |
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79 UNS8 printMsgWarToConsole = 1; |
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80 |
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81 // The variables mapped in the object dictionnary |
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82 // ---------------------------------------------- |
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83 extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0 |
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84 extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0 |
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85 extern UNS8 second; // Mapped at index 0x6002, subindex 0x1 |
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86 extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2 |
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87 extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3 |
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88 extern UNS8 day; // Mapped at index 0x6002, subindex 0x4 |
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89 extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1 |
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90 extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2 |
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91 |
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92 |
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93 /*************************User's variables declaration**************************/ |
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94 pthread_t threadM; |
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95 pthread_t threadH; |
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96 pthread_t threadS; |
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97 UNS8 connectedNode[128]; |
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98 |
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99 /* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */ |
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100 typedef struct mappedVar |
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101 { |
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102 UNS32 index; |
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103 UNS8 subIndex; |
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104 UNS8 size; // in byte |
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105 } s_mappedVar; |
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106 |
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107 typedef struct heartbeatConsumer |
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108 { |
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109 UNS8 nodeProducer; |
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110 UNS16 time_ms; |
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111 } s_heartbeatConsumer; |
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112 |
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113 /**************************prototypes*****************************************/ |
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114 /* You *must* have these 2 functions in your code*/ |
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115 void heartbeatError (UNS8 heartbeatID ); |
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116 void SD0timeoutError(UNS8 bus_id, UNS8 line); |
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117 |
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118 void waitMessage (void ); |
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119 void heartBeat (void ); |
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120 void transmitSync (void); |
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121 e_nodeState stateNode (UNS8 node); |
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122 void configure_master_SDO (UNS32 index, UNS8 serverNode); |
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123 UNS8 waitingWriteToSlaveDict (UNS8 slaveNode, UNS8 error); |
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124 UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error); |
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125 UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode); |
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126 void masterMappingPDO (UNS32 indexPDO, UNS32 cobId, |
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127 s_mappedVar *tabMappedVar, UNS8 nbVar); |
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128 void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, |
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129 s_mappedVar *tabMappedVar, UNS8 nbVar); |
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130 void masterHeartbeatConsumer (s_heartbeatConsumer |
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131 *tabHeartbeatConsumer, UNS8 nbHeartbeats); |
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132 void masterHeartbeatProducer (UNS16 time); |
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133 void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer |
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134 *tabHeartbeatConsumer, UNS8 nbHeartbeats); |
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135 void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time); |
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136 void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType); |
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137 void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType); |
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138 void masterSYNCPeriod (UNS32 SYNCPeriod); |
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139 int main (int argc,char **argv); |
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140 |
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141 /*****************************************************************************/ |
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142 void heartbeatError(UNS8 heartbeatID) |
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143 { |
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144 // MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO, |
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145 // But we do not have mapped the variables in a PDO, so it sends nothing. |
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146 // See the note at the end of END CONFIGURING THE NETWORK. |
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147 MSG_WAR(0x2F00, "HeartBeat, no response from node : ", heartbeatID); |
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148 } |
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149 |
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150 /*****************************************************************************/ |
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151 void SD0timeoutError (UNS8 bus_id, UNS8 line) |
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152 { |
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153 // Informations on what occurs are in transfers[bus_id][line].... |
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154 // See scanSDOtimeout() in sdo.c |
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155 } |
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156 |
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157 /*********************************** THREADS **********************************/ |
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158 //------------------------------------------------------------------------------ |
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159 // Wait for a received message |
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160 void waitMessage(void) |
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161 { |
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162 while (1) { |
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163 receiveMsgHandler(0); // blocked until new message |
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164 } |
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165 } |
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166 |
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167 //------------------------------------------------------------------------------ |
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168 /* Sending SYNC */ |
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169 void transmitSync(void) |
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170 { |
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171 while (1) { |
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172 computeSYNC(); // Use the value in the dictionnary |
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173 usleep(1000); // Sleep 1 ms |
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174 |
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175 } |
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176 } |
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177 |
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178 /************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/ |
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179 |
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180 |
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181 |
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182 //------------------------------------------------------------------------------ |
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183 /* Node mode result after NodeGuard query */ |
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184 e_nodeState stateNode(UNS8 node) |
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185 { |
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186 e_nodeState state = getNodeState(0, node); |
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187 switch (state) { |
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188 case Unknown_state: |
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189 MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node); |
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190 break; |
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191 case Operational: |
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192 MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node); |
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193 break; |
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194 case Pre_operational: |
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195 MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node); |
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196 break; |
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197 default: |
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198 MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node); |
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199 } |
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200 return state; |
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201 } |
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202 |
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203 //------------------------------------------------------------------------------ |
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204 /* The master is writing in its dictionnary to configure the SDO parameters |
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205 to communicate with server_node |
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206 */ |
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207 void configure_master_SDO(UNS32 index, UNS8 serverNode) |
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208 { |
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209 UNS32 data32; |
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210 UNS8 data8; |
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211 UNS8 sizeData = 4 ; // in bytes |
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212 |
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213 /* At subindex 1, the cobId of the Can message from the client. |
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214 It is always defined inside the server dictionnary as 0x600 + server_node. |
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215 So, we have no choice here ! */ |
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216 data32 = 0x600 + serverNode; |
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217 setODentry(index, 1, &data32, sizeData, 0); |
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218 |
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219 { |
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220 // Test |
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221 UNS32 *pbData; |
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222 UNS8 length; |
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223 UNS32 returnValue; |
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224 UNS8 dataType; |
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225 // Relecture |
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226 MSG_WAR(0x1000, "Reading index : ", index); |
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227 MSG_WAR(0x1000, " subindex : ", 1); |
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228 returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); |
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229 MSG_WAR(0x1000, " val : ", *pbData); |
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230 } |
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231 |
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232 |
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233 /* At subindex 2, the cobId of the Can message from the server to the client. |
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234 It is always defined inside the server dictionnary as 0x580 + client_node. |
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235 So, we have no choice here ! */ |
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236 data32 = 0x580 + serverNode; |
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237 setODentry(index, 2, &data32, sizeData, 0); |
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238 |
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239 /* At subindex 3, the node of the server */ |
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240 data8 = serverNode; |
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241 sizeData = 1; |
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242 setODentry(index, 3, &data8, sizeData, 0); |
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243 |
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244 { |
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245 UNS8 *pbData; |
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246 UNS8 length; |
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247 UNS32 returnValue; |
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248 UNS8 dataType; |
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249 // Relecture |
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250 MSG_WAR(0x1000, "Reading index : ", index); |
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251 MSG_WAR(0x1000, " subindex : ", 3); |
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252 returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); |
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253 MSG_WAR(0x1000, " val : ", *pbData); |
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254 } |
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255 } |
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256 |
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257 //------------------------------------------------------------------------------ |
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258 /* |
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259 */ |
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260 UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error) |
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261 { |
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262 UNS8 err; |
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263 UNS32 abortCode; |
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264 MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode); |
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265 if (error) { |
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266 MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode); |
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267 return -1; |
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268 } |
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269 /* Waiting until the slave has responded */ |
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270 while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) { |
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271 // Check if some SDO response are missing |
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272 scanSDOtimeout(); |
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273 } |
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274 |
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275 err = getWriteResultNetworkDict (0, slaveNode, &abortCode); |
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276 if (err == SDO_FINISHED) { |
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277 MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode); |
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278 // Release the line. Don't forget !!! |
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279 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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280 return 0; |
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281 } |
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282 |
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283 if (err == SDO_ABORTED_RCV) { |
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284 MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode); |
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285 } |
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286 |
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287 if (err == SDO_ABORTED_INTERNAL) { |
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288 MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode); |
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289 } |
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290 // Looking for the line transfert number to read the index, subindex and releasing the line. |
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291 { |
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292 UNS8 line; |
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293 err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); |
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294 if (err) { |
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295 MSG_WAR(0x2F21, "No line found for node : ", slaveNode); |
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296 exit(-1); |
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297 } |
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298 MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index); |
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299 MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex); |
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300 //Releasing the line. |
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301 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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302 exit(-1); |
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303 } |
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304 return 0; |
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305 } |
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306 |
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307 //------------------------------------------------------------------------------ |
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308 /* |
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309 */ |
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310 UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error) |
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311 { |
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312 UNS8 err; |
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313 UNS32 abortCode; |
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314 MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode); |
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315 if (error) { |
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316 MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode); |
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317 return -1; |
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318 } |
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319 /* Waiting until the slave has responded */ |
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320 while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) { |
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321 // Check if some SDO response are missing |
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322 scanSDOtimeout(); |
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323 } |
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324 err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode); |
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325 if (err == SDO_FINISHED) { |
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326 MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode); |
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327 // Release the line. Don't forget !!! |
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328 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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329 return 0; |
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330 } |
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331 if (err == SDO_ABORTED_RCV) { |
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332 MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode); |
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333 } |
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334 |
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335 if (err == SDO_ABORTED_INTERNAL) { |
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336 MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode); |
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337 } |
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338 // Looking for the line transfert number to read the index, subindex and releasing the line. |
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339 { |
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340 UNS8 line; |
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341 err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); |
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342 if (err) { |
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343 MSG_WAR(0x2F2F, "No line found for node : ", slaveNode); |
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344 exit(-1); |
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345 } |
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346 MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index); |
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347 MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex); |
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348 //Releasing the line. |
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349 closeSDOtransfer(0, slaveNode, SDO_CLIENT); |
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350 exit(-1); |
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351 } |
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352 |
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353 return 0; |
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354 } |
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355 |
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356 |
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357 //------------------------------------------------------------------------------ |
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358 /* The master is writing in the slave dictionnary to configure the SDO parameters |
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359 Remember that the slave is the server, and the master is the client. |
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360 */ |
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361 UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode) |
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362 { |
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363 UNS8 data; |
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364 UNS8 NbDataToWrite = 1 ; // in bytes |
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365 UNS8 err = 0; |
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366 MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node", slaveNode); |
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367 /* It is only to put at subindex 3 the serverNode. It is optionnal. |
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368 In the slave dictionary, only one SDO server is defined, at index |
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369 0x1200 */ |
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370 data = clientNode; |
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371 err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data); |
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372 waitingWriteToSlaveDict(slaveNode, err); |
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373 |
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374 return 0; |
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375 } |
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376 |
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377 //------------------------------------------------------------------------------ |
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378 |
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379 void masterMappingPDO(UNS32 indexPDO, UNS32 cobId, |
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380 s_mappedVar *tabMappedVar, UNS8 nbVar) |
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381 { |
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382 UNS32 *pbData; |
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383 UNS32 data32; |
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384 UNS8 i; |
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385 UNS8 size = 0; |
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386 UNS8 dataType; |
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387 |
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388 if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) |
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389 MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId); |
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390 |
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391 if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) |
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392 MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId); |
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393 |
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394 /* At indexPDO, subindex 1, defining the cobId of the PDO */ |
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395 setODentry(indexPDO, 1, &cobId, 4, 0); |
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396 /* The mapping ... */ |
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397 /* ----------------*/ |
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398 /* At subindex 0, the number of variables in the PDO */ |
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399 setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0); |
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400 getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0); |
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401 /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in |
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402 the PDO. The first variable after the COBID is defined at subindex 1, ... |
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403 The data to write is the concatenation on 32 bits of (msb ... lsb) : |
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404 index(16b),subIndex(8b),sizeVariable(8b) |
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405 */ |
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406 for (i = 0 ; i < nbVar ; i++) { |
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407 data32 = ((tabMappedVar + i)->index << 16) | |
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408 (((tabMappedVar + i)->subIndex & 0xFF) << 8) | |
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409 ((tabMappedVar + i)->size & 0xFF); |
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410 // Write dictionary |
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411 setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0); |
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412 |
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413 # ifdef MORE_COMMENTS |
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414 printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n", |
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415 (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size); |
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416 // Only to verify. |
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417 // Read dictionnary |
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418 getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0); |
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419 printf("Writen à index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", |
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420 indexPDO + 0x200, i + 1, 8 * size, *pbData); |
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421 # endif |
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422 |
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423 } |
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424 } |
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425 |
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426 //------------------------------------------------------------------------------ |
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427 /* |
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428 */ |
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429 |
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430 void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, |
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431 s_mappedVar *tabMappedVar, UNS8 nbVar) |
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432 { |
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433 UNS32 data32; |
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434 UNS8 i; |
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435 UNS8 err; |
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436 UNS8 nbBytes = 1; |
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437 if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) |
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438 MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId); |
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439 |
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440 if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) |
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441 MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId); |
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442 |
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443 /* At indexPDO, subindex 1, defining the cobId of the PDO */ |
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444 err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId); |
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445 waitingWriteToSlaveDict(slaveNode, err); |
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446 |
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447 /* The mapping ... */ |
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448 /* ----------------*/ |
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449 /* At subindex 0, the number of variables in the PDO */ |
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450 err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar); |
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451 waitingWriteToSlaveDict(slaveNode, err); |
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452 |
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453 /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in |
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454 the PDO. The first variable after the COBID is defined at subindex 1, ... |
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455 The data to write is the concatenation on 32 bits of (msb ... lsb) : |
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456 index(16b),subIndex(8b),sizeVariable(8b) |
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457 */ |
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458 for (i = 0 ; i < nbVar ; i++) { |
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459 data32 = ((tabMappedVar + i)->index << 16) | |
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460 (((tabMappedVar + i)->subIndex & 0xFF) << 8) | |
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461 ((tabMappedVar + i)->size & 0xFF); |
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462 |
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463 // Write dictionary |
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464 err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32); |
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465 waitingWriteToSlaveDict(slaveNode, err); |
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466 |
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467 # ifdef MORE_COMMENTS |
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468 printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n", |
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469 (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size); |
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470 |
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471 printf("At node 0x%X Writen at index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", |
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472 slaveNode, indexPDO + 0x200, i + 1, 32, data32); |
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473 # endif |
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474 |
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475 } |
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476 } |
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477 |
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478 //------------------------------------------------------------------------------ |
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479 /* |
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480 */ |
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481 void masterHeartbeatConsumer(s_heartbeatConsumer |
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482 *tabHeartbeatConsumer, UNS8 nbHeartbeats) |
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483 { |
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484 UNS32 data; |
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485 UNS8 i; |
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486 UNS8 nbHB = nbHeartbeats; |
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487 |
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488 MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0); |
|
489 /* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */ |
|
490 setODentry(0x1016, 0, & nbHB, 1, 0); |
|
491 |
|
492 /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb : |
|
493 00 - node_consumer (8b) - time_ms (16b) |
|
494 Put 0 to ignore the entry. |
|
495 */ |
|
496 for (i = 0 ; i < nbHeartbeats ; i++) { |
|
497 data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF); |
|
498 setODentry(0x1016, i + 1, & data, 4, 0); |
|
499 } |
|
500 } |
|
501 |
|
502 //------------------------------------------------------------------------------ |
|
503 /* |
|
504 */ |
|
505 |
|
506 void masterHeartbeatProducer(UNS16 time) |
|
507 { |
|
508 UNS16 hbTime = time; |
|
509 MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0); |
|
510 /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */ |
|
511 setODentry(0x1017, 0, &hbTime, 2, 0); |
|
512 } |
|
513 |
|
514 //------------------------------------------------------------------------------ |
|
515 /* |
|
516 */ |
|
517 void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer |
|
518 *tabHeartbeatConsumer, UNS8 nbHeartbeats) |
|
519 { |
|
520 UNS32 data; |
|
521 UNS8 err; |
|
522 UNS8 i; |
|
523 |
|
524 MSG_WAR(0x3F46, "Configuring heartbeats consumers for node : ", slaveNode); |
|
525 |
|
526 /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb : |
|
527 00 - node_consumer (8b) - time_ms (16b) |
|
528 Put 0 to ignore the entry. |
|
529 */ |
|
530 for (i = 0 ; i < nbHeartbeats ; i++) { |
|
531 data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | |
|
532 ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF); |
|
533 err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data); |
|
534 waitingWriteToSlaveDict(slaveNode, err); |
|
535 } |
|
536 } |
|
537 |
|
538 //------------------------------------------------------------------------------ |
|
539 /* |
|
540 */ |
|
541 |
|
542 void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time) |
|
543 { |
|
544 UNS8 err; |
|
545 MSG_WAR(0x3F47, "Configuring heartbeat producer for node : ", slaveNode); |
|
546 /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */ |
|
547 |
|
548 err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time); |
|
549 waitingWriteToSlaveDict(slaveNode, err); |
|
550 } |
|
551 |
|
552 //------------------------------------------------------------------------------ |
|
553 /* |
|
554 */ |
|
555 |
|
556 void masterPDOTransmissionMode(UNS32 indexPDO, UNS8 transType) |
|
557 { |
|
558 MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO); |
|
559 |
|
560 /* At subindex 2, the transmission type */ |
|
561 setODentry(indexPDO, 2, &transType, 1, 0); |
|
562 } |
|
563 |
|
564 |
|
565 //------------------------------------------------------------------------------ |
|
566 /* |
|
567 */ |
|
568 |
|
569 void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO, UNS8 transType) |
|
570 { |
|
571 UNS8 err; |
|
572 MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode); |
|
573 MSG_WAR(0x3F42, " indexPDO : ", indexPDO); |
|
574 |
|
575 err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType); |
|
576 waitingWriteToSlaveDict(slaveNode, err); |
|
577 |
|
578 } |
|
579 |
|
580 //------------------------------------------------------------------------------ |
|
581 /* |
|
582 */ |
|
583 |
|
584 void masterSYNCPeriod(UNS32 SYNCPeriod) |
|
585 { |
|
586 UNS32 cobId = 0x40000080; |
|
587 MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod); |
|
588 /* At index 0x1006, subindex 0 : the period in ms */ |
|
589 setODentry(0x1006, 0, &SYNCPeriod , 4, 0); |
|
590 /* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */ |
|
591 setODentry(0x1005, 0, &cobId, 4, 0); |
|
592 } |
|
593 |
|
594 void help() |
|
595 { |
|
596 printf("**************************************************************\n"); |
|
597 printf("* AppliMaster *\n"); |
|
598 printf("* [-b b] *\n"); |
|
599 printf("* *\n"); |
|
600 printf("* b : bus [default 0] *\n"); |
|
601 printf("* *\n"); |
|
602 printf("* This exemple run AppliMaster on bus 0 *\n"); |
|
603 printf("* AppliMaster -b 0 *\n"); |
|
604 printf("* *\n"); |
|
605 printf("**************************************************************\n"); |
|
606 } |
|
607 |
|
608 /****************************************************************************/ |
|
609 /*************************** MAIN *****************************************/ |
|
610 /****************************************************************************/ |
|
611 int main(int argc,char **argv) |
|
612 { |
|
613 UNS8 second_last; |
|
614 UNS8 minutes_last; |
|
615 UNS8 sendingResetError = 0; |
|
616 int i; |
|
617 HANDLE ok; |
|
618 char c; |
|
619 extern char *optarg; |
|
620 |
|
621 while ((c = getopt(argc, argv, "-b:")) != EOF) |
|
622 { |
|
623 switch(c) |
|
624 { |
|
625 case 'b' : |
|
626 if (optarg[0] == 0) |
|
627 { |
|
628 help(); |
|
629 exit(1); |
|
630 } |
|
631 board.busname = optarg; |
|
632 break; |
|
633 default: |
|
634 help(); |
|
635 exit(1); |
|
636 } |
|
637 } |
|
638 |
|
639 /****************************** INITIALISATION *******************************/ |
|
640 |
|
641 /* Launch the timer*/ |
|
642 initTimer( ); |
|
643 |
|
644 /* arrays initialisation, etc */ |
|
645 initCANopenMain(); |
|
646 |
|
647 /* arrays initialisation, etc */ |
|
648 initCANopenMaster(); |
|
649 |
|
650 /* Defining the node Id */ |
|
651 setNodeId(0x01); |
|
652 MSG_WAR(0x3F50, "My node ID is : ", getNodeId()); |
|
653 |
|
654 /* Put the master in operational mode */ |
|
655 setState(Operational); |
|
656 |
|
657 |
|
658 /* Init the table of connected nodes */ |
|
659 for (i = 0 ; i < 128 ; i++) |
|
660 connectedNode[i] = 0; |
|
661 |
|
662 |
|
663 ok = f_can_open(& board); |
|
664 if (ok == NULL) { |
|
665 MSG_ERR(0x1F02,"Unable to open the board", 0); |
|
666 MSG_ERR(0x1F03,"Edit includeMakefileLinux to verify that the application is configured for the good board", 0); |
|
667 exit (-1); |
|
668 } |
|
669 else { |
|
670 MSG_WAR(0x3F03, "Board 0 opened ", 0); |
|
671 } |
|
672 |
|
673 |
|
674 /* Launch the thread to receive the messages */ |
|
675 pthread_create( &threadM, NULL, (void *)&waitMessage, NULL); |
|
676 |
|
677 |
|
678 |
|
679 |
|
680 |
|
681 |
|
682 |
|
683 |
|
684 |
|
685 |
|
686 |
|
687 |
|
688 |
|
689 |
|
690 |
|
691 /******************** CONFIGURING THE NETWORK **************************/ |
|
692 |
|
693 /* Which nodes are connected ? */ |
|
694 /* Sending a request Node guard to node 5 and 6 */ |
|
695 MSG_WAR(0x3F04, "Sending a node guard to node : ", 5); |
|
696 masterReadNodeState(0, 0x05); |
|
697 /* Sending a message to the node 6, only as example */ |
|
698 MSG_WAR(0x3F04, "Sending a node guard to node : ", 6); |
|
699 masterReadNodeState(0, 0x06); |
|
700 /* Waiting for a second the response */ |
|
701 sleep(1); |
|
702 |
|
703 /* Whose node have answered ? */ |
|
704 connectedNode[5] = stateNode(5); |
|
705 connectedNode[6] = stateNode(6); |
|
706 |
|
707 /* Configure the SDO master to communicate with node 5 and node 6 */ |
|
708 configure_master_SDO(0x1280, 0x05); |
|
709 |
|
710 |
|
711 /* Configure the SDO of node 5 */ |
|
712 /* getNodeId() returns my node Id */ |
|
713 configure_client_SDO(0x05, getNodeId()); |
|
714 /* Mapping of the PDO |
|
715 Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F, |
|
716 381-3FF, 401-47F, 481-4FF, 501-57F, |
|
717 without other restriction. |
|
718 (Of course, you must not define 2 PDO transmit with the same cobId !!) |
|
719 */ |
|
720 |
|
721 /* |
|
722 *** PDO node 1 <-- node 5 *** |
|
723 *** cobId 0x181 ************* |
|
724 MASTER (node 1) |
|
725 Mapped to variables (node1) [index-subindex-size_bits]: |
|
726 day [0x6002 - 0x04 - 8] |
|
727 hour [0x6002 - 0x03 - 8] |
|
728 second [0x6002 - 0x01 - 8] |
|
729 |
|
730 SLAVE (node 5) |
|
731 Mapped to variables (node5) [index-subindex-size_bits]: |
|
732 day [0x2000 - 0x04 - 8] |
|
733 hour [0x2000 - 0x03 - 8] |
|
734 second [0x2000 - 0x01 - 8] |
|
735 */ |
|
736 |
|
737 /* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */ |
|
738 { |
|
739 s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, }; |
|
740 masterMappingPDO(0x1400, 0x181, tabMappedVar, 3); |
|
741 } |
|
742 |
|
743 /* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */ |
|
744 { |
|
745 s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, }; |
|
746 slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3); |
|
747 } |
|
748 /* |
|
749 *** PDO node 1 <-- node 5 *** |
|
750 *** cobId 0x182 ************* |
|
751 MASTER (node 1) |
|
752 Mapped to variables (node1) [index-subindex-size_bits]: |
|
753 minute [0x6002 - 0x02 - 8] |
|
754 |
|
755 SLAVE (node 5) |
|
756 Mapped to variables (node5) [index-subindex-size_bits]: |
|
757 minute [0x2000 - 0x02 - 8] |
|
758 */ |
|
759 |
|
760 /* Configuring PDO receive, defined at index 0x1400 and 0x1600 */ |
|
761 { |
|
762 s_mappedVar tabMappedVar[8] = { {0x6002,2,8} }; |
|
763 masterMappingPDO(0x1401, 0x182, tabMappedVar, 1); |
|
764 } |
|
765 |
|
766 /* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */ |
|
767 { |
|
768 s_mappedVar tabMappedVar[8] = { {0x2000,2,8} }; |
|
769 slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1); |
|
770 } |
|
771 |
|
772 |
|
773 /* |
|
774 *** PDO node 1 <-- node 5 *** |
|
775 *** cobId 0x183 ************* |
|
776 Error management : By this way, The node can send by PDO an error |
|
777 MASTER (node 1) |
|
778 Mapped to variables (node1) [index-subindex-size_bits]: |
|
779 canopenErrNb_node5 [0x6000 - 0x00 - 32] |
|
780 canopenErrVal_node5 [0x6001 - 0x00 - 32] |
|
781 |
|
782 SLAVE (node 5) |
|
783 Mapped to variables (node5) [index-subindex-size_bytes]: |
|
784 canopenErrNb [0x6000 - 0x00 - 32] |
|
785 canopenErrVal [0x6001 - 0x00 - 32] |
|
786 */ |
|
787 |
|
788 /* Configuring PDO receive, defined at index 0x1402 and 0x1602 */ |
|
789 { |
|
790 s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; |
|
791 masterMappingPDO(0x1402, 0x183, tabMappedVar, 2); |
|
792 } |
|
793 |
|
794 /* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */ |
|
795 { |
|
796 s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; |
|
797 slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2); |
|
798 } |
|
799 |
|
800 /* |
|
801 *** PDO node 1 --> node 5 *** |
|
802 *** cobId 0x184 ************* |
|
803 Error management : To reset the error |
|
804 MASTER (node 1) |
|
805 Mapped to variables (node1) [index-subindex-size_bits]: |
|
806 canopenErrNb_node5 [0x6000 - 0x00 - 32] |
|
807 canopenErrVal_node5 [0x6001 - 0x00 - 32] |
|
808 |
|
809 SLAVE (node 5) |
|
810 Mapped to variables (node5) [index-subindex-size_bytes]: |
|
811 canopenErrNb [0x6000 - 0x00 - 32] |
|
812 canopenErrVal [0x6001 - 0x00 - 32] |
|
813 */ |
|
814 |
|
815 /* Configuring PDO transmit, defined at index 0x1803 and 0x1103 */ |
|
816 { |
|
817 s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; |
|
818 masterMappingPDO(0x1801, 0x184, tabMappedVar, 2); |
|
819 } |
|
820 |
|
821 /* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */ |
|
822 { |
|
823 s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; |
|
824 slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2); |
|
825 } |
|
826 |
|
827 /* Configuring the node 5 heartbeat */ |
|
828 /* Check every 3000 ms if it have received a heartbeat from node 1 */ |
|
829 { |
|
830 UNS8 nbHeartbeatsToReceive = 1; |
|
831 s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}}; |
|
832 slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive); |
|
833 } |
|
834 /* Sending every 1000 ms an heartbeat */ |
|
835 slaveHeartbeatProducer(0x05, 0x3E8); |
|
836 |
|
837 /* Configuring the master heartbeat */ |
|
838 /* Check every 3000 ms if it have received a heartbeat from node 5 */ |
|
839 { |
|
840 UNS8 nbHeartbeatsToReceive = 1; |
|
841 s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}}; |
|
842 masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive); |
|
843 } |
|
844 |
|
845 /* Sending every 1000 ms an heartbeat */ |
|
846 masterHeartbeatProducer(0x3E8); |
|
847 |
|
848 |
|
849 |
|
850 /* Configuring the transmission mode of the PDO */ |
|
851 slavePDOTransmissionMode(0x05, 0x1800, TRANS_EVERY_N_SYNC (1)); |
|
852 slavePDOTransmissionMode(0x05, 0x1801, TRANS_EVENT); |
|
853 slavePDOTransmissionMode(0x05, 0x1802, TRANS_EVENT); |
|
854 masterPDOTransmissionMode(0x1801, TRANS_EVENT); |
|
855 |
|
856 /* Configuring the master to send a SYNC message every 1 s */ |
|
857 /* Note than any other node can send the SYNC instead of the master */ |
|
858 masterSYNCPeriod(1000000); |
|
859 |
|
860 { |
|
861 // Reading the period of heartbeat which has been written in node 5 dictionary |
|
862 UNS8 node = 5; |
|
863 UNS16 index = 0x1017; |
|
864 UNS8 subindex = 0; |
|
865 //UNS8 notused = 0; |
|
866 UNS16 hb = 0; |
|
867 UNS8 size_data = 0; |
|
868 UNS8 error; |
|
869 MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0); |
|
870 error = readNetworkDict(0, node, index, subindex, 0); |
|
871 //error = readNetworkDict(0, node, index, subindex, ¬used); |
|
872 if (error) { |
|
873 MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0); |
|
874 exit (-1); |
|
875 } |
|
876 /* Waiting until the server has responded */ |
|
877 error = waitingReadToSlaveDict(node, (UNS16 *)&hb, &size_data, error); |
|
878 MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb); |
|
879 MSG_WAR(0x1F51, " size of data (bytes) = ", size_data); |
|
880 } |
|
881 |
|
882 |
|
883 |
|
884 /* Put the node 5 in operational mode |
|
885 The mode is changed according to the slave state machine mode : |
|
886 initialisation ---> pre-operational (Automatic transition) |
|
887 pre-operational <--> operational |
|
888 pre-operational <--> stopped |
|
889 pre-operational, operational, stopped -> initialisation |
|
890 NMT_Start_Node // Put the node in operational mode |
|
891 NMT_Stop_Node // Put the node in stopped mode |
|
892 NMT_Enter_PreOperational // Put the node in pre_operational mode |
|
893 NMT_Reset_Node // Put the node in initialization mode |
|
894 NMT_Reset_Comunication // Put the node in initialization mode |
|
895 */ |
|
896 masterSendNMTstateChange(0, 0x05, NMT_Start_Node); |
|
897 |
|
898 |
|
899 // Note |
|
900 //----- |
|
901 // We do not have mapped the variable canopenErrNB and canopenErrVAL. |
|
902 // We should have done that ! |
|
903 // the macro MSG_ERR try to send the PDO(s) which contains these two variables. |
|
904 // While the PDO will not be found, if you are printing the warnings in file pdo.c, |
|
905 // it will print "0X393B Unable to send variable on event : not mapped in a PDO to send on event" for |
|
906 // example when you enter the function heartbeatError. |
|
907 |
|
908 /******************** END CONFIGURING THE NETWORK **********************/ |
|
909 |
|
910 /* Launch the thread to send the SYNC message */ |
|
911 pthread_create( &threadS, NULL, (void *)&transmitSync , NULL); |
|
912 /* Init the errors values that may send the node 5 */ |
|
913 canopenErrNB_node5 = 0; |
|
914 canopenErrVAL_node5 = 0; |
|
915 |
|
916 /****************************** RUNNING *******************************/ |
|
917 |
|
918 /* SDO test with node 5 */ |
|
919 { |
|
920 // Reading string |
|
921 UNS8 dataW[20]; |
|
922 UNS8 dataR[20]; |
|
923 UNS8 size; |
|
924 UNS8 err; |
|
925 MSG_WAR(0x3F05, "Test SDO", 0); |
|
926 |
|
927 MSG_WAR(0x3F10, "Writing string to node 5 index 0x6002, subindex 0 ...", 0); |
|
928 strcpy(dataW, "Au Revoir"); |
|
929 MSG_WAR(0x3F10, dataW, 0); |
|
930 size = 20; |
|
931 err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW); |
|
932 err = waitingWriteToSlaveDict(5, err); |
|
933 |
|
934 err = readNetworkDict(0, 5, 0x6002, 0, visible_string); |
|
935 err = waitingReadToSlaveDict(5, dataR, &size, err); |
|
936 MSG_WAR(0x3F08, "Data read from node 5 index 0x6002, subindex 0 ..." , 0); |
|
937 MSG_WAR(0x3F08, dataR, 0); |
|
938 |
|
939 MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0); |
|
940 err = readNetworkDict(0, 5, 0x1009, 0, visible_string); |
|
941 err = waitingReadToSlaveDict(5, dataR, &size, err); |
|
942 MSG_WAR(0x3F08, dataR, 0); |
|
943 |
|
944 MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0); |
|
945 err = readNetworkDict(0, 5, 0x100A, 0, visible_string); |
|
946 err = waitingReadToSlaveDict(5, dataR, &size, err); |
|
947 MSG_WAR(0x3F08, dataR, 0); |
|
948 } |
|
949 |
|
950 // Node identity ? |
|
951 { |
|
952 UNS8 *data; |
|
953 UNS8 size; |
|
954 UNS8 dataType; |
|
955 // Manufacturer Device name (default = empty string) |
|
956 getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0); |
|
957 MSG_WAR(0x3F09, data, 0); |
|
958 // Manufacturer Hardware version. (default = compilation. date) |
|
959 getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0); |
|
960 MSG_WAR(0x3F09, data, 0); |
|
961 // Manufacturer Software version. (default = compilation. time) |
|
962 getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0); |
|
963 MSG_WAR(0x3F09, data, 0); |
|
964 } |
|
965 |
|
966 while (1) { |
|
967 if (minutes != minutes_last) { |
|
968 printf("Minutes changed\n"); |
|
969 minutes_last = minutes; |
|
970 } |
|
971 |
|
972 if (second != second_last) { |
|
973 printf("Date : %d, %02dH%02d-%02d\n", day, hour, minutes, second); |
|
974 second_last = second; |
|
975 |
|
976 if (canopenErrNB_node5) { |
|
977 printf("Received an error from node 5, NB : 0x%X, value : 0x%X\n", |
|
978 canopenErrNB_node5 , canopenErrVAL_node5); |
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979 // Resetting the error |
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980 canopenErrNB_node5 = 0; |
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981 canopenErrVAL_node5 = 0; |
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982 sendingResetError = 1; |
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983 } |
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984 |
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985 if ((second < 5) && sendingResetError) { |
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986 printf("Sending to node 5 a PDO event to reset the error NB: 0x%X and VAL: 0x%X\n", |
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987 canopenErrNB_node5, canopenErrVAL_node5); |
|
988 |
|
989 sendPDOevent(0, &canopenErrNB_node5); |
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990 sendingResetError = 0; |
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991 } |
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992 |
|
993 |
|
994 } // end if (second != second_last) |
|
995 |
|
996 // Testing if heartsbeat have been received, and send a heartbeat if it is time. |
|
997 // I have put that in a thread, but I don't know why, on HB not received, |
|
998 // it doesn't returns from heartbeatError() to the thread. |
|
999 heartbeatMGR(); |
|
1000 |
|
1001 usleep(10000); |
|
1002 |
|
1003 } |
|
1004 return 0; |
|
1005 } |
|