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     3 <title>CanFestival: examples/TestMasterSlave/Master.c Source File</title>
       
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    10     <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
       
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    21 <a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a>&nbsp;&raquo&nbsp;<a class="el" href="dir_4f45567b048264117a95e53b67d9aefb.html">TestMasterSlave</a></div>
       
    22 <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>
       
    23 <a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
       
    24 <a name="l00003"></a>00003 <span class="comment"></span>
       
    25 <a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
       
    26 <a name="l00005"></a>00005 <span class="comment"></span>
       
    27 <a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
       
    28 <a name="l00007"></a>00007 <span class="comment"></span>
       
    29 <a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
       
    30 <a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
       
    31 <a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
       
    32 <a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
       
    33 <a name="l00012"></a>00012 <span class="comment"></span>
       
    34 <a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
       
    35 <a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
       
    36 <a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span>
       
    37 <a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
       
    38 <a name="l00017"></a>00017 <span class="comment"></span>
       
    39 <a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
       
    40 <a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
       
    41 <a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA</span>
       
    42 <a name="l00021"></a>00021 <span class="comment">*/</span>
       
    43 <a name="l00022"></a>00022 
       
    44 <a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="Master_8h.html">Master.h</a>"</span>
       
    45 <a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="Slave_8h.html">Slave.h</a>"</span>
       
    46 <a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="TestMasterSlave_8h.html">TestMasterSlave.h</a>"</span>
       
    47 <a name="l00026"></a>00026 
       
    48 <a name="l00027"></a>00027 <span class="comment">/*****************************************************************************/</span>
       
    49 <a name="l00028"></a><a class="code" href="Master_8h.html#611539550b18922783f095252be10ff4">00028</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#ab44b8110510c170a1075227cf400caf">TestMaster_heartbeatError</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> heartbeatID)
       
    50 <a name="l00029"></a>00029 {
       
    51 <a name="l00030"></a>00030         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestMaster_heartbeatError %d\n"</span>, heartbeatID);
       
    52 <a name="l00031"></a>00031 }
       
    53 <a name="l00032"></a>00032 
       
    54 <a name="l00033"></a>00033 <span class="comment">/********************************************************</span>
       
    55 <a name="l00034"></a>00034 <span class="comment"> * ConfigureSlaveNode is responsible to</span>
       
    56 <a name="l00035"></a>00035 <span class="comment"> *  - setup master RPDO 1 to receive TPDO 1 from id 2</span>
       
    57 <a name="l00036"></a>00036 <span class="comment"> *  - setup master RPDO 2 to receive TPDO 2 from id 2</span>
       
    58 <a name="l00037"></a>00037 <span class="comment"> ********************************************************/</span>
       
    59 <a name="l00038"></a><a class="code" href="Master_8h.html#ed68508e702881e68c4152b125f5f3ab">00038</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#173d54878164bf1ef49845c8fffbf19f">TestMaster_initialisation</a>()
       
    60 <a name="l00039"></a>00039 {
       
    61 <a name="l00040"></a>00040         <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> PDO1_COBID = 0x0182; 
       
    62 <a name="l00041"></a>00041         <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> PDO2_COBID = 0x0282;
       
    63 <a name="l00042"></a>00042         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> size = <span class="keyword">sizeof</span>(<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>); 
       
    64 <a name="l00043"></a>00043         
       
    65 <a name="l00044"></a>00044         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestMaster_initialisation\n"</span>);
       
    66 <a name="l00045"></a>00045 
       
    67 <a name="l00046"></a>00046         <span class="comment">/*****************************************</span>
       
    68 <a name="l00047"></a>00047 <span class="comment">         * Define RPDOs to match slave ID=2 TPDOs*</span>
       
    69 <a name="l00048"></a>00048 <span class="comment">         *****************************************/</span>
       
    70 <a name="l00049"></a>00049         <a class="code" href="objacces_8c.html#205ea90bcc1c528d291fb60102f19451">writeLocalDict</a>( &amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
       
    71 <a name="l00050"></a>00050                         0x1400, <span class="comment">/*UNS16 index*/</span>
       
    72 <a name="l00051"></a>00051                         0x01, <span class="comment">/*UNS8 subind*/</span> 
       
    73 <a name="l00052"></a>00052                         &amp;PDO1_COBID, <span class="comment">/*void * pSourceData,*/</span> 
       
    74 <a name="l00053"></a>00053                         &amp;size, <span class="comment">/* UNS8 * pExpectedSize*/</span>
       
    75 <a name="l00054"></a>00054                         <a class="code" href="objdictdef_8h.html#ad0aec3e0810593c9047b44d01209927">RW</a>);  <span class="comment">/* UNS8 checkAccess */</span>
       
    76 <a name="l00055"></a>00055                         
       
    77 <a name="l00056"></a>00056         <a class="code" href="objacces_8c.html#205ea90bcc1c528d291fb60102f19451">writeLocalDict</a>( &amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
       
    78 <a name="l00057"></a>00057                         0x1401, <span class="comment">/*UNS16 index*/</span>
       
    79 <a name="l00058"></a>00058                         0x01, <span class="comment">/*UNS8 subind*/</span> 
       
    80 <a name="l00059"></a>00059                         &amp;PDO2_COBID, <span class="comment">/*void * pSourceData,*/</span> 
       
    81 <a name="l00060"></a>00060                         &amp;size, <span class="comment">/* UNS8 * pExpectedSize*/</span>
       
    82 <a name="l00061"></a>00061                         <a class="code" href="objdictdef_8h.html#ad0aec3e0810593c9047b44d01209927">RW</a>);  <span class="comment">/* UNS8 checkAccess */</span>
       
    83 <a name="l00062"></a>00062 }
       
    84 <a name="l00063"></a>00063 
       
    85 <a name="l00064"></a>00064 <span class="comment">// Step counts number of times ConfigureSlaveNode is called</span>
       
    86 <a name="l00065"></a>00065 <span class="keyword">static</span> init_step = 0;
       
    87 <a name="l00066"></a>00066 
       
    88 <a name="l00067"></a>00067 <span class="comment">/*Froward declaration*/</span>
       
    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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId);
       
    90 <a name="l00069"></a>00069 
       
    91 <a name="l00070"></a>00070 
       
    92 <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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
       
    93 <a name="l00072"></a>00072 {
       
    94 <a name="l00073"></a>00073         <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode;        
       
    95 <a name="l00074"></a>00074         <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#b5b66393347520874a551ca2ec53f673">getWriteResultNetworkDict</a> (d, nodeId, &amp;abortCode) != <a class="code" href="def_8h.html#12966f6991bcd2a375fafc8c7c877c04">SDO_FINISHED</a>)
       
    96 <a name="l00075"></a>00075                 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n"</span>, nodeId, init_step, abortCode);
       
    97 <a name="l00076"></a>00076 
       
    98 <a name="l00077"></a>00077         <span class="comment">/* Finalise last SDO transfer with this node */</span>
       
    99 <a name="l00078"></a>00078         <a class="code" href="sdo_8c.html#df77b984822a5cec9782ebd6bc64e700">closeSDOtransfer</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, nodeId, <a class="code" href="def_8h.html#9643ba6f5821c05629c3d60f1f911e88">SDO_CLIENT</a>);
       
   100 <a name="l00079"></a>00079 
       
   101 <a name="l00080"></a>00080         ConfigureSlaveNode(d, nodeId);
       
   102 <a name="l00081"></a>00081 }
       
   103 <a name="l00082"></a>00082 
       
   104 <a name="l00083"></a>00083 <span class="comment">/********************************************************</span>
       
   105 <a name="l00084"></a>00084 <span class="comment"> * ConfigureSlaveNode is responsible to</span>
       
   106 <a name="l00085"></a>00085 <span class="comment"> *  - setup slave TPDO 1 transmit time</span>
       
   107 <a name="l00086"></a>00086 <span class="comment"> *  - setup slave TPDO 2 transmit time</span>
       
   108 <a name="l00087"></a>00087 <span class="comment"> *  - switch to operational mode</span>
       
   109 <a name="l00088"></a>00088 <span class="comment"> *  - send NMT to slave</span>
       
   110 <a name="l00089"></a>00089 <span class="comment"> ********************************************************</span>
       
   111 <a name="l00090"></a>00090 <span class="comment"> * This an example of :</span>
       
   112 <a name="l00091"></a>00091 <span class="comment"> * Network Dictionary Access (SDO) with Callback </span>
       
   113 <a name="l00092"></a>00092 <span class="comment"> * Slave node state change request (NMT) </span>
       
   114 <a name="l00093"></a>00093 <span class="comment"> ********************************************************</span>
       
   115 <a name="l00094"></a>00094 <span class="comment"> * This is called first by TestMaster_preOperational</span>
       
   116 <a name="l00095"></a>00095 <span class="comment"> * then it called again each time a SDO exchange is</span>
       
   117 <a name="l00096"></a>00096 <span class="comment"> * finished.</span>
       
   118 <a name="l00097"></a>00097 <span class="comment"> ********************************************************/</span>
       
   119 <a name="l00098"></a>00098  
       
   120 <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#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
       
   121 <a name="l00100"></a>00100 {
       
   122 <a name="l00101"></a>00101         <span class="comment">/* Master configure heartbeat producer time at 1000 ms </span>
       
   123 <a name="l00102"></a>00102 <span class="comment">         * for slave node-id 0x02 by DCF concise */</span>
       
   124 <a name="l00103"></a>00103          
       
   125 <a name="l00104"></a>00104         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> Transmission_Type = 0x01;
       
   126 <a name="l00105"></a>00105         <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode;
       
   127 <a name="l00106"></a>00106         <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> res;
       
   128 <a name="l00107"></a>00107         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : ConfigureSlaveNode %2.2x\n"</span>, nodeId);
       
   129 <a name="l00108"></a>00108 
       
   130 <a name="l00109"></a>00109         <span class="keywordflow">switch</span>(++init_step){
       
   131 <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>
       
   132 <a name="l00111"></a>00111                         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x TPDO 1 transmit type\n"</span>, nodeId);
       
   133 <a name="l00112"></a>00112                         res = <a class="code" href="sdo_8c.html#f0491ff0ed4a472e54de7f24c4e8457a">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
       
   134 <a name="l00113"></a>00113                                         nodeId, <span class="comment">/*UNS8 nodeId*/</span>
       
   135 <a name="l00114"></a>00114                                         0x1800, <span class="comment">/*UNS16 index*/</span>
       
   136 <a name="l00115"></a>00115                                         0x02, <span class="comment">/*UNS8 subindex*/</span>
       
   137 <a name="l00116"></a>00116                                         1, <span class="comment">/*UNS8 count*/</span>
       
   138 <a name="l00117"></a>00117                                         0, <span class="comment">/*UNS8 dataType*/</span>
       
   139 <a name="l00118"></a>00118                                         &amp;Transmission_Type,<span class="comment">/*void *data*/</span>
       
   140 <a name="l00119"></a>00119                                         CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
       
   141 <a name="l00120"></a>00120                                         <span class="keywordflow">break</span>;
       
   142 <a name="l00121"></a>00121                 
       
   143 <a name="l00122"></a>00122                 <span class="keywordflow">case</span> 2: <span class="comment">/*Second step*/</span>
       
   144 <a name="l00123"></a>00123                         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x TPDO 2 transmit type\n"</span>, nodeId);
       
   145 <a name="l00124"></a>00124                         <a class="code" href="sdo_8c.html#f0491ff0ed4a472e54de7f24c4e8457a">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
       
   146 <a name="l00125"></a>00125                                         nodeId, <span class="comment">/*UNS8 nodeId*/</span>
       
   147 <a name="l00126"></a>00126                                         0x1801, <span class="comment">/*UNS16 index*/</span>
       
   148 <a name="l00127"></a>00127                                         0x02, <span class="comment">/*UNS16 index*/</span>
       
   149 <a name="l00128"></a>00128                                         1, <span class="comment">/*UNS8 count*/</span>
       
   150 <a name="l00129"></a>00129                                         0, <span class="comment">/*UNS8 dataType*/</span>
       
   151 <a name="l00130"></a>00130                                         &amp;Transmission_Type,<span class="comment">/*void *data*/</span>
       
   152 <a name="l00131"></a>00131                                         CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
       
   153 <a name="l00132"></a>00132                                         <span class="keywordflow">break</span>;
       
   154 <a name="l00133"></a>00133                 <span class="keywordflow">case</span> 3: 
       
   155 <a name="l00134"></a>00134                 
       
   156 <a name="l00135"></a>00135                 <span class="comment">/****************************** START *******************************/</span>
       
   157 <a name="l00136"></a>00136                 
       
   158 <a name="l00137"></a>00137                         <span class="comment">/* Put the master in operational mode */</span>
       
   159 <a name="l00138"></a>00138                         <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(d, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">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#c1ba0feb792adfae21a4adb96593ab3b">masterSendNMTstateChange</a> (d, nodeId, <a class="code" href="def_8h.html#4467d5b0f948367d4ecf26aa2a98c221">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#b4387f2180ab94c907dce7da44c26be6">00146</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#9d3d58aa8fa14fe445f0fa13be678d2a">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#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestMaster_preOperational\n"</span>);
       
   171 <a name="l00150"></a>00150         ConfigureSlaveNode(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">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#e4175256e19fb848c170b981974037ff">00154</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#c7ed44191510ba965044b347870c4ebf">TestMaster_operational</a>()
       
   176 <a name="l00155"></a>00155 {
       
   177 <a name="l00156"></a>00156         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">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#8a1da415a74b96fa2b7eb1b5783d893d">00159</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#85ea45ff95b4b9520cc73920d08232a8">TestMaster_stopped</a>()
       
   181 <a name="l00160"></a>00160 {
       
   182 <a name="l00161"></a>00161         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">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#861ebb7b01c1a2a70a48e47183ee9b23">00164</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#3f440fb00a4dddf2fde3349c2bc8b2d4">TestMaster_post_sync</a>()
       
   186 <a name="l00165"></a>00165 {
       
   187 <a name="l00166"></a>00166         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestMaster_post_sync\n"</span>);
       
   188 <a name="l00167"></a>00167         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n"</span>,
       
   189 <a name="l00168"></a>00168                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#9488a348be073322578657f5ff313f71">MasterMap1</a>,
       
   190 <a name="l00169"></a>00169                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#e3d73a23cf3e0d61249f2f90a887a7a8">MasterMap2</a>,
       
   191 <a name="l00170"></a>00170                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#82ec7a3c3530c500d012b7baa4d96343">MasterMap3</a>, 
       
   192 <a name="l00171"></a>00171                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#e7b2e6c7310a75505750f9f942b9b118">MasterMap4</a>,
       
   193 <a name="l00172"></a>00172                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#906329590b373e23ad6882504d920fe8">MasterMap5</a>,
       
   194 <a name="l00173"></a>00173                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#66ce866da2b04f4027d1562af7ea6ed4">MasterMap6</a>,
       
   195 <a name="l00174"></a>00174                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#37285aeabc0ad5b2d56ddcf174485781">MasterMap7</a>,
       
   196 <a name="l00175"></a>00175                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#5f5008807f365de6c3d4658f2868ed07">MasterMap8</a>,
       
   197 <a name="l00176"></a>00176                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#e6be0e6e9566d8d06a94e57a33cb6606">MasterMap9</a>,
       
   198 <a name="l00177"></a>00177                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#cd110cb52bf27ba69b4fb34f2933db0d">MasterMap10</a>,
       
   199 <a name="l00178"></a>00178                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#7084164381841145be2a3c0ecdb0e1c9">MasterMap11</a>,
       
   200 <a name="l00179"></a>00179                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#2f2a789847d40ed91f4ad992e85a551a">MasterMap12</a>,
       
   201 <a name="l00180"></a>00180                 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ad8bc8cc764f3961ce2b2b2af20ab5e3">MasterMap13</a>);
       
   202 <a name="l00181"></a>00181 }
       
   203 <a name="l00182"></a>00182 
       
   204 <a name="l00183"></a><a class="code" href="Master_8c.html#0e0d46aa286ab29da7165a53203e1353">00183</a> <span class="keywordtype">char</span> <a class="code" href="Master_8c.html#0e0d46aa286ab29da7165a53203e1353">query_result</a> = 0;
       
   205 <a name="l00184"></a><a class="code" href="Master_8c.html#ba8696db9402be436133c1f4b9017a84">00184</a> <span class="keywordtype">char</span> <a class="code" href="Master_8c.html#ba8696db9402be436133c1f4b9017a84">waiting_answer</a> = 0;
       
   206 <a name="l00185"></a>00185 
       
   207 <a name="l00186"></a>00186 
       
   208 <a name="l00187"></a>00187 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDO(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId)
       
   209 <a name="l00188"></a>00188 {
       
   210 <a name="l00189"></a>00189         <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode;        
       
   211 <a name="l00190"></a>00190         <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#b5b66393347520874a551ca2ec53f673">getWriteResultNetworkDict</a> (d, nodeId, &amp;abortCode) != <a class="code" href="def_8h.html#12966f6991bcd2a375fafc8c7c877c04">SDO_FINISHED</a>)
       
   212 <a name="l00191"></a>00191                 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n"</span>, abortCode);
       
   213 <a name="l00192"></a>00192 
       
   214 <a name="l00193"></a>00193         <span class="comment">/* Finalise last SDO transfer with this node */</span>
       
   215 <a name="l00194"></a>00194         <a class="code" href="sdo_8c.html#df77b984822a5cec9782ebd6bc64e700">closeSDOtransfer</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, nodeId, <a class="code" href="def_8h.html#9643ba6f5821c05629c3d60f1f911e88">SDO_CLIENT</a>);
       
   216 <a name="l00195"></a>00195 }
       
   217 <a name="l00196"></a>00196 
       
   218 <a name="l00197"></a>00197 
       
   219 <a name="l00198"></a>00198 <span class="keyword">static</span> <span class="keywordtype">int</span> MasterSyncCount = 0;
       
   220 <a name="l00199"></a><a class="code" href="Master_8h.html#dd4d88c919bcf2d03b7fe279327e5ef1">00199</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#dc95bf1be3ee99722ed0cb2009c38b18">TestMaster_post_TPDO</a>()
       
   221 <a name="l00200"></a>00200 {
       
   222 <a name="l00201"></a>00201         <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestMaster_post_TPDO MasterSyncCount = %d \n"</span>, MasterSyncCount);
       
   223 <a name="l00202"></a>00202 <span class="comment">//</span>
       
   224 <a name="l00203"></a>00203 <span class="comment">//      {</span>
       
   225 <a name="l00204"></a>00204 <span class="comment">//              char zero = 0;</span>
       
   226 <a name="l00205"></a>00205 <span class="comment">//              if(MasterMap4 &gt; 0x80){</span>
       
   227 <a name="l00206"></a>00206 <span class="comment">//                      writeNetworkDict (</span>
       
   228 <a name="l00207"></a>00207 <span class="comment">//                              &amp;TestMaster_Data,</span>
       
   229 <a name="l00208"></a>00208 <span class="comment">//                              TestSlave_Data-&gt;bDeviceNodeId,</span>
       
   230 <a name="l00209"></a>00209 <span class="comment">//                              0x2002,</span>
       
   231 <a name="l00210"></a>00210 <span class="comment">//                              0x00,</span>
       
   232 <a name="l00211"></a>00211 <span class="comment">//                              1,</span>
       
   233 <a name="l00212"></a>00212 <span class="comment">//                              0,</span>
       
   234 <a name="l00213"></a>00213 <span class="comment">//                              &amp;zero); </span>
       
   235 <a name="l00214"></a>00214 <span class="comment">//              }</span>
       
   236 <a name="l00215"></a>00215 <span class="comment">//      }</span>
       
   237 <a name="l00216"></a>00216 
       
   238 <a name="l00217"></a>00217 <span class="preprocessor">#if 0</span>
       
   239 <a name="l00218"></a>00218 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(waiting_answer){
       
   240 <a name="l00219"></a>00219                 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode;                        
       
   241 <a name="l00220"></a>00220                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> size;                      
       
   242 <a name="l00221"></a>00221                 <span class="keywordflow">switch</span>(<a class="code" href="sdo_8c.html#bec7a9f46a1ddda9fed0c0e7c61558fc">getReadResultNetworkDict</a> (
       
   243 <a name="l00222"></a>00222                         &amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, 
       
   244 <a name="l00223"></a>00223                         0x02,
       
   245 <a name="l00224"></a>00224                         &amp;query_result,
       
   246 <a name="l00225"></a>00225                         &amp;size,
       
   247 <a name="l00226"></a>00226                         &amp;abortCode))
       
   248 <a name="l00227"></a>00227                 {
       
   249 <a name="l00228"></a>00228                         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#12966f6991bcd2a375fafc8c7c877c04">SDO_FINISHED</a>:
       
   250 <a name="l00229"></a>00229                                 <span class="comment">/* Do something with result here !!*/</span>
       
   251 <a name="l00230"></a>00230                                 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Got SDO answer (0x2002, 0x00), %d %d\n"</span>,query_result,size);
       
   252 <a name="l00231"></a>00231                         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#185bf68fd654c50451e246b8f58a5a38">SDO_ABORTED_RCV</a>:
       
   253 <a name="l00232"></a>00232                         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#207c051b8c5c41a149125561e9a92082">SDO_ABORTED_INTERNAL</a>:
       
   254 <a name="l00233"></a>00233                         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#aece677f733955fd74245baa5ff4d225">SDO_RESET</a>:
       
   255 <a name="l00234"></a>00234                                 waiting_answer = 0;
       
   256 <a name="l00235"></a>00235                                 <a class="code" href="sdo_8c.html#df77b984822a5cec9782ebd6bc64e700">closeSDOtransfer</a>(
       
   257 <a name="l00236"></a>00236                                         &amp;TestMaster_Data,
       
   258 <a name="l00237"></a>00237                                         0x02,
       
   259 <a name="l00238"></a>00238                                         <a class="code" href="def_8h.html#9643ba6f5821c05629c3d60f1f911e88">SDO_CLIENT</a>);
       
   260 <a name="l00239"></a>00239                         <span class="keywordflow">break</span>;
       
   261 <a name="l00240"></a>00240                         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#727a4e64152bd92dd68ae820cb9362c4">SDO_DOWNLOAD_IN_PROGRESS</a>:
       
   262 <a name="l00241"></a>00241                         <span class="keywordflow">case</span> <a class="code" href="def_8h.html#2b7ba4e769b81e1ec7ca14f011ab908f">SDO_UPLOAD_IN_PROGRESS</a>:
       
   263 <a name="l00242"></a>00242                         <span class="keywordflow">break</span>;
       
   264 <a name="l00243"></a>00243                 }
       
   265 <a name="l00244"></a>00244         }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(MasterSyncCount % 10 == 0){
       
   266 <a name="l00245"></a>00245                 <a class="code" href="sdo_8c.html#dbc2fd49f1f126684922973871e337aa">readNetworkDict</a> (
       
   267 <a name="l00246"></a>00246                         &amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>,
       
   268 <a name="l00247"></a>00247                         0x02,
       
   269 <a name="l00248"></a>00248                         0x2002,
       
   270 <a name="l00249"></a>00249                         0x00,
       
   271 <a name="l00250"></a>00250                         0);
       
   272 <a name="l00251"></a>00251                 waiting_answer = 1;
       
   273 <a name="l00252"></a>00252         }
       
   274 <a name="l00253"></a>00253 <span class="preprocessor">#endif  </span>
       
   275 <a name="l00254"></a>00254 <span class="preprocessor"></span>        <span class="keywordflow">if</span>(MasterSyncCount % 17 == 0){
       
   276 <a name="l00255"></a>00255                 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : Ask RTR PDO (0x1402)\n"</span>);
       
   277 <a name="l00256"></a>00256                 <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, 0x1402 );
       
   278 <a name="l00257"></a>00257                 <a class="code" href="pdo_8c.html#2a4d6e86bc4447a3c45c9b96bd61f995">sendPDOrequest</a>(&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, 0x1403 );
       
   279 <a name="l00258"></a>00258         }
       
   280 <a name="l00259"></a>00259         <span class="keywordflow">if</span>(MasterSyncCount % 50 == 0){
       
   281 <a name="l00260"></a>00260                 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : Change slave's transmit type to 0xFF\n"</span>);
       
   282 <a name="l00261"></a>00261                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> transmitiontype = 0xFF;
       
   283 <a name="l00262"></a>00262                 <a class="code" href="sdo_8c.html#f0491ff0ed4a472e54de7f24c4e8457a">writeNetworkDictCallBack</a> (&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
       
   284 <a name="l00263"></a>00263                                         2, <span class="comment">/*UNS8 nodeId*/</span>
       
   285 <a name="l00264"></a>00264                                         0x1802, <span class="comment">/*UNS16 index*/</span>
       
   286 <a name="l00265"></a>00265                                         0x02, <span class="comment">/*UNS16 index*/</span>
       
   287 <a name="l00266"></a>00266                                         1, <span class="comment">/*UNS8 count*/</span>
       
   288 <a name="l00267"></a>00267                                         0, <span class="comment">/*UNS8 dataType*/</span>
       
   289 <a name="l00268"></a>00268                                         &amp;transmitiontype,<span class="comment">/*void *data*/</span>
       
   290 <a name="l00269"></a>00269                                         CheckSDO); <span class="comment">/*SDOCallback_t Callback*/</span>
       
   291 <a name="l00270"></a>00270         }
       
   292 <a name="l00271"></a>00271         <span class="keywordflow">if</span>(MasterSyncCount % 50 == 25){
       
   293 <a name="l00272"></a>00272                 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Master : Change slave's transmit type to 0x00\n"</span>);
       
   294 <a name="l00273"></a>00273                 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> transmitiontype = 0x00;
       
   295 <a name="l00274"></a>00274                 <a class="code" href="sdo_8c.html#f0491ff0ed4a472e54de7f24c4e8457a">writeNetworkDictCallBack</a> (&amp;<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
       
   296 <a name="l00275"></a>00275                                         2, <span class="comment">/*UNS8 nodeId*/</span>
       
   297 <a name="l00276"></a>00276                                         0x1802, <span class="comment">/*UNS16 index*/</span>
       
   298 <a name="l00277"></a>00277                                         0x02, <span class="comment">/*UNS16 index*/</span>
       
   299 <a name="l00278"></a>00278                                         1, <span class="comment">/*UNS8 count*/</span>
       
   300 <a name="l00279"></a>00279                                         0, <span class="comment">/*UNS8 dataType*/</span>
       
   301 <a name="l00280"></a>00280                                         &amp;transmitiontype,<span class="comment">/*void *data*/</span>
       
   302 <a name="l00281"></a>00281                                         CheckSDO); <span class="comment">/*SDOCallback_t Callback*/</span>
       
   303 <a name="l00282"></a>00282         }
       
   304 <a name="l00283"></a>00283         MasterSyncCount++;
       
   305 <a name="l00284"></a>00284 }
       
   306 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by&nbsp;
       
   307 <a href="http://www.doxygen.org/index.html">
       
   308 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
       
   309 </body>
       
   310 </html>