equal
deleted
inserted
replaced
84 |
84 |
85 void TestSlave_post_TPDO() |
85 void TestSlave_post_TPDO() |
86 { |
86 { |
87 SlaveMap13 += 1; |
87 SlaveMap13 += 1; |
88 eprintf("TestSlave_post_TPDO\n"); |
88 eprintf("TestSlave_post_TPDO\n"); |
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89 |
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90 /* send an error and recover inmediately every 12 cycles */ |
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91 if(SlaveMap13 % 12 == 0) |
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92 { |
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93 EMCY_setError(&TestSlave_Data, 0x4200, 0x08); |
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94 EMCY_errorRecovered(&TestSlave_Data, 0x4200); |
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95 } |
89 } |
96 } |
90 |
97 |
91 void TestSlave_storeODSubIndex(UNS16 wIndex, UNS8 bSubindex) |
98 void TestSlave_storeODSubIndex(UNS16 wIndex, UNS8 bSubindex) |
92 { |
99 { |
93 /*TODO : |
100 /*TODO : |
99 * for variables to store. |
106 * for variables to store. |
100 * |
107 * |
101 * */ |
108 * */ |
102 eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex, bSubindex); |
109 eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex, bSubindex); |
103 } |
110 } |
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111 |
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112 void TestSlave_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
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113 { |
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114 eprintf("Slave received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); |
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115 } |