|
1 /* |
|
2 This file is part of CanFestival, a library implementing CanOpen Stack. |
|
3 |
|
4 Copyright (C): Edouard TISSERANT and Francis DUPIN |
|
5 |
|
6 See COPYING file for copyrights details. |
|
7 |
|
8 This library is free software; you can redistribute it and/or |
|
9 modify it under the terms of the GNU Lesser General Public |
|
10 License as published by the Free Software Foundation; either |
|
11 version 2.1 of the License, or (at your option) any later version. |
|
12 |
|
13 This library is distributed in the hope that it will be useful, |
|
14 but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
16 Lesser General Public License for more details. |
|
17 |
|
18 You should have received a copy of the GNU Lesser General Public |
|
19 License along with this library; if not, write to the Free Software |
|
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
|
21 */ |
|
22 |
|
23 #include <stdio.h> |
|
24 #include <string.h> |
|
25 #include <sys/time.h> |
|
26 #include <unistd.h> |
|
27 #include <stdlib.h> |
|
28 #include <signal.h> |
|
29 |
|
30 #include <applicfg.h> |
|
31 #include <can_driver.h> |
|
32 #include <timers_driver.h> |
|
33 |
|
34 #include "Master.h" |
|
35 #include "Slave.h" |
|
36 #include "TestMasterSlave.h" |
|
37 |
|
38 #define MyCase(fc) case fc: eprintf(#fc);break; |
|
39 void print_message(Message *m) |
|
40 { |
|
41 int i; |
|
42 switch(m->cob_id.w >> 7) |
|
43 { |
|
44 MyCase(SYNC) |
|
45 MyCase(TIME_STAMP) |
|
46 MyCase(PDO1tx) |
|
47 MyCase(PDO1rx) |
|
48 MyCase(PDO2tx) |
|
49 MyCase(PDO2rx) |
|
50 MyCase(PDO3tx) |
|
51 MyCase(PDO3rx) |
|
52 MyCase(PDO4tx) |
|
53 MyCase(PDO4rx) |
|
54 MyCase(SDOtx) |
|
55 MyCase(SDOrx) |
|
56 MyCase(NODE_GUARD) |
|
57 MyCase(NMT) |
|
58 } |
|
59 eprintf(" rtr:%d", m->rtr); |
|
60 eprintf(" len:%d", m->len); |
|
61 for (i = 0 ; i < m->len ; i++) |
|
62 eprintf(" %02x", m->data[i]); |
|
63 eprintf("\n"); |
|
64 } |
|
65 |
|
66 UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
|
67 { |
|
68 eprintf("OnSlaveMap1Update:%d\n", SlaveMap1); |
|
69 } |
|
70 |
|
71 |
|
72 |
|
73 void InitNodes(CO_Data* d, UNS32 id) |
|
74 { |
|
75 // TestSlave_Index2000_callbacks[0] = &OnMasterMap1Update; |
|
76 RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update); |
|
77 |
|
78 /****************************** INITIALISATION MASTER *******************************/ |
|
79 /* Defining the node Id */ |
|
80 setNodeId(&TestMaster_Data, 0x01); |
|
81 |
|
82 /* init */ |
|
83 setState(&TestMaster_Data, Initialisation); |
|
84 |
|
85 /****************************** INITIALISATION SLAVE *******************************/ |
|
86 /* Defining the node Id */ |
|
87 setNodeId(&TestSlave_Data, 0x02); |
|
88 |
|
89 /* init */ |
|
90 setState(&TestSlave_Data, Initialisation); |
|
91 |
|
92 /****************************** START *******************************/ |
|
93 /* Put the master in operational mode */ |
|
94 setState(&TestMaster_Data, Operational); |
|
95 |
|
96 masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node); |
|
97 |
|
98 } |
|
99 |
|
100 CAN_HANDLE SlaveCanHandle; |
|
101 CAN_HANDLE MasterCanHandle; |
|
102 |
|
103 // Baudrate values for Peak board : |
|
104 // CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K |
|
105 // CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K |
|
106 |
|
107 #ifdef CAN_BAUD_500K |
|
108 // Appli have been compiled for Peak. Baudrate is defined |
|
109 # define BAUDRATE CAN_BAUD_500K |
|
110 #else |
|
111 // Appli have been compiled for Generic. Baudrate not used |
|
112 # define BAUDRATE 0 |
|
113 #endif |
|
114 |
|
115 void catch_signal(int sig) |
|
116 { |
|
117 signal(SIGTERM, catch_signal); |
|
118 signal(SIGINT, catch_signal); |
|
119 stopTimer(); |
|
120 eprintf("Got Sigterm - Finishing.\n"); |
|
121 } |
|
122 |
|
123 |
|
124 void help() |
|
125 { |
|
126 printf("**************************************************************\n"); |
|
127 printf("* TestMasterSlave *\n"); |
|
128 printf("* *\n"); |
|
129 printf("* A simple example for PC. It does implement 2 CanOpen *\n"); |
|
130 printf("* nodes in the same process. A master and a slave. Both *\n"); |
|
131 printf("* communicate together, exchanging periodically NMT, SYNC, *\n"); |
|
132 printf("* SDO and PDO. *\n"); |
|
133 printf("* *\n"); |
|
134 printf("* If you have chosen virtual CAN driver, just type *\n"); |
|
135 printf("* ./TestMasterSlave *\n"); |
|
136 printf("* *\n"); |
|
137 printf("* Else you need to sepcify bus: *\n"); |
|
138 printf("* *\n"); |
|
139 printf("* -s : slave CAN bus [default 0, peak first PCI] *\n"); |
|
140 printf("* -m : master CAN bus [default 1, peak second PCI] *\n"); |
|
141 printf("* *\n"); |
|
142 printf("**************************************************************\n"); |
|
143 } |
|
144 |
|
145 /****************************************************************************/ |
|
146 /*************************** MAIN *****************************************/ |
|
147 /****************************************************************************/ |
|
148 int main(int argc,char **argv) |
|
149 { |
|
150 s_BOARD SlaveBoard = {"0", BAUDRATE, &TestSlave_Data}; |
|
151 s_BOARD MasterBoard = {"1", BAUDRATE, &TestMaster_Data}; |
|
152 |
|
153 |
|
154 char c; |
|
155 extern char *optarg; |
|
156 |
|
157 while ((c = getopt(argc, argv, "-m:s:")) != EOF) |
|
158 { |
|
159 switch(c) |
|
160 { |
|
161 case 's' : |
|
162 if (optarg[0] == 0) |
|
163 { |
|
164 help(); |
|
165 exit(1); |
|
166 } |
|
167 SlaveBoard.busname = optarg; |
|
168 break; |
|
169 case 'm' : |
|
170 if (optarg[0] == 0) |
|
171 { |
|
172 help(); |
|
173 exit(1); |
|
174 } |
|
175 MasterBoard.busname = optarg; |
|
176 break; |
|
177 default: |
|
178 help(); |
|
179 exit(1); |
|
180 } |
|
181 } |
|
182 |
|
183 /* install signal handler for manual break */ |
|
184 signal(SIGTERM, catch_signal); |
|
185 signal(SIGINT, catch_signal); |
|
186 |
|
187 // Open CAN devices |
|
188 SlaveCanHandle = canOpen(&SlaveBoard); |
|
189 MasterCanHandle = canOpen(&MasterBoard); |
|
190 |
|
191 // Will call InitNodes, and wait and handle next timer events. |
|
192 TimerLoop(&InitNodes); |
|
193 |
|
194 // Close CAN devices |
|
195 canClose(SlaveCanHandle); |
|
196 canClose(MasterCanHandle); |
|
197 |
|
198 |
|
199 return 0; |
|
200 } |