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34 //#include <unistd.h> |
34 //#include <unistd.h> |
35 #include <stdlib.h> |
35 #include <stdlib.h> |
36 #include <signal.h> |
36 #include <signal.h> |
37 #endif |
37 #endif |
38 |
38 |
39 #include <applicfg.h> |
39 #include "canfestival.h" |
40 #include <can_driver.h> |
40 //#include <can_driver.h> |
41 #include <timers_driver.h> |
41 //#include <timers_driver.h> |
42 |
42 |
43 #include "Master.h" |
43 #include "Master.h" |
44 #include "Slave.h" |
44 #include "Slave.h" |
45 #include "TestMasterSlave.h" |
45 #include "TestMasterSlave.h" |
46 |
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47 #define MyCase(fc) case fc: eprintf(#fc);break; |
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48 void print_message(Message *m) |
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49 { |
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50 int i; |
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51 switch(m->cob_id.w >> 7) |
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52 { |
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53 MyCase(SYNC) |
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54 MyCase(TIME_STAMP) |
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55 MyCase(PDO1tx) |
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56 MyCase(PDO1rx) |
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57 MyCase(PDO2tx) |
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58 MyCase(PDO2rx) |
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59 MyCase(PDO3tx) |
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60 MyCase(PDO3rx) |
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61 MyCase(PDO4tx) |
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62 MyCase(PDO4rx) |
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63 MyCase(SDOtx) |
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64 MyCase(SDOrx) |
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65 MyCase(NODE_GUARD) |
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66 MyCase(NMT) |
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67 } |
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68 eprintf(" rtr:%d", m->rtr); |
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69 eprintf(" len:%d", m->len); |
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70 for (i = 0 ; i < m->len ; i++) |
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71 eprintf(" %02x", m->data[i]); |
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72 eprintf("\n"); |
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73 } |
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74 |
46 |
75 UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
47 UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex) |
76 { |
48 { |
77 eprintf("OnSlaveMap1Update:%d\n", SlaveMap1); |
49 eprintf("OnSlaveMap1Update:%d\n", SlaveMap1); |
78 return 0; |
50 return 0; |