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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 "Master.h" |
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24 #include "Slave.h" |
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25 #include "TestMasterSlave.h" |
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26 #include "can_driver.h" |
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27 |
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28 extern s_BOARD MasterBoard; |
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29 /*****************************************************************************/ |
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30 void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
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31 { |
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32 eprintf("TestMaster_heartbeatError %d\n", heartbeatID); |
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33 } |
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34 |
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35 /******************************************************** |
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36 * ConfigureSlaveNode is responsible to |
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37 * - setup master RPDO 1 to receive TPDO 1 from id 2 |
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38 * - setup master RPDO 2 to receive TPDO 2 from id 2 |
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39 ********************************************************/ |
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40 void TestMaster_initialisation(CO_Data* d) |
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41 { |
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42 UNS32 PDO1_COBID = 0x0182; |
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43 UNS32 PDO2_COBID = 0x0282; |
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44 UNS8 size = sizeof(UNS32); |
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45 // UNS32 SINC_cicle=0; |
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46 // UNS8 data_type = 0; |
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47 |
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48 eprintf("TestMaster_initialisation\n"); |
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49 |
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50 /***************************************** |
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51 * Define RPDOs to match slave ID=2 TPDOs* |
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52 *****************************************/ |
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53 writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |
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54 0x1400, /*UNS16 index*/ |
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55 0x01, /*UNS8 subind*/ |
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56 &PDO1_COBID, /*void * pSourceData,*/ |
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57 &size, /* UNS8 * pExpectedSize*/ |
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58 RW); /* UNS8 checkAccess */ |
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59 |
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60 writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |
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61 0x1401, /*UNS16 index*/ |
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62 0x01, /*UNS8 subind*/ |
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63 &PDO2_COBID, /*void * pSourceData,*/ |
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64 &size, /* UNS8 * pExpectedSize*/ |
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65 RW); /* UNS8 checkAccess */ |
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66 |
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67 } |
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68 |
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69 // Step counts number of times ConfigureSlaveNode is called |
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70 static int init_step = 0; |
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71 |
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72 /*Froward declaration*/ |
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73 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId); |
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74 |
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75 /**/ |
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76 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
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77 { |
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78 UNS32 abortCode; |
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79 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) |
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80 eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode); |
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81 |
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82 /* Finalise last SDO transfer with this node */ |
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83 closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); |
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84 |
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85 ConfigureSlaveNode(d, nodeId); |
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86 } |
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87 |
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88 /******************************************************** |
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89 * ConfigureSlaveNode is responsible to |
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90 * - setup slave TPDO 1 transmit type |
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91 * - setup slave TPDO 2 transmit type |
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92 * - switch to operational mode |
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93 * - send NMT to slave |
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94 ******************************************************** |
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95 * This an example of : |
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96 * Network Dictionary Access (SDO) with Callback |
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97 * Slave node state change request (NMT) |
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98 ******************************************************** |
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99 * This is called first by TestMaster_post_SlaveBootup |
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100 * then it called again each time a SDO exchange is |
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101 * finished. |
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102 ********************************************************/ |
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103 |
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104 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId) |
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105 { |
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106 /* Master configure heartbeat producer time at 1000 ms |
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107 * for slave node-id 0x02 by DCF concise */ |
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108 |
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109 UNS8 Transmission_Type = 0x01; |
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110 // UNS32 abortCode; |
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111 UNS8 res; |
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112 eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId); |
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113 |
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114 switch(++init_step){ |
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115 case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/ |
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116 eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId); |
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117 res = writeNetworkDictCallBack (d, /*CO_Data* d*/ |
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118 nodeId, /*UNS8 nodeId*/ |
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119 0x1800, /*UNS16 index*/ |
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120 0x02, /*UNS8 subindex*/ |
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121 1, /*UNS8 count*/ |
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122 0, /*UNS8 dataType*/ |
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123 &Transmission_Type,/*void *data*/ |
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124 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
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125 break; |
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126 |
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127 case 2: /*Second step*/ |
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128 eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId); |
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129 writeNetworkDictCallBack (d, /*CO_Data* d*/ |
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130 nodeId, /*UNS8 nodeId*/ |
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131 0x1801, /*UNS16 index*/ |
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132 0x02, /*UNS16 index*/ |
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133 1, /*UNS8 count*/ |
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134 0, /*UNS8 dataType*/ |
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135 &Transmission_Type,/*void *data*/ |
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136 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
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137 break; |
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138 case 3: |
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139 |
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140 /****************************** START *******************************/ |
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141 |
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142 /* Put the master in operational mode */ |
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143 setState(d, Operational); |
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144 |
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145 /* Ask slave node to go in operational mode */ |
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146 masterSendNMTstateChange (d, nodeId, NMT_Start_Node); |
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147 |
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148 } |
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149 } |
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150 |
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151 |
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152 void TestMaster_preOperational(CO_Data* d) |
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153 { |
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154 eprintf("TestMaster_preOperational\n"); |
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155 } |
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156 |
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157 void TestMaster_operational(CO_Data* d) |
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158 { |
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159 eprintf("TestMaster_operational\n"); |
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160 } |
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161 |
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162 void TestMaster_stopped(CO_Data* d) |
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163 { |
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164 eprintf("TestMaster_stopped\n"); |
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165 } |
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166 |
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167 void TestMaster_post_sync(CO_Data* d) |
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168 { |
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169 eprintf("TestMaster_post_sync\n"); |
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170 eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n", |
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171 MasterMap1, |
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172 MasterMap2, |
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173 MasterMap3, |
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174 MasterMap4, |
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175 MasterMap5, |
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176 MasterMap6, |
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177 MasterMap7, |
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178 MasterMap8, |
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179 MasterMap9, |
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180 MasterMap10, |
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181 MasterMap11, |
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182 MasterMap12, |
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183 MasterMap13); |
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184 } |
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185 |
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186 void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
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187 { |
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188 eprintf("Master received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); |
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189 } |
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190 |
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191 char query_result = 0; |
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192 char waiting_answer = 0; |
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193 |
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194 static void CheckSDO(CO_Data* d, UNS8 nodeId) |
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195 { |
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196 UNS32 abortCode; |
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197 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) |
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198 eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode); |
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199 |
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200 /* Finalise last SDO transfer with this node */ |
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201 closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); |
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202 } |
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203 |
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204 |
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205 static int MasterSyncCount = 0; |
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206 void TestMaster_post_TPDO(CO_Data* d) |
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207 { |
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208 eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount); |
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209 // |
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210 // { |
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211 // char zero = 0; |
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212 // if(MasterMap4 > 0x80){ |
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213 // writeNetworkDict ( |
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214 // &TestMaster_Data, |
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215 // TestSlave_Data->bDeviceNodeId, |
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216 // 0x2002, |
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217 // 0x00, |
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218 // 1, |
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219 // 0, |
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220 // &zero); |
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221 // } |
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222 // } |
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223 |
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224 #if 0 |
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225 if(waiting_answer){ |
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226 UNS32 abortCode; |
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227 UNS8 size; |
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228 switch(getReadResultNetworkDict ( |
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229 &TestMaster_Data, |
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230 0x02, |
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231 &query_result, |
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232 &size, |
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233 &abortCode)) |
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234 { |
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235 case SDO_FINISHED: |
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236 /* Do something with result here !!*/ |
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237 eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size); |
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238 case SDO_ABORTED_RCV: |
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239 case SDO_ABORTED_INTERNAL: |
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240 case SDO_RESET: |
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241 waiting_answer = 0; |
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242 closeSDOtransfer( |
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243 &TestMaster_Data, |
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244 0x02, |
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245 SDO_CLIENT); |
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246 break; |
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247 case SDO_DOWNLOAD_IN_PROGRESS: |
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248 case SDO_UPLOAD_IN_PROGRESS: |
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249 break; |
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250 } |
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251 }else if(MasterSyncCount % 10 == 0){ |
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252 readNetworkDict ( |
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253 &TestMaster_Data, |
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254 0x02, |
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255 0x2002, |
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256 0x00, |
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257 0); |
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258 waiting_answer = 1; |
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259 } |
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260 #endif |
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261 if(MasterSyncCount % 17 == 0){ |
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262 eprintf("Master : Ask RTR PDO (0x1402)\n"); |
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263 sendPDOrequest(&TestMaster_Data, 0x1402 ); |
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264 sendPDOrequest(&TestMaster_Data, 0x1403 ); |
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265 } |
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266 if(MasterSyncCount % 50 == 0){ |
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267 eprintf("Master : Change slave's transmit type to 0xFF\n"); |
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268 UNS8 transmitiontype = 0xFF; |
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269 writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
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270 2, /*UNS8 nodeId*/ |
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271 0x1802, /*UNS16 index*/ |
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272 0x02, /*UNS16 index*/ |
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273 1, /*UNS8 count*/ |
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274 0, /*UNS8 dataType*/ |
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275 &transmitiontype,/*void *data*/ |
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276 CheckSDO); /*SDOCallback_t Callback*/ |
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277 } |
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278 if(MasterSyncCount % 50 == 25){ |
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279 eprintf("Master : Change slave's transmit type to 0x00\n"); |
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280 UNS8 transmitiontype = 0x00; |
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281 writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
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282 2, /*UNS8 nodeId*/ |
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283 0x1802, /*UNS16 index*/ |
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284 0x02, /*UNS16 index*/ |
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285 1, /*UNS8 count*/ |
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286 0, /*UNS8 dataType*/ |
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287 &transmitiontype,/*void *data*/ |
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288 CheckSDO); /*SDOCallback_t Callback*/ |
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289 } |
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290 MasterSyncCount++; |
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291 } |
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292 |
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293 void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid) |
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294 { |
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295 eprintf("TestMaster_post_SlaveBootup %x\n", nodeid); |
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296 |
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297 ConfigureSlaveNode(d, nodeid); |
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298 } |