1 #include "canfestival.h"

     2 

     3 #include "Master.h"

     4 #include "Slave.h"

     5 #include "TestMasterSlave.h"

     6 

     7 

     8 static UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)

     9 {

    10 	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);

    11 	return 0;

    12 }

    13 

    14 s_BOARD SlaveBoard = {"0", "125K"};

    15 s_BOARD MasterBoard = {"1", "125K"};

    16 

    17 /***************************  INIT  *****************************************/

    18 static void InitNodes(CO_Data* d, UNS32 id)

    19 {

    20 	/****************************** INITIALISATION SLAVE *******************************/

    21 	if(strcmp(SlaveBoard.baudrate, "none")) {

    22 		setNodeId(&TestSlave_Data, 0x02);

    23 

    24 		setState(&TestSlave_Data, Initialisation);

    25 	}

    26 

    27 	/****************************** INITIALISATION MASTER *******************************/

    28 	if(strcmp(MasterBoard.baudrate, "none")){

    29  		RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);

    30 		

    31 		// Defining the node Id

    32 		setNodeId(&TestMaster_Data, 0x01);

    33 

    34 		setState(&TestMaster_Data, Initialisation);

    35 	}

    36 }

    37 

    38 int TestMasterSlave_start (void)

    39 {

    40 	if(strcmp(SlaveBoard.baudrate, "none")){

    41 		

    42 		TestSlave_Data.heartbeatError = TestSlave_heartbeatError;

    43 		TestSlave_Data.initialisation = TestSlave_initialisation;

    44 		TestSlave_Data.preOperational = TestSlave_preOperational;

    45 		TestSlave_Data.operational = TestSlave_operational;

    46 		TestSlave_Data.stopped = TestSlave_stopped;

    47 		TestSlave_Data.post_sync = TestSlave_post_sync;

    48 		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;

    49 		TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;

    50 		TestSlave_Data.post_emcy = TestSlave_post_emcy;

    51 

    52 		if(!canOpen(&SlaveBoard,&TestSlave_Data)){

    53 			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);

    54 			return 1;

    55 		}

    56 	}

    57 	if(strcmp(MasterBoard.baudrate, "none")){

    58 		

    59 		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;

    60 		TestMaster_Data.initialisation = TestMaster_initialisation;

    61 		TestMaster_Data.preOperational = TestMaster_preOperational;

    62 		TestMaster_Data.operational = TestMaster_operational;

    63 		TestMaster_Data.stopped = TestMaster_stopped;

    64 		TestMaster_Data.post_sync = TestMaster_post_sync;

    65 		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;

    66 		TestMaster_Data.post_emcy = TestMaster_post_emcy;

    67 		TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;

    68 		

    69 		if(!canOpen(&MasterBoard,&TestMaster_Data)){

    70 			eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);

    71 			if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);

    72 			return 1;

    73 		}

    74 	}

    75 

    76 	// Start timer thread

    77 	StartTimerLoop(&InitNodes);

    78 

    79 	return 0;

    80 }

    81 

    82 void TestMasterSlave_stop (void)

    83 {

    84 	eprintf("Finishing.\n");

    85 	

    86 	EnterMutex();

    87 	masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);

    88 	LeaveMutex();

    89 	

    90 	// Stop master

    91 	EnterMutex();

    92 	setState(&TestMaster_Data, Stopped);

    93 	LeaveMutex();

    94 	

    95 	// Stop timer thread

    96 	StopTimerLoop();

    97 	

    98 	// Close CAN devices (and can threads)

    99 	if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);

   100 	if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);

   101 

   102 	eprintf("End.\n");

   103 }