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1 /* |
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2 Copyright (C): Giuseppe Massimo BERTANI |
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3 gmbertani@users.sourceforge.net |
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4 |
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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 /** |
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24 * @file slave.c |
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25 * @author GMB |
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26 * @date 17/1/08 |
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27 * |
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28 * This file is part of SillySlave demo for CANfestival |
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29 * open source CANopen stack. |
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30 */ |
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31 |
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32 #include "SillySlave.h" |
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33 #include "slave.h" |
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34 #include "main.h" |
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35 |
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36 |
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37 static UNS8 slaveNode = 0; |
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38 |
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39 void InitNode(CO_Data* d, UNS32 id) |
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40 { |
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41 /* Defining the node Id */ |
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42 setNodeId(&SillySlave_Data, slaveNode); |
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43 /* CAN init */ |
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44 setState(&SillySlave_Data, Initialisation); |
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45 } |
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46 |
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47 INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node ) |
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48 { |
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49 char busName[2]; |
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50 char baudRate[7]; |
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51 s_BOARD board; |
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52 |
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53 sprintf(busName, "%u", bus); |
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54 sprintf(baudRate, "%u", baudrate); |
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55 board.busname = busName; |
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56 board.baudrate = baudRate; |
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57 |
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58 slaveNode = node; |
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59 |
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60 SillySlave_Data.heartbeatError = SillySlave_heartbeatError; |
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61 SillySlave_Data.initialisation = SillySlave_initialisation; |
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62 SillySlave_Data.preOperational = SillySlave_preOperational; |
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63 SillySlave_Data.operational = SillySlave_operational; |
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64 SillySlave_Data.stopped = SillySlave_stopped; |
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65 SillySlave_Data.post_sync = SillySlave_post_sync; |
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66 SillySlave_Data.post_TPDO = SillySlave_post_TPDO; |
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67 SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex; |
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68 SillySlave_Data.post_emcy = SillySlave_post_emcy; |
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69 |
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70 if(!canOpen(&board, &SillySlave_Data)) |
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71 { |
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72 printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate); |
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73 return -1; |
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74 } |
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75 |
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76 |
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77 printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n"); |
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78 |
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79 /* Start timer thread */ |
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80 StartTimerLoop(&InitNode); |
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81 |
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82 /* wait Ctrl-C */ |
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83 pause(); |
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84 printf("\nFinishing.\n"); |
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85 |
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86 /* Stop slave */ |
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87 setState(&SillySlave_Data, Stopped); |
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88 |
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89 /* Stop timer thread */ |
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90 StopTimerLoop(); |
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91 return 0; |
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92 } |
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93 |
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94 void SillySlave_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
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95 { |
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96 printf("SillySlave_heartbeatError %d\n", heartbeatID); |
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97 } |
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98 |
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99 void SillySlave_initialisation(CO_Data* d ) |
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100 { |
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101 UNS32 PDO1_COBID = 0x0180 + NODE_MASTER; |
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102 UNS8 size = sizeof(PDO1_COBID); |
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103 |
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104 printf("SillySlave_initialisation\n"); |
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105 |
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106 /* sets TXPDO1 COB-ID to match master node ID */ |
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107 writeLocalDict( |
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108 &SillySlave_Data, /*CO_Data* d*/ |
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109 0x1800, /*UNS16 index*/ |
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110 0x01, /*UNS8 subind*/ |
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111 &PDO1_COBID, /*void * pSourceData,*/ |
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112 &size, /* UNS8 * pExpectedSize*/ |
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113 RW); /* UNS8 checkAccess */ |
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114 |
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115 /* value sent to master at each SYNC received */ |
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116 LifeSignal = 0; |
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117 } |
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118 |
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119 void SillySlave_preOperational(CO_Data* d) |
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120 { |
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121 printf("SillySlave_preOperational\n"); |
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122 } |
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123 |
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124 void SillySlave_operational(CO_Data* d) |
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125 { |
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126 printf("SillySlave_operational\n"); |
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127 } |
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128 |
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129 void SillySlave_stopped(CO_Data* d) |
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130 { |
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131 printf("SillySlave_stopped\n"); |
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132 } |
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133 |
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134 void SillySlave_post_sync(CO_Data* d) |
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135 { |
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136 printf("SillySlave_post_sync: \n"); |
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137 LifeSignal++; |
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138 } |
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139 |
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140 void SillySlave_post_TPDO(CO_Data* d) |
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141 { |
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142 printf("SillySlave_post_TPDO: \n"); |
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143 printf("LifeSignal = %u\n", LifeSignal); |
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144 } |
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145 |
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146 void SillySlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex) |
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147 { |
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148 /*TODO : |
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149 * - call getODEntry for index and subindex, |
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150 * - save content to file, database, flash, nvram, ... |
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151 * |
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152 * To ease flash organisation, index of variable to store |
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153 * can be established by scanning d->objdict[d->ObjdictSize] |
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154 * for variables to store. |
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155 * |
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156 * */ |
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157 printf("SillySlave_storeODSubIndex : %4.4x %2.2xh\n", wIndex, bSubindex); |
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158 } |
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159 |
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160 void SillySlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
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161 { |
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162 printf("Slave received EMCY message. Node: %2.2xh ErrorCode: %4.4x ErrorRegister: %2.2xh\n", nodeID, errCode, errReg); |
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163 } |
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164 |