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47 #include "../include/timer.h" |
47 #include "../include/timer.h" |
48 #include "../include/lifegrd.h" |
48 #include "../include/lifegrd.h" |
49 #include "../include/sync.h" |
49 #include "../include/sync.h" |
50 |
50 |
51 #include "../include/nmtSlave.h" |
51 #include "../include/nmtSlave.h" |
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52 |
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53 // File created by the GUI |
52 #include "objdict.h" |
54 #include "objdict.h" |
53 |
55 |
54 // Variables defined in the object dictionary (See objdict.c) |
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55 extern UNS16 acceptanceFilter1; // Mapped at index 0x2015, subindex 0x00 |
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56 extern UNS16 acceptanceFilter2; // Mapped at index 0x2016, subindex 0x00 |
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57 extern UNS16 acceptanceFilter3; // Mapped at index 0x2017, subindex 0x00 |
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58 extern UNS16 acceptanceFilter4; // Mapped at index 0x2018, subindex 0x00 |
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59 extern UNS16 mask1; // Mapped at index 0x2019, subindex 0x00 |
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60 extern UNS16 mask2; // Mapped at index 0x2020, subindex 0x00 |
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61 extern UNS16 mask3; // Mapped at index 0x2021, subindex 0x00 |
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62 extern UNS16 mask4; // Mapped at index 0x2022, subindex 0x00 |
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63 extern UNS8 applyDownloadedFilters; |
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64 |
56 |
65 |
57 |
66 |
58 |
67 |
59 |
68 // HCS12 configuration |
60 // HCS12 configuration |
148 void initCanopencapteur (void); |
140 void initCanopencapteur (void); |
149 // Init the sensor |
141 // Init the sensor |
150 void initSensor(void); |
142 void initSensor(void); |
151 void initPortB(void); |
143 void initPortB(void); |
152 void initPortH(void); |
144 void initPortH(void); |
153 |
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154 // Functions needed by Canfestival |
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155 // Notice that gene_SYNC is the name of the sensor defined in python GUI. |
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156 // Do not change it !. |
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157 void gene_SYNC_initialisation(void); |
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158 void gene_SYNC_preOperational(void); |
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159 void gene_SYNC_operational(void); |
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160 void gene_SYNC_stopped(void); |
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161 void gene_SYNC_post_sync(void); |
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162 |
145 |
163 |
146 |
164 //------------------------------------------------------------------------------ |
147 //------------------------------------------------------------------------------ |
165 //Initialisation of the port B for the leds. |
148 //Initialisation of the port B for the leds. |
166 void initPortB(void) |
149 void initPortB(void) |
286 } |
269 } |
287 |
270 |
288 //------------------------------------------------------------------------------ |
271 //------------------------------------------------------------------------------ |
289 void gene_SYNC_SDOtimeoutError (UNS8 line) |
272 void gene_SYNC_SDOtimeoutError (UNS8 line) |
290 { |
273 { |
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274 // This function was implemented for the Client's use (client = the one which initiate the dialog), |
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275 // but we can use it also for the server. |
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276 // Note : if for an other reason than a timeout, a SDO to read or write |
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277 // faile, we do not have implemented a warning function at the server side. |
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278 // Of course, there is one on the client side. |
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279 |
291 MSG_ERR(0x1F01, "SDO timeout for line : ", line); |
280 MSG_ERR(0x1F01, "SDO timeout for line : ", line); |
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281 // See the transfer structure in sdo.h to know what informations |
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282 // you can retreive. |
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283 MSG_ERR(0x1F02, " to access index ", gene_SYNC_Data.transfers[line].index); |
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284 MSG_ERR(0x1F03, " subIndex ", gene_SYNC_Data.transfers[line].subIndex); |
292 } |
285 } |
293 |
286 |
294 //------------------------------------------------------------------------------ |
287 //------------------------------------------------------------------------------ |
295 UNS8 gene_SYNC_canSend(Message *m) |
288 UNS8 gene_SYNC_canSend(Message *m) |
296 { |
289 { |