equal
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inserted
replaced
92 /*************************** INIT *****************************************/ |
92 /*************************** INIT *****************************************/ |
93 void InitNodes(CO_Data* d, UNS32 id) |
93 void InitNodes(CO_Data* d, UNS32 id) |
94 { |
94 { |
95 /****************************** INITIALISATION SLAVE *******************************/ |
95 /****************************** INITIALISATION SLAVE *******************************/ |
96 if(strcmp(SlaveBoard.baudrate, "none")) { |
96 if(strcmp(SlaveBoard.baudrate, "none")) { |
97 |
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98 #ifdef CO_ENABLE_LSS |
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99 /* Set an invalid nodeID */ |
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100 setNodeId(&TestSlave_Data, 0xFF); |
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101 #else |
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102 setNodeId(&TestSlave_Data, 0x02); |
97 setNodeId(&TestSlave_Data, 0x02); |
103 #endif |
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104 |
98 |
105 /* init */ |
99 /* init */ |
106 setState(&TestSlave_Data, Initialisation); |
100 setState(&TestSlave_Data, Initialisation); |
107 } |
101 } |
108 |
102 |
200 TestSlave_Data.stopped = TestSlave_stopped; |
194 TestSlave_Data.stopped = TestSlave_stopped; |
201 TestSlave_Data.post_sync = TestSlave_post_sync; |
195 TestSlave_Data.post_sync = TestSlave_post_sync; |
202 TestSlave_Data.post_TPDO = TestSlave_post_TPDO; |
196 TestSlave_Data.post_TPDO = TestSlave_post_TPDO; |
203 TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; |
197 TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex; |
204 TestSlave_Data.post_emcy = TestSlave_post_emcy; |
198 TestSlave_Data.post_emcy = TestSlave_post_emcy; |
205 #ifdef CO_ENABLE_LSS |
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206 /* in this example the slave doesn't support Store configuration*/ |
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207 //TestSlave_Data.lss_StoreConfiguration = TestSlave_StoreConfiguration; |
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208 TestSlave_Data.lss_ChangeBaudRate=TestSlave_ChangeBaudRate; |
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209 #endif |
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210 |
199 |
211 if(!canOpen(&SlaveBoard,&TestSlave_Data)){ |
200 if(!canOpen(&SlaveBoard,&TestSlave_Data)){ |
212 eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); |
201 eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate); |
213 goto fail_slave; |
202 goto fail_slave; |
214 } |
203 } |