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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 "SlaveA.h" |
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24 #include "Master.h" |
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25 #include "TestMasterSlaveLSS.h" |
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26 |
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27 extern s_BOARD SlaveBoardA; |
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28 /*****************************************************************************/ |
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29 void TestSlaveA_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
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30 { |
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31 eprintf("TestSlaveA_heartbeatError %d\n", heartbeatID); |
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32 } |
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33 |
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34 void TestSlaveA_initialisation(CO_Data* d) |
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35 { |
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36 eprintf("TestSlaveA_initialisation\n"); |
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37 } |
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38 |
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39 void TestSlaveA_preOperational(CO_Data* d) |
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40 { |
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41 eprintf("TestSlaveA_preOperational\n"); |
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42 } |
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43 |
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44 void TestSlaveA_operational(CO_Data* d) |
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45 { |
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46 eprintf("TestSlaveA_operational\n"); |
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47 } |
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48 |
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49 void TestSlaveA_stopped(CO_Data* d) |
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50 { |
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51 eprintf("TestSlaveA_stopped\n"); |
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52 } |
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53 |
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54 void TestSlaveA_post_sync(CO_Data* d) |
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55 { |
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56 eprintf("TestSlaveA_post_sync\n"); |
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57 } |
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58 |
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59 void TestSlaveA_post_TPDO(CO_Data* d) |
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60 { |
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61 eprintf("TestSlaveA_post_TPDO\n"); |
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62 SlaveAMap1++; |
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63 SlaveAMap2+=2; |
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64 } |
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65 |
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66 void TestSlaveA_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex) |
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67 { |
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68 /*TODO : |
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69 * - call getODEntry for index and subindex, |
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70 * - save content to file, database, flash, nvram, ... |
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71 * |
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72 * To ease flash organisation, index of variable to store |
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73 * can be established by scanning d->objdict[d->ObjdictSize] |
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74 * for variables to store. |
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75 * |
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76 * */ |
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77 eprintf("TestSlaveA_storeODSubIndex : %4.4x %2.2x\n", wIndex, bSubindex); |
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78 } |
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79 |
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80 void TestSlaveA_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg) |
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81 { |
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82 eprintf("SlaveA received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg); |
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83 } |
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84 |
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85 void TestSlaveA_StoreConfiguration(CO_Data* d, UNS8 *error, UNS8 *spec_error) |
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86 { |
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87 printf("TestSlaveA_StoreConfiguration\n"); |
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88 } |
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89 |
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90 void TestSlaveA_ChangeBaudRate(CO_Data* d, char *baudrate) |
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91 { |
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92 eprintf("TestSlaveA_ChangeBaudRate from %s to %s\n", SlaveBoardA.baudrate, baudrate); |
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93 SlaveBoardA.baudrate=baudrate; |
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94 /* something to do with the new baudrate */ |
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95 } |