117 0x1800, /*UNS16 index*/ |
117 0x1800, /*UNS16 index*/ |
118 0x02, /*UNS8 subindex*/ |
118 0x02, /*UNS8 subindex*/ |
119 1, /*UNS8 count*/ |
119 1, /*UNS8 count*/ |
120 0, /*UNS8 dataType*/ |
120 0, /*UNS8 dataType*/ |
121 &Transmission_Type,/*void *data*/ |
121 &Transmission_Type,/*void *data*/ |
122 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
122 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
123 0); /* use block mode */ |
123 break; |
124 break; |
124 |
125 |
125 case 2: /*Second step*/ |
126 case 2: /*Second step*/ |
126 eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId); |
127 eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId); |
127 writeNetworkDictCallBack (d, /*CO_Data* d*/ |
128 writeNetworkDictCallBack (d, /*CO_Data* d*/ |
129 0x1801, /*UNS16 index*/ |
130 0x1801, /*UNS16 index*/ |
130 0x02, /*UNS16 index*/ |
131 0x02, /*UNS16 index*/ |
131 1, /*UNS8 count*/ |
132 1, /*UNS8 count*/ |
132 0, /*UNS8 dataType*/ |
133 0, /*UNS8 dataType*/ |
133 &Transmission_Type,/*void *data*/ |
134 &Transmission_Type,/*void *data*/ |
134 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
135 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
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136 0); /* use block mode */ |
135 break; |
137 break; |
136 case 3: |
138 case 3: |
137 |
139 |
138 /****************************** START *******************************/ |
140 /****************************** START *******************************/ |
139 |
141 |
218 0x1802, /*UNS16 index*/ |
220 0x1802, /*UNS16 index*/ |
219 0x02, /*UNS16 index*/ |
221 0x02, /*UNS16 index*/ |
220 1, /*UNS8 count*/ |
222 1, /*UNS8 count*/ |
221 0, /*UNS8 dataType*/ |
223 0, /*UNS8 dataType*/ |
222 &transmitiontype,/*void *data*/ |
224 &transmitiontype,/*void *data*/ |
223 CheckSDO); /*SDOCallback_t Callback*/ |
225 CheckSDO, /*SDOCallback_t Callback*/ |
224 } |
226 0); /* use block mode */ |
|
227 } |
225 if(MasterSyncCount % 50 == 25){ |
228 if(MasterSyncCount % 50 == 25){ |
226 UNS8 transmitiontype = 0x00; |
229 UNS8 transmitiontype = 0x00; |
227 eprintf("Master : Change slave's transmit type to 0x00\n"); |
230 eprintf("Master : Change slave's transmit type to 0x00\n"); |
228 writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
231 writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ |
229 2, /*UNS8 nodeId*/ |
232 2, /*UNS8 nodeId*/ |
230 0x1802, /*UNS16 index*/ |
233 0x1802, /*UNS16 index*/ |
231 0x02, /*UNS16 index*/ |
234 0x02, /*UNS16 index*/ |
232 1, /*UNS8 count*/ |
235 1, /*UNS8 count*/ |
233 0, /*UNS8 dataType*/ |
236 0, /*UNS8 dataType*/ |
234 &transmitiontype,/*void *data*/ |
237 &transmitiontype,/*void *data*/ |
235 CheckSDO); /*SDOCallback_t Callback*/ |
238 CheckSDO, /*SDOCallback_t Callback*/ |
|
239 0); /* use block mode */ |
236 } |
240 } |
237 MasterSyncCount++; |
241 MasterSyncCount++; |
238 } |
242 } |
239 |
243 |
240 void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid) |
244 void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid) |