equal
deleted
inserted
replaced
39 ********************************************************/ |
39 ********************************************************/ |
40 void TestMaster_initialisation(CO_Data* d) |
40 void TestMaster_initialisation(CO_Data* d) |
41 { |
41 { |
42 UNS32 PDO1_COBID = 0x0182; |
42 UNS32 PDO1_COBID = 0x0182; |
43 UNS32 PDO2_COBID = 0x0183; |
43 UNS32 PDO2_COBID = 0x0183; |
44 UNS8 size = sizeof(UNS32); |
44 UNS32 size = sizeof(UNS32); |
45 |
45 |
46 eprintf("TestMaster_initialisation\n"); |
46 eprintf("TestMaster_initialisation\n"); |
47 |
47 |
48 /***************************************** |
48 /***************************************** |
49 * Define RPDO to match slave ID=2 TPDO1* |
49 * Define RPDO to match slave ID=2 TPDO1* |
76 |
76 |
77 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
77 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) |
78 { |
78 { |
79 UNS32 abortCode; |
79 UNS32 abortCode; |
80 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) |
80 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) |
81 eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode); |
81 eprintf("Master : Failed in initializing slave %2.2x, AbortCode :%4.4x \n", nodeId, abortCode); |
82 |
82 |
83 /* Finalise last SDO transfer with this node */ |
83 /* Finalise last SDO transfer with this node */ |
84 closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); |
84 closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); |
85 |
85 |
86 ConfigureSlaveNode(d, nodeId); |
86 ConfigureSlaveNode(d, nodeId); |
124 0x1800, /*UNS16 index*/ |
124 0x1800, /*UNS16 index*/ |
125 0x02, /*UNS8 subindex*/ |
125 0x02, /*UNS8 subindex*/ |
126 1, /*UNS8 count*/ |
126 1, /*UNS8 count*/ |
127 0, /*UNS8 dataType*/ |
127 0, /*UNS8 dataType*/ |
128 &Transmission_Type,/*void *data*/ |
128 &Transmission_Type,/*void *data*/ |
129 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
129 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
130 0); /*UNS8 useBlockMode*/ |
130 break; |
131 break; |
131 case 2: /* Second step : Set the new heartbeat producer time in the slave */ |
132 case 2: /* Second step : Set the new heartbeat producer time in the slave */ |
132 { |
133 { |
133 UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000); |
134 UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000); |
134 UNS8 size = sizeof(UNS32); |
135 UNS8 size = sizeof(UNS32); |
139 0x1017, /*UNS16 index*/ |
140 0x1017, /*UNS16 index*/ |
140 0x00, /*UNS8 subindex*/ |
141 0x00, /*UNS8 subindex*/ |
141 2, /*UNS8 count*/ |
142 2, /*UNS8 count*/ |
142 0, /*UNS8 dataType*/ |
143 0, /*UNS8 dataType*/ |
143 &Slave_Prod_Heartbeat_T,/*void *data*/ |
144 &Slave_Prod_Heartbeat_T,/*void *data*/ |
144 CheckSDOAndContinue); /*SDOCallback_t Callback*/ |
145 CheckSDOAndContinue, /*SDOCallback_t Callback*/ |
|
146 0); /*UNS8 useBlockMode*/ |
145 break; |
147 break; |
146 |
148 |
147 /* Set the new heartbeat consumer time in the master*/ |
149 /* Set the new heartbeat consumer time in the master*/ |
148 eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T); |
150 eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T); |
149 writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |
151 writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ |