40 #include "TestMaster.h" |
40 #include "TestMaster.h" |
41 UNS8 slavenodeid; |
41 UNS8 slavenodeid; |
42 |
42 |
43 |
43 |
44 /*****************************************************************************/ |
44 /*****************************************************************************/ |
45 void TestMaster_heartbeatError(UNS8 heartbeatID) |
45 void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID) |
46 { |
46 { |
47 eprintf("TestMaster_heartbeatError %d\n", heartbeatID); |
47 eprintf("TestMaster_heartbeatError %d\n", heartbeatID); |
48 } |
48 } |
49 |
49 |
50 /******************************************************** |
50 /******************************************************** |
51 * ConfigureSlaveNode is responsible to |
51 * ConfigureSlaveNode is responsible to |
52 * - setup master RPDO 1 to receive TPDO 1 from id 0x40 |
52 * - setup master RPDO 1 to receive TPDO 1 from id 0x40 |
53 * - setup master TPDO 1 to send RPDO 1 to id 0x40 |
53 * - setup master TPDO 1 to send RPDO 1 to id 0x40 |
54 ********************************************************/ |
54 ********************************************************/ |
55 void TestMaster_initialisation() |
55 void TestMaster_initialisation(CO_Data* d) |
56 { |
56 { |
57 UNS32 PDO1_COBID = 0x0180 + slavenodeid; |
57 UNS32 PDO1_COBID = 0x0180 + slavenodeid; |
58 UNS32 PDO2_COBID = 0x0200 + slavenodeid; |
58 UNS32 PDO2_COBID = 0x0200 + slavenodeid; |
59 UNS8 size = sizeof(UNS32); |
59 UNS8 size = sizeof(UNS32); |
60 |
60 |
301 masterSendNMTstateChange (d, nodeId, NMT_Start_Node); |
301 masterSendNMTstateChange (d, nodeId, NMT_Start_Node); |
302 } |
302 } |
303 |
303 |
304 } |
304 } |
305 |
305 |
306 void TestMaster_preOperational() |
306 void TestMaster_preOperational(CO_Data* d) |
307 { |
307 { |
308 |
308 |
309 eprintf("TestMaster_preOperational\n"); |
309 eprintf("TestMaster_preOperational\n"); |
310 ConfigureSlaveNode(&TestMaster_Data, slavenodeid); |
310 ConfigureSlaveNode(&TestMaster_Data, slavenodeid); |
311 |
311 |
312 } |
312 } |
313 |
313 |
314 void TestMaster_operational() |
314 void TestMaster_operational(CO_Data* d) |
315 { |
315 { |
316 eprintf("TestMaster_operational\n"); |
316 eprintf("TestMaster_operational\n"); |
317 } |
317 } |
318 |
318 |
319 void TestMaster_stopped() |
319 void TestMaster_stopped(CO_Data* d) |
320 { |
320 { |
321 eprintf("TestMaster_stopped\n"); |
321 eprintf("TestMaster_stopped\n"); |
322 } |
322 } |
323 |
323 |
324 void TestMaster_post_sync() |
324 void TestMaster_post_sync(CO_Data* d) |
325 { |
325 { |
326 DO++; |
326 DO++; |
327 |
327 |
328 AO1 = AI1 / 2; |
328 AO1 = AI1 / 2; |
329 AO2 = AI2 / 2; |
329 AO2 = AI2 / 2; |
343 eprintf("MicroMod Analogue In6: %d\n", AI6); |
343 eprintf("MicroMod Analogue In6: %d\n", AI6); |
344 eprintf("MicroMod Analogue In7: %d\n", AI7); |
344 eprintf("MicroMod Analogue In7: %d\n", AI7); |
345 eprintf("MicroMod Analogue In8: %d\n", AI8); |
345 eprintf("MicroMod Analogue In8: %d\n", AI8); |
346 } |
346 } |
347 |
347 |
348 void TestMaster_post_TPDO() |
348 void TestMaster_post_TPDO(CO_Data* d) |
349 { |
349 { |
350 // eprintf("TestMaster_post_TPDO\n"); |
350 // eprintf("TestMaster_post_TPDO\n"); |
351 } |
351 } |
352 |
352 |
353 //s_BOARD SlaveBoard = {"0", "500K"}; |
353 //s_BOARD SlaveBoard = {"0", "500K"}; |