40 #include "TestMaster.h" |
40 #include "TestMaster.h" |
41 UNS8 slavenodeid = 0x40; |
41 UNS8 slavenodeid = 0x40; |
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 eprintf("MicroMod Digital Out: %2.2x\n",DO); |
327 eprintf("MicroMod Digital Out: %2.2x\n",DO); |
328 eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8); |
328 eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8); |
329 } |
329 } |
330 |
330 |
331 void TestMaster_post_TPDO() |
331 void TestMaster_post_TPDO(CO_Data* d) |
332 { |
332 { |
333 // eprintf("TestMaster_post_TPDO\n"); |
333 // eprintf("TestMaster_post_TPDO\n"); |
334 } |
334 } |
335 |
335 |
336 //s_BOARD SlaveBoard = {"0", "500K"}; |
336 //s_BOARD SlaveBoard = {"0", "500K"}; |