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280 MSG_ERR(0x1F01, "SDO timeout for line : ", line); |
280 MSG_ERR(0x1F01, "SDO timeout for line : ", line); |
281 // See the transfer structure in sdo.h to know what informations |
281 // See the transfer structure in sdo.h to know what informations |
282 // you can retreive. |
282 // you can retreive. |
283 MSG_ERR(0x1F02, " to access index ", gene_SYNC_Data.transfers[line].index); |
283 MSG_ERR(0x1F02, " to access index ", gene_SYNC_Data.transfers[line].index); |
284 MSG_ERR(0x1F03, " subIndex ", gene_SYNC_Data.transfers[line].subIndex); |
284 MSG_ERR(0x1F03, " subIndex ", gene_SYNC_Data.transfers[line].subIndex); |
285 } |
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286 |
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287 //------------------------------------------------------------------------------ |
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288 UNS8 gene_SYNC_canSend(Message *m) |
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289 { |
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290 // HCS12 driver function to send the CAN msg |
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291 canMsgTransmit(CAN0, *m); |
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292 return 0; |
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293 } |
285 } |
294 |
286 |
295 //------------------------------------------------------------------------------ |
287 //------------------------------------------------------------------------------ |
296 void gene_SYNC_initialisation() |
288 void gene_SYNC_initialisation() |
297 { |
289 { |
393 { |
385 { |
394 MSG_WAR (0x3F02, "Entering in STOPPED ", 0); |
386 MSG_WAR (0x3F02, "Entering in STOPPED ", 0); |
395 IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3, 4 : OFF |
387 IO_PORTS_8(PORTB) |= 0x0E; // leds 1, 2, 3, 4 : OFF |
396 } |
388 } |
397 |
389 |
398 //------------------------------------------------------------------------------ |
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399 void gene_SYNC_post_sync() |
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400 { |
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401 } |
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402 |
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403 //------------------------------------------------------------------------------ |
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404 void gene_SYNC_post_TPDO() |
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405 { |
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406 } |
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407 |
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408 // End functions which are part of Canfestival |
390 // End functions which are part of Canfestival |
409 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
391 //$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$ |
410 |
392 |
411 |
393 |
412 /******************************************************************************/ |
394 /******************************************************************************/ |
417 UNS8 main (void) |
399 UNS8 main (void) |
418 { |
400 { |
419 |
401 |
420 MSG_WAR(0x3F34, "Entering in the main ", 0); |
402 MSG_WAR(0x3F34, "Entering in the main ", 0); |
421 //----------------------------- INITIALISATION -------------------------------- |
403 //----------------------------- INITIALISATION -------------------------------- |
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404 gene_SYNC_Data.heartbeatError = gene_SYNC_heartbeatError; |
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405 gene_SYNC_Data.SDOtimeoutError = gene_SYNC_SDOtimeoutError; |
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406 gene_SYNC_Data.initialisation = gene_SYNC_initialisation; |
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407 gene_SYNC_Data.preOperational = gene_SYNC_preOperational; |
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408 gene_SYNC_Data.preOperational = gene_SYNC_operational; |
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409 gene_SYNC_Data.stopped = gene_SYNC_stopped; |
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410 |
422 |
411 |
423 /* Put the node in Initialisation mode */ |
412 /* Put the node in Initialisation mode */ |
424 MSG_WAR(0x3F35, "Will entering in INIT ", 0); |
413 MSG_WAR(0x3F35, "Will entering in INIT ", 0); |
425 setState(&gene_SYNC_Data, Initialisation); |
414 setState(&gene_SYNC_Data, Initialisation); |
426 |
415 |