--- a/examples/AppliMaster_Linux/appli.c Tue Feb 13 17:21:19 2007 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1005 +0,0 @@
-/*
-This file is part of CanFestival, a library implementing CanOpen Stack.
-
-Copyright (C): Edouard TISSERANT and Francis DUPIN
-
-See COPYING file for copyrights details.
-
-This library is free software; you can redistribute it and/or
-modify it under the terms of the GNU Lesser General Public
-License as published by the Free Software Foundation; either
-version 2.1 of the License, or (at your option) any later version.
-
-This library is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-Lesser General Public License for more details.
-
-You should have received a copy of the GNU Lesser General Public
-License along with this library; if not, write to the Free Software
-Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
-*/
-
-#include <stdio.h>
-#include <string.h>
-#include <sys/time.h>
-#include <pthread.h>
-#include <unistd.h>
-#include <stdlib.h>
-
-
-#include <applicfg.h>
-#include <timerhw.h>
-#include <linuxCan.h>
-
-#include "def.h"
-#include "can.h"
-#include "objdictdef.h"
-#include "objacces.h"
-#include "canOpenDriver.h"
-#include "sdo.h"
-#include "pdo.h"
-#include "init.h"
-#include "timer.h"
-#include "lifegrd.h"
-#include "sync.h"
-
-#include "nmtMaster.h"
-
-
-
-// For prototype of exit();
-#define exit _exit
-
-
-// Adlink 7841 or Peak PCI/CAN board
-// ---------------------------------
-
-// Baudrate values for Peak board :
-// CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K
-// CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K
-
-#ifdef CAN_BAUD_250K
-# define BAUDRATE CAN_BAUD_250K
-#else
-// Appli have been compiled for Adlink-arbraca. Baudrate not used
-# define BAUDRATE 0
-#endif
-
-s_BOARD board = {"0", BAUDRATE};
-
-
-// Required definition variables
-// -----------------------------
-// The variables that you should define for debugging.
-// They are used by the macro MSG_ERR and MSG_WAR in applicfg.h
-// if the node is a slave, they can be mapped in the object dictionnary.
-
-UNS8 printMsgErrToConsole = 1;
-UNS8 printMsgWarToConsole = 1;
-
-// The variables mapped in the object dictionnary
-// ----------------------------------------------
-extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0
-extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0
-extern UNS8 second; // Mapped at index 0x6002, subindex 0x1
-extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2
-extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3
-extern UNS8 day; // Mapped at index 0x6002, subindex 0x4
-extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1
-extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2
-
-
-/*************************User's variables declaration**************************/
-pthread_t threadM;
-pthread_t threadH;
-pthread_t threadS;
-UNS8 connectedNode[128];
-
-/* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */
-typedef struct mappedVar
-{
- UNS32 index;
- UNS8 subIndex;
- UNS8 size; // in byte
-} s_mappedVar;
-
-typedef struct heartbeatConsumer
-{
- UNS8 nodeProducer;
- UNS16 time_ms;
-} s_heartbeatConsumer;
-
-/**************************prototypes*****************************************/
-/* You *must* have these 2 functions in your code*/
-void heartbeatError (UNS8 heartbeatID );
-void SD0timeoutError(UNS8 bus_id, UNS8 line);
-
-void waitMessage (void );
-void heartBeat (void );
-void transmitSync (void);
-e_nodeState stateNode (UNS8 node);
-void configure_master_SDO (UNS32 index, UNS8 serverNode);
-UNS8 waitingWriteToSlaveDict (UNS8 slaveNode, UNS8 error);
-UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error);
-UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode);
-void masterMappingPDO (UNS32 indexPDO, UNS32 cobId,
- s_mappedVar *tabMappedVar, UNS8 nbVar);
-void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId,
- s_mappedVar *tabMappedVar, UNS8 nbVar);
-void masterHeartbeatConsumer (s_heartbeatConsumer
- *tabHeartbeatConsumer, UNS8 nbHeartbeats);
-void masterHeartbeatProducer (UNS16 time);
-void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer
- *tabHeartbeatConsumer, UNS8 nbHeartbeats);
-void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time);
-void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType);
-void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType);
-void masterSYNCPeriod (UNS32 SYNCPeriod);
-int main (int argc,char **argv);
-
-/*****************************************************************************/
-void heartbeatError(UNS8 heartbeatID)
-{
- // MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO,
- // But we do not have mapped the variables in a PDO, so it sends nothing.
- // See the note at the end of END CONFIGURING THE NETWORK.
- MSG_WAR(0x2F00, "HeartBeat, no response from node : ", heartbeatID);
-}
-
-/*****************************************************************************/
-void SD0timeoutError (UNS8 bus_id, UNS8 line)
-{
- // Informations on what occurs are in transfers[bus_id][line]....
- // See scanSDOtimeout() in sdo.c
-}
-
-/*********************************** THREADS **********************************/
-//------------------------------------------------------------------------------
-// Wait for a received message
-void waitMessage(void)
-{
- while (1) {
- receiveMsgHandler(0); // blocked until new message
- }
-}
-
-//------------------------------------------------------------------------------
-/* Sending SYNC */
-void transmitSync(void)
-{
- while (1) {
- computeSYNC(); // Use the value in the dictionnary
- usleep(1000); // Sleep 1 ms
-
- }
-}
-
-/************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/
-
-
-
-//------------------------------------------------------------------------------
-/* Node mode result after NodeGuard query */
-e_nodeState stateNode(UNS8 node)
-{
- e_nodeState state = getNodeState(0, node);
- switch (state) {
- case Unknown_state:
- MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node);
- break;
- case Operational:
- MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node);
- break;
- case Pre_operational:
- MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node);
- break;
- default:
- MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node);
- }
- return state;
-}
-
-//------------------------------------------------------------------------------
-/* The master is writing in its dictionnary to configure the SDO parameters
-to communicate with server_node
-*/
-void configure_master_SDO(UNS32 index, UNS8 serverNode)
-{
- UNS32 data32;
- UNS8 data8;
- UNS8 sizeData = 4 ; // in bytes
-
- /* At subindex 1, the cobId of the Can message from the client.
- It is always defined inside the server dictionnary as 0x600 + server_node.
- So, we have no choice here ! */
- data32 = 0x600 + serverNode;
- setODentry(index, 1, &data32, sizeData, 0);
-
- {
- // Test
- UNS32 *pbData;
- UNS8 length;
- UNS32 returnValue;
- UNS8 dataType;
- // Relecture
- MSG_WAR(0x1000, "Reading index : ", index);
- MSG_WAR(0x1000, " subindex : ", 1);
- returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
- MSG_WAR(0x1000, " val : ", *pbData);
- }
-
-
- /* At subindex 2, the cobId of the Can message from the server to the client.
- It is always defined inside the server dictionnary as 0x580 + client_node.
- So, we have no choice here ! */
- data32 = 0x580 + serverNode;
- setODentry(index, 2, &data32, sizeData, 0);
-
- /* At subindex 3, the node of the server */
- data8 = serverNode;
- sizeData = 1;
- setODentry(index, 3, &data8, sizeData, 0);
-
- {
- UNS8 *pbData;
- UNS8 length;
- UNS32 returnValue;
- UNS8 dataType;
- // Relecture
- MSG_WAR(0x1000, "Reading index : ", index);
- MSG_WAR(0x1000, " subindex : ", 3);
- returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0);
- MSG_WAR(0x1000, " val : ", *pbData);
- }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error)
-{
- UNS8 err;
- UNS32 abortCode;
- MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode);
- if (error) {
- MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode);
- return -1;
- }
- /* Waiting until the slave has responded */
- while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) {
- // Check if some SDO response are missing
- scanSDOtimeout();
- }
-
- err = getWriteResultNetworkDict (0, slaveNode, &abortCode);
- if (err == SDO_FINISHED) {
- MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode);
- // Release the line. Don't forget !!!
- closeSDOtransfer(0, slaveNode, SDO_CLIENT);
- return 0;
- }
-
- if (err == SDO_ABORTED_RCV) {
- MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode);
- }
-
- if (err == SDO_ABORTED_INTERNAL) {
- MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode);
- }
- // Looking for the line transfert number to read the index, subindex and releasing the line.
- {
- UNS8 line;
- err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
- if (err) {
- MSG_WAR(0x2F21, "No line found for node : ", slaveNode);
- exit(-1);
- }
- MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index);
- MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex);
- //Releasing the line.
- closeSDOtransfer(0, slaveNode, SDO_CLIENT);
- exit(-1);
- }
- return 0;
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error)
-{
- UNS8 err;
- UNS32 abortCode;
- MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode);
- if (error) {
- MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode);
- return -1;
- }
- /* Waiting until the slave has responded */
- while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) {
- // Check if some SDO response are missing
- scanSDOtimeout();
- }
- err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode);
- if (err == SDO_FINISHED) {
- MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode);
- // Release the line. Don't forget !!!
- closeSDOtransfer(0, slaveNode, SDO_CLIENT);
- return 0;
- }
- if (err == SDO_ABORTED_RCV) {
- MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode);
- }
-
- if (err == SDO_ABORTED_INTERNAL) {
- MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode);
- }
- // Looking for the line transfert number to read the index, subindex and releasing the line.
- {
- UNS8 line;
- err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line);
- if (err) {
- MSG_WAR(0x2F2F, "No line found for node : ", slaveNode);
- exit(-1);
- }
- MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index);
- MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex);
- //Releasing the line.
- closeSDOtransfer(0, slaveNode, SDO_CLIENT);
- exit(-1);
- }
-
- return 0;
-}
-
-
-//------------------------------------------------------------------------------
-/* The master is writing in the slave dictionnary to configure the SDO parameters
-Remember that the slave is the server, and the master is the client.
- */
-UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode)
-{
- UNS8 data;
- UNS8 NbDataToWrite = 1 ; // in bytes
- UNS8 err = 0;
- MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node", slaveNode);
- /* It is only to put at subindex 3 the serverNode. It is optionnal.
- In the slave dictionary, only one SDO server is defined, at index
- 0x1200 */
- data = clientNode;
- err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data);
- waitingWriteToSlaveDict(slaveNode, err);
-
- return 0;
-}
-
-//------------------------------------------------------------------------------
-
-void masterMappingPDO(UNS32 indexPDO, UNS32 cobId,
- s_mappedVar *tabMappedVar, UNS8 nbVar)
-{
- UNS32 *pbData;
- UNS32 data32;
- UNS8 i;
- UNS8 size = 0;
- UNS8 dataType;
-
- if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
- MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId);
-
- if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
- MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId);
-
- /* At indexPDO, subindex 1, defining the cobId of the PDO */
- setODentry(indexPDO, 1, &cobId, 4, 0);
- /* The mapping ... */
- /* ----------------*/
- /* At subindex 0, the number of variables in the PDO */
- setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0);
- getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0);
- /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in
- the PDO. The first variable after the COBID is defined at subindex 1, ...
- The data to write is the concatenation on 32 bits of (msb ... lsb) :
- index(16b),subIndex(8b),sizeVariable(8b)
-*/
- for (i = 0 ; i < nbVar ; i++) {
- data32 = ((tabMappedVar + i)->index << 16) |
- (((tabMappedVar + i)->subIndex & 0xFF) << 8) |
- ((tabMappedVar + i)->size & 0xFF);
- // Write dictionary
- setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0);
-
-# ifdef MORE_COMMENTS
- printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n",
- (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
- // Only to verify.
- // Read dictionnary
- getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0);
- printf("Writen à index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n",
- indexPDO + 0x200, i + 1, 8 * size, *pbData);
-# endif
-
- }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId,
- s_mappedVar *tabMappedVar, UNS8 nbVar)
-{
- UNS32 data32;
- UNS8 i;
- UNS8 err;
- UNS8 nbBytes = 1;
- if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF))
- MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId);
-
- if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF))
- MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId);
-
- /* At indexPDO, subindex 1, defining the cobId of the PDO */
- err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId);
- waitingWriteToSlaveDict(slaveNode, err);
-
- /* The mapping ... */
- /* ----------------*/
- /* At subindex 0, the number of variables in the PDO */
- err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar);
- waitingWriteToSlaveDict(slaveNode, err);
-
- /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in
- the PDO. The first variable after the COBID is defined at subindex 1, ...
- The data to write is the concatenation on 32 bits of (msb ... lsb) :
- index(16b),subIndex(8b),sizeVariable(8b)
-*/
- for (i = 0 ; i < nbVar ; i++) {
- data32 = ((tabMappedVar + i)->index << 16) |
- (((tabMappedVar + i)->subIndex & 0xFF) << 8) |
- ((tabMappedVar + i)->size & 0xFF);
-
- // Write dictionary
- err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32);
- waitingWriteToSlaveDict(slaveNode, err);
-
-# ifdef MORE_COMMENTS
- printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n",
- (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size);
-
- printf("At node 0x%X Writen at index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n",
- slaveNode, indexPDO + 0x200, i + 1, 32, data32);
-# endif
-
- }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-void masterHeartbeatConsumer(s_heartbeatConsumer
- *tabHeartbeatConsumer, UNS8 nbHeartbeats)
-{
- UNS32 data;
- UNS8 i;
- UNS8 nbHB = nbHeartbeats;
-
- MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0);
- /* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */
- setODentry(0x1016, 0, & nbHB, 1, 0);
-
- /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
- 00 - node_consumer (8b) - time_ms (16b)
- Put 0 to ignore the entry.
- */
- for (i = 0 ; i < nbHeartbeats ; i++) {
- data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
- setODentry(0x1016, i + 1, & data, 4, 0);
- }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterHeartbeatProducer(UNS16 time)
-{
- UNS16 hbTime = time;
- MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0);
- /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
- setODentry(0x1017, 0, &hbTime, 2, 0);
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer
- *tabHeartbeatConsumer, UNS8 nbHeartbeats)
-{
- UNS32 data;
- UNS8 err;
- UNS8 i;
-
- MSG_WAR(0x3F46, "Configuring heartbeats consumers for node : ", slaveNode);
-
- /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb :
- 00 - node_consumer (8b) - time_ms (16b)
- Put 0 to ignore the entry.
- */
- for (i = 0 ; i < nbHeartbeats ; i++) {
- data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) |
- ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF);
- err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data);
- waitingWriteToSlaveDict(slaveNode, err);
- }
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time)
-{
- UNS8 err;
- MSG_WAR(0x3F47, "Configuring heartbeat producer for node : ", slaveNode);
- /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */
-
- err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time);
- waitingWriteToSlaveDict(slaveNode, err);
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterPDOTransmissionMode(UNS32 indexPDO, UNS8 transType)
-{
- MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO);
-
- /* At subindex 2, the transmission type */
- setODentry(indexPDO, 2, &transType, 1, 0);
-}
-
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO, UNS8 transType)
-{
- UNS8 err;
- MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode);
- MSG_WAR(0x3F42, " indexPDO : ", indexPDO);
-
- err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType);
- waitingWriteToSlaveDict(slaveNode, err);
-
-}
-
-//------------------------------------------------------------------------------
-/*
- */
-
-void masterSYNCPeriod(UNS32 SYNCPeriod)
-{
- UNS32 cobId = 0x40000080;
- MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod);
- /* At index 0x1006, subindex 0 : the period in ms */
- setODentry(0x1006, 0, &SYNCPeriod , 4, 0);
- /* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */
- setODentry(0x1005, 0, &cobId, 4, 0);
-}
-
-void help()
-{
- printf("**************************************************************\n");
- printf("* AppliMaster *\n");
- printf("* [-b b] *\n");
- printf("* *\n");
- printf("* b : bus [default 0] *\n");
- printf("* *\n");
- printf("* This exemple run AppliMaster on bus 0 *\n");
- printf("* AppliMaster -b 0 *\n");
- printf("* *\n");
- printf("**************************************************************\n");
-}
-
-/****************************************************************************/
-/*************************** MAIN *****************************************/
-/****************************************************************************/
-int main(int argc,char **argv)
-{
- UNS8 second_last;
- UNS8 minutes_last;
- UNS8 sendingResetError = 0;
- int i;
- HANDLE ok;
- char c;
- extern char *optarg;
-
- while ((c = getopt(argc, argv, "-b:")) != EOF)
- {
- switch(c)
- {
- case 'b' :
- if (optarg[0] == 0)
- {
- help();
- exit(1);
- }
- board.busname = optarg;
- break;
- default:
- help();
- exit(1);
- }
- }
-
- /****************************** INITIALISATION *******************************/
-
- /* Launch the timer*/
- initTimer( );
-
- /* arrays initialisation, etc */
- initCANopenMain();
-
- /* arrays initialisation, etc */
- initCANopenMaster();
-
- /* Defining the node Id */
- setNodeId(0x01);
- MSG_WAR(0x3F50, "My node ID is : ", getNodeId());
-
- /* Put the master in operational mode */
- setState(Operational);
-
-
- /* Init the table of connected nodes */
- for (i = 0 ; i < 128 ; i++)
- connectedNode[i] = 0;
-
-
- ok = f_can_open(& board);
- if (ok == NULL) {
- MSG_ERR(0x1F02,"Unable to open the board", 0);
- MSG_ERR(0x1F03,"Edit includeMakefileLinux to verify that the application is configured for the good board", 0);
- exit (-1);
- }
- else {
- MSG_WAR(0x3F03, "Board 0 opened ", 0);
- }
-
-
- /* Launch the thread to receive the messages */
- pthread_create( &threadM, NULL, (void *)&waitMessage, NULL);
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- /******************** CONFIGURING THE NETWORK **************************/
-
- /* Which nodes are connected ? */
- /* Sending a request Node guard to node 5 and 6 */
- MSG_WAR(0x3F04, "Sending a node guard to node : ", 5);
- masterReadNodeState(0, 0x05);
- /* Sending a message to the node 6, only as example */
- MSG_WAR(0x3F04, "Sending a node guard to node : ", 6);
- masterReadNodeState(0, 0x06);
- /* Waiting for a second the response */
- sleep(1);
-
- /* Whose node have answered ? */
- connectedNode[5] = stateNode(5);
- connectedNode[6] = stateNode(6);
-
- /* Configure the SDO master to communicate with node 5 and node 6 */
- configure_master_SDO(0x1280, 0x05);
-
-
- /* Configure the SDO of node 5 */
- /* getNodeId() returns my node Id */
- configure_client_SDO(0x05, getNodeId());
- /* Mapping of the PDO
- Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F,
- 381-3FF, 401-47F, 481-4FF, 501-57F,
- without other restriction.
- (Of course, you must not define 2 PDO transmit with the same cobId !!)
- */
-
- /*
- *** PDO node 1 <-- node 5 ***
- *** cobId 0x181 *************
- MASTER (node 1)
- Mapped to variables (node1) [index-subindex-size_bits]:
- day [0x6002 - 0x04 - 8]
- hour [0x6002 - 0x03 - 8]
- second [0x6002 - 0x01 - 8]
-
- SLAVE (node 5)
- Mapped to variables (node5) [index-subindex-size_bits]:
- day [0x2000 - 0x04 - 8]
- hour [0x2000 - 0x03 - 8]
- second [0x2000 - 0x01 - 8]
-*/
-
- /* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */
- {
- s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, };
- masterMappingPDO(0x1400, 0x181, tabMappedVar, 3);
- }
-
- /* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */
- {
- s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, };
- slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3);
- }
- /*
- *** PDO node 1 <-- node 5 ***
- *** cobId 0x182 *************
- MASTER (node 1)
- Mapped to variables (node1) [index-subindex-size_bits]:
- minute [0x6002 - 0x02 - 8]
-
- SLAVE (node 5)
- Mapped to variables (node5) [index-subindex-size_bits]:
- minute [0x2000 - 0x02 - 8]
- */
-
- /* Configuring PDO receive, defined at index 0x1400 and 0x1600 */
- {
- s_mappedVar tabMappedVar[8] = { {0x6002,2,8} };
- masterMappingPDO(0x1401, 0x182, tabMappedVar, 1);
- }
-
- /* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */
- {
- s_mappedVar tabMappedVar[8] = { {0x2000,2,8} };
- slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1);
- }
-
-
- /*
- *** PDO node 1 <-- node 5 ***
- *** cobId 0x183 *************
- Error management : By this way, The node can send by PDO an error
- MASTER (node 1)
- Mapped to variables (node1) [index-subindex-size_bits]:
- canopenErrNb_node5 [0x6000 - 0x00 - 32]
- canopenErrVal_node5 [0x6001 - 0x00 - 32]
-
- SLAVE (node 5)
- Mapped to variables (node5) [index-subindex-size_bytes]:
- canopenErrNb [0x6000 - 0x00 - 32]
- canopenErrVal [0x6001 - 0x00 - 32]
- */
-
- /* Configuring PDO receive, defined at index 0x1402 and 0x1602 */
- {
- s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
- masterMappingPDO(0x1402, 0x183, tabMappedVar, 2);
- }
-
- /* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */
- {
- s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
- slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2);
- }
-
- /*
- *** PDO node 1 --> node 5 ***
- *** cobId 0x184 *************
- Error management : To reset the error
- MASTER (node 1)
- Mapped to variables (node1) [index-subindex-size_bits]:
- canopenErrNb_node5 [0x6000 - 0x00 - 32]
- canopenErrVal_node5 [0x6001 - 0x00 - 32]
-
- SLAVE (node 5)
- Mapped to variables (node5) [index-subindex-size_bytes]:
- canopenErrNb [0x6000 - 0x00 - 32]
- canopenErrVal [0x6001 - 0x00 - 32]
- */
-
- /* Configuring PDO transmit, defined at index 0x1803 and 0x1103 */
- {
- s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
- masterMappingPDO(0x1801, 0x184, tabMappedVar, 2);
- }
-
- /* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */
- {
- s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}};
- slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2);
- }
-
- /* Configuring the node 5 heartbeat */
- /* Check every 3000 ms if it have received a heartbeat from node 1 */
- {
- UNS8 nbHeartbeatsToReceive = 1;
- s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}};
- slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive);
- }
- /* Sending every 1000 ms an heartbeat */
- slaveHeartbeatProducer(0x05, 0x3E8);
-
- /* Configuring the master heartbeat */
- /* Check every 3000 ms if it have received a heartbeat from node 5 */
- {
- UNS8 nbHeartbeatsToReceive = 1;
- s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}};
- masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive);
- }
-
- /* Sending every 1000 ms an heartbeat */
- masterHeartbeatProducer(0x3E8);
-
-
-
- /* Configuring the transmission mode of the PDO */
- slavePDOTransmissionMode(0x05, 0x1800, TRANS_EVERY_N_SYNC (1));
- slavePDOTransmissionMode(0x05, 0x1801, TRANS_EVENT);
- slavePDOTransmissionMode(0x05, 0x1802, TRANS_EVENT);
- masterPDOTransmissionMode(0x1801, TRANS_EVENT);
-
- /* Configuring the master to send a SYNC message every 1 s */
- /* Note than any other node can send the SYNC instead of the master */
- masterSYNCPeriod(1000000);
-
- {
- // Reading the period of heartbeat which has been written in node 5 dictionary
- UNS8 node = 5;
- UNS16 index = 0x1017;
- UNS8 subindex = 0;
- //UNS8 notused = 0;
- UNS16 hb = 0;
- UNS8 size_data = 0;
- UNS8 error;
- MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0);
- error = readNetworkDict(0, node, index, subindex, 0);
- //error = readNetworkDict(0, node, index, subindex, ¬used);
- if (error) {
- MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0);
- exit (-1);
- }
- /* Waiting until the server has responded */
- error = waitingReadToSlaveDict(node, (UNS16 *)&hb, &size_data, error);
- MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb);
- MSG_WAR(0x1F51, " size of data (bytes) = ", size_data);
- }
-
-
-
- /* Put the node 5 in operational mode
- The mode is changed according to the slave state machine mode :
- initialisation ---> pre-operational (Automatic transition)
- pre-operational <--> operational
- pre-operational <--> stopped
- pre-operational, operational, stopped -> initialisation
- NMT_Start_Node // Put the node in operational mode
- NMT_Stop_Node // Put the node in stopped mode
- NMT_Enter_PreOperational // Put the node in pre_operational mode
- NMT_Reset_Node // Put the node in initialization mode
- NMT_Reset_Comunication // Put the node in initialization mode
- */
- masterSendNMTstateChange(0, 0x05, NMT_Start_Node);
-
-
- // Note
- //-----
- // We do not have mapped the variable canopenErrNB and canopenErrVAL.
- // We should have done that !
- // the macro MSG_ERR try to send the PDO(s) which contains these two variables.
- // While the PDO will not be found, if you are printing the warnings in file pdo.c,
- // it will print "0X393B Unable to send variable on event : not mapped in a PDO to send on event" for
- // example when you enter the function heartbeatError.
-
- /******************** END CONFIGURING THE NETWORK **********************/
-
- /* Launch the thread to send the SYNC message */
- pthread_create( &threadS, NULL, (void *)&transmitSync , NULL);
- /* Init the errors values that may send the node 5 */
- canopenErrNB_node5 = 0;
- canopenErrVAL_node5 = 0;
-
- /****************************** RUNNING *******************************/
-
- /* SDO test with node 5 */
- {
- // Reading string
- UNS8 dataW[20];
- UNS8 dataR[20];
- UNS8 size;
- UNS8 err;
- MSG_WAR(0x3F05, "Test SDO", 0);
-
- MSG_WAR(0x3F10, "Writing string to node 5 index 0x6002, subindex 0 ...", 0);
- strcpy(dataW, "Au Revoir");
- MSG_WAR(0x3F10, dataW, 0);
- size = 20;
- err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW);
- err = waitingWriteToSlaveDict(5, err);
-
- err = readNetworkDict(0, 5, 0x6002, 0, visible_string);
- err = waitingReadToSlaveDict(5, dataR, &size, err);
- MSG_WAR(0x3F08, "Data read from node 5 index 0x6002, subindex 0 ..." , 0);
- MSG_WAR(0x3F08, dataR, 0);
-
- MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0);
- err = readNetworkDict(0, 5, 0x1009, 0, visible_string);
- err = waitingReadToSlaveDict(5, dataR, &size, err);
- MSG_WAR(0x3F08, dataR, 0);
-
- MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0);
- err = readNetworkDict(0, 5, 0x100A, 0, visible_string);
- err = waitingReadToSlaveDict(5, dataR, &size, err);
- MSG_WAR(0x3F08, dataR, 0);
- }
-
- // Node identity ?
- {
- UNS8 *data;
- UNS8 size;
- UNS8 dataType;
- // Manufacturer Device name (default = empty string)
- getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0);
- MSG_WAR(0x3F09, data, 0);
- // Manufacturer Hardware version. (default = compilation. date)
- getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0);
- MSG_WAR(0x3F09, data, 0);
- // Manufacturer Software version. (default = compilation. time)
- getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0);
- MSG_WAR(0x3F09, data, 0);
- }
-
- while (1) {
- if (minutes != minutes_last) {
- printf("Minutes changed\n");
- minutes_last = minutes;
- }
-
- if (second != second_last) {
- printf("Date : %d, %02dH%02d-%02d\n", day, hour, minutes, second);
- second_last = second;
-
- if (canopenErrNB_node5) {
- printf("Received an error from node 5, NB : 0x%X, value : 0x%X\n",
- canopenErrNB_node5 , canopenErrVAL_node5);
- // Resetting the error
- canopenErrNB_node5 = 0;
- canopenErrVAL_node5 = 0;
- sendingResetError = 1;
- }
-
- if ((second < 5) && sendingResetError) {
- printf("Sending to node 5 a PDO event to reset the error NB: 0x%X and VAL: 0x%X\n",
- canopenErrNB_node5, canopenErrVAL_node5);
-
- sendPDOevent(0, &canopenErrNB_node5);
- sendingResetError = 0;
- }
-
-
- } // end if (second != second_last)
-
- // Testing if heartsbeat have been received, and send a heartbeat if it is time.
- // I have put that in a thread, but I don't know why, on HB not received,
- // it doesn't returns from heartbeatError() to the thread.
- heartbeatMGR();
-
- usleep(10000);
-
- }
- return 0;
-}