--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/Master.c	Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,132 @@
+/*
+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 "Master.h"
+#include "Slave.h"
+#include "TestMasterSlave.h"
+
+/*****************************************************************************/
+void TestMaster_heartbeatError(UNS8 heartbeatID)
+{
+	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
+}
+
+/*****************************************************************************/
+void TestMaster_SDOtimeoutError (UNS8 line)
+{
+	eprintf("TestMaster_SDOtimeoutError %d\n", line);
+}
+
+/*****************************************************************************/
+// CanSend store message in a FIFO, for Slave
+UNS8 TestMaster_canSend(Message *m)
+{
+	eprintf("M->S ");
+	print_message(m);
+	canSend(MasterCanHandle, m);
+	return 0;
+}
+
+void TestMaster_initialisation()
+{
+	eprintf("TestMaster_initialisation\n");
+}
+
+void TestMaster_preOperational()
+{
+	eprintf("TestMaster_preOperational\n");
+}
+
+void TestMaster_operational()
+{
+	eprintf("TestMaster_operational\n");
+}
+
+void TestMaster_stopped()
+{
+	eprintf("TestMaster_stopped\n");
+}
+
+void TestMaster_post_sync()
+{
+	eprintf("TestMaster_post_sync\n");
+	eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);
+}
+
+char query_result = 0;
+char waiting_answer = 0;
+
+void TestMaster_post_TPDO()
+{
+	eprintf("TestMaster_post_TPDO\n");
+
+//	{
+//		char zero = 0;
+//		if(MasterMap4 > 0x80){
+//			writeNetworkDict (
+//				&TestMaster_Data,
+//				TestSlave_Data->bDeviceNodeId,
+//				0x2002,
+//				0x00,
+//				1,
+//				0,
+//				&zero); 
+//		}
+//	}
+
+	if(waiting_answer){
+		UNS32 abortCode;			
+		UNS8 size;			
+		switch(getReadResultNetworkDict (
+			&TestMaster_Data, 
+			*TestSlave_Data.bDeviceNodeId,
+			&query_result,
+			&size,
+			&abortCode))
+		{
+			case SDO_FINISHED:
+				/* Do something with result here !!*/
+				eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
+			case SDO_ABORTED_RCV:
+			case SDO_ABORTED_INTERNAL:
+			case SDO_RESET:
+				waiting_answer = 0;
+				closeSDOtransfer(
+					&TestMaster_Data,
+					*TestSlave_Data.	bDeviceNodeId,
+					SDO_CLIENT);
+			break;
+			case SDO_DOWNLOAD_IN_PROGRESS:
+			case SDO_UPLOAD_IN_PROGRESS:
+			break;
+		}
+	}else if(MasterMap1 % 10 == 0){
+		readNetworkDict (
+			&TestMaster_Data,
+			*TestSlave_Data.bDeviceNodeId,
+			0x2002,
+			0x00,
+			0);
+		waiting_answer = 1;
+	}
+		
+}