--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterSlave/TestMasterSlave.c Wed May 10 16:59:40 2006 +0200
@@ -0,0 +1,200 @@
+/*
+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 <unistd.h>
+#include <stdlib.h>
+#include <signal.h>
+
+#include <applicfg.h>
+#include <can_driver.h>
+#include <timers_driver.h>
+
+#include "Master.h"
+#include "Slave.h"
+#include "TestMasterSlave.h"
+
+#define MyCase(fc) case fc: eprintf(#fc);break;
+void print_message(Message *m)
+{
+ int i;
+ switch(m->cob_id.w >> 7)
+ {
+ MyCase(SYNC)
+ MyCase(TIME_STAMP)
+ MyCase(PDO1tx)
+ MyCase(PDO1rx)
+ MyCase(PDO2tx)
+ MyCase(PDO2rx)
+ MyCase(PDO3tx)
+ MyCase(PDO3rx)
+ MyCase(PDO4tx)
+ MyCase(PDO4rx)
+ MyCase(SDOtx)
+ MyCase(SDOrx)
+ MyCase(NODE_GUARD)
+ MyCase(NMT)
+ }
+ eprintf(" rtr:%d", m->rtr);
+ eprintf(" len:%d", m->len);
+ for (i = 0 ; i < m->len ; i++)
+ eprintf(" %02x", m->data[i]);
+ eprintf("\n");
+}
+
+UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+{
+ eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
+}
+
+
+
+void InitNodes(CO_Data* d, UNS32 id)
+{
+// TestSlave_Index2000_callbacks[0] = &OnMasterMap1Update;
+ RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
+
+ /****************************** INITIALISATION MASTER *******************************/
+ /* Defining the node Id */
+ setNodeId(&TestMaster_Data, 0x01);
+
+ /* init */
+ setState(&TestMaster_Data, Initialisation);
+
+ /****************************** INITIALISATION SLAVE *******************************/
+ /* Defining the node Id */
+ setNodeId(&TestSlave_Data, 0x02);
+
+ /* init */
+ setState(&TestSlave_Data, Initialisation);
+
+ /****************************** START *******************************/
+ /* Put the master in operational mode */
+ setState(&TestMaster_Data, Operational);
+
+ masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
+
+}
+
+CAN_HANDLE SlaveCanHandle;
+CAN_HANDLE MasterCanHandle;
+
+// 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_500K
+// Appli have been compiled for Peak. Baudrate is defined
+# define BAUDRATE CAN_BAUD_500K
+#else
+// Appli have been compiled for Generic. Baudrate not used
+# define BAUDRATE 0
+#endif
+
+void catch_signal(int sig)
+{
+ signal(SIGTERM, catch_signal);
+ signal(SIGINT, catch_signal);
+ stopTimer();
+ eprintf("Got Sigterm - Finishing.\n");
+}
+
+
+void help()
+{
+ printf("**************************************************************\n");
+ printf("* TestMasterSlave *\n");
+ printf("* *\n");
+ printf("* A simple example for PC. It does implement 2 CanOpen *\n");
+ printf("* nodes in the same process. A master and a slave. Both *\n");
+ printf("* communicate together, exchanging periodically NMT, SYNC, *\n");
+ printf("* SDO and PDO. *\n");
+ printf("* *\n");
+ printf("* If you have chosen virtual CAN driver, just type *\n");
+ printf("* ./TestMasterSlave *\n");
+ printf("* *\n");
+ printf("* Else you need to sepcify bus: *\n");
+ printf("* *\n");
+ printf("* -s : slave CAN bus [default 0, peak first PCI] *\n");
+ printf("* -m : master CAN bus [default 1, peak second PCI] *\n");
+ printf("* *\n");
+ printf("**************************************************************\n");
+}
+
+/****************************************************************************/
+/*************************** MAIN *****************************************/
+/****************************************************************************/
+int main(int argc,char **argv)
+{
+ s_BOARD SlaveBoard = {"0", BAUDRATE, &TestSlave_Data};
+ s_BOARD MasterBoard = {"1", BAUDRATE, &TestMaster_Data};
+
+
+ char c;
+ extern char *optarg;
+
+ while ((c = getopt(argc, argv, "-m:s:")) != EOF)
+ {
+ switch(c)
+ {
+ case 's' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ SlaveBoard.busname = optarg;
+ break;
+ case 'm' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ MasterBoard.busname = optarg;
+ break;
+ default:
+ help();
+ exit(1);
+ }
+ }
+
+ /* install signal handler for manual break */
+ signal(SIGTERM, catch_signal);
+ signal(SIGINT, catch_signal);
+
+ // Open CAN devices
+ SlaveCanHandle = canOpen(&SlaveBoard);
+ MasterCanHandle = canOpen(&MasterBoard);
+
+ // Will call InitNodes, and wait and handle next timer events.
+ TimerLoop(&InitNodes);
+
+ // Close CAN devices
+ canClose(SlaveCanHandle);
+ canClose(MasterCanHandle);
+
+
+ return 0;
+}