--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/kerneltest/TestMasterSlave.c	Tue Feb 12 09:44:55 2008 +0100
@@ -0,0 +1,103 @@
+#include "canfestival.h"
+
+#include "Master.h"
+#include "Slave.h"
+#include "TestMasterSlave.h"
+
+
+static UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
+{
+	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
+	return 0;
+}
+
+s_BOARD SlaveBoard = {"0", "125K"};
+s_BOARD MasterBoard = {"1", "125K"};
+
+/***************************  INIT  *****************************************/
+static void InitNodes(CO_Data* d, UNS32 id)
+{
+	/****************************** INITIALISATION SLAVE *******************************/
+	if(strcmp(SlaveBoard.baudrate, "none")) {
+		setNodeId(&TestSlave_Data, 0x02);
+
+		setState(&TestSlave_Data, Initialisation);
+	}
+
+	/****************************** INITIALISATION MASTER *******************************/
+	if(strcmp(MasterBoard.baudrate, "none")){
+ 		RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
+		
+		// Defining the node Id
+		setNodeId(&TestMaster_Data, 0x01);
+
+		setState(&TestMaster_Data, Initialisation);
+	}
+}
+
+int TestMasterSlave_start (void)
+{
+	if(strcmp(SlaveBoard.baudrate, "none")){
+		
+		TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
+		TestSlave_Data.initialisation = TestSlave_initialisation;
+		TestSlave_Data.preOperational = TestSlave_preOperational;
+		TestSlave_Data.operational = TestSlave_operational;
+		TestSlave_Data.stopped = TestSlave_stopped;
+		TestSlave_Data.post_sync = TestSlave_post_sync;
+		TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
+		TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
+		TestSlave_Data.post_emcy = TestSlave_post_emcy;
+
+		if(!canOpen(&SlaveBoard,&TestSlave_Data)){
+			eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
+			return 1;
+		}
+	}
+	if(strcmp(MasterBoard.baudrate, "none")){
+		
+		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
+		TestMaster_Data.initialisation = TestMaster_initialisation;
+		TestMaster_Data.preOperational = TestMaster_preOperational;
+		TestMaster_Data.operational = TestMaster_operational;
+		TestMaster_Data.stopped = TestMaster_stopped;
+		TestMaster_Data.post_sync = TestMaster_post_sync;
+		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
+		TestMaster_Data.post_emcy = TestMaster_post_emcy;
+		TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
+		
+		if(!canOpen(&MasterBoard,&TestMaster_Data)){
+			eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
+			if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
+			return 1;
+		}
+	}
+
+	// Start timer thread
+	StartTimerLoop(&InitNodes);
+
+	return 0;
+}
+
+void TestMasterSlave_stop (void)
+{
+	eprintf("Finishing.\n");
+	
+	EnterMutex();
+	masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Reset_Node);
+	LeaveMutex();
+	
+	// Stop master
+	EnterMutex();
+	setState(&TestMaster_Data, Stopped);
+	LeaveMutex();
+	
+	// Stop timer thread
+	StopTimerLoop();
+	
+	// Close CAN devices (and can threads)
+	if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
+	if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
+
+	eprintf("End.\n");
+}