--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TestMasterMicroMod/TestMasterMicroMod.c Tue Apr 17 16:13:22 2007 +0200
@@ -0,0 +1,383 @@
+/*
+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
+*/
+
+#if defined(WIN32) && !defined(__CYGWIN__)
+#include <windows.h>
+#include "getopt.h"
+void pause(void)
+{
+ system("PAUSE");
+}
+#else
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <signal.h>
+#endif
+
+#include "canfestival.h"
+#include "TestMasterMicroMod.h"
+#include "TestMaster.h"
+UNS8 slavenodeid;
+
+
+/*****************************************************************************/
+void TestMaster_heartbeatError(UNS8 heartbeatID)
+{
+ eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
+}
+
+/*****************************************************************************/
+void TestMaster_SDOtimeoutError (UNS8 line)
+{
+ eprintf("TestMaster_SDOtimeoutError %d\n", line);
+}
+
+/********************************************************
+ * ConfigureSlaveNode is responsible to
+ * - setup master RPDO 1 to receive TPDO 1 from id 0x40
+ * - setup master TPDO 1 to send RPDO 1 to id 0x40
+ ********************************************************/
+void TestMaster_initialisation()
+{
+ UNS32 PDO1_COBID = 0x0180 + slavenodeid;
+ UNS32 PDO2_COBID = 0x0200 + slavenodeid;
+ UNS8 size = sizeof(UNS32);
+
+ eprintf("TestMaster_initialisation\n");
+
+ /*****************************************
+ * Define RPDOs to match slave ID=0x40 TPDOs*
+ *****************************************/
+ setODentry( &TestMaster_Data, /*CO_Data* d*/
+ 0x1400, /*UNS16 index*/
+ 0x01, /*UNS8 subind*/
+ &PDO1_COBID, /*void * pSourceData,*/
+ &size, /* UNS8 * pExpectedSize*/
+ RW); /* UNS8 checkAccess */
+
+
+ /*****************************************
+ * Define TPDOs to match slave ID=0x40 RPDOs*
+ *****************************************/
+ setODentry( &TestMaster_Data, /*CO_Data* d*/
+ 0x1800, /*UNS16 index*/
+ 0x01, /*UNS8 subind*/
+ &PDO2_COBID, /*void * pSourceData,*/
+ &size, /* UNS8 * pExpectedSize*/
+ RW); /* UNS8 checkAccess */
+}
+
+/********************************************************
+ * ConfigureSlaveNode is responsible to
+ * - setup slave TPDO 1 transmit time
+ * - setup slave TPDO 2 transmit time
+ * - setup slave Heartbeat Producer time
+ * - switch to operational mode
+ * - send NMT to slave
+ ********************************************************
+ * This an example of :
+ * Network Dictionary Access (SDO) with Callback
+ * Slave node state change request (NMT)
+ ********************************************************
+ * This is called first by TestMaster_preOperational
+ * then it called again each time a SDO exchange is
+ * finished.
+ ********************************************************/
+static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
+{
+ // Step counts number of times ConfigureSlaveNode is called
+ static step = 1;
+
+ UNS8 Transmission_Type = 0x01;
+ UNS16 Heartbeat_Producer_Time = 0x03E8;
+ UNS32 abortCode;
+ UNS8 res;
+ eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
+ switch(step++){
+ case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
+ eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
+ res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
+ nodeId, /*UNS8 nodeId*/
+ 0x1800, /*UNS16 index*/
+ 0x02, /*UNS8 subindex*/
+ 1, /*UNS8 count*/
+ 0, /*UNS8 dataType*/
+ &Transmission_Type,/*void *data*/
+ ConfigureSlaveNode); /*SDOCallback_t Callback*/
+ break;
+
+
+ case 2: /*Second step*/
+ if(getWriteResultNetworkDict (d, slavenodeid, &abortCode) != SDO_FINISHED)
+ eprintf("Master : Couldn't set slave %2.2x TPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
+
+ /* Finalise last SDO transfer with this node */
+ closeSDOtransfer(&TestMaster_Data,
+ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
+ slavenodeid, /*UNS8 nodeId*/
+ SDO_CLIENT);
+
+ eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
+ res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
+ slavenodeid, /*UNS8 nodeId*/
+ 0x1400, /*UNS16 index*/
+ 0x02, /*UNS8 subindex*/
+ 1, /*UNS8 count*/
+ 0, /*UNS8 dataType*/
+ &Transmission_Type,/*void *data*/
+ ConfigureSlaveNode); /*SDOCallback_t Callback*/
+ break;
+
+ case 3: /*Second step*/
+ if(getWriteResultNetworkDict (d, slavenodeid, &abortCode) != SDO_FINISHED)
+ eprintf("Master : Couldn't set slave %2.2x RPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
+
+ /* Finalise last SDO transfer with this node */
+ closeSDOtransfer(&TestMaster_Data,
+ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
+ slavenodeid, /*UNS8 nodeId*/
+ SDO_CLIENT);
+
+ eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
+ res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
+ slavenodeid, /*UNS8 nodeId*/
+ 0x1017, /*UNS16 index*/
+ 0x00, /*UNS8 subindex*/
+ 2, /*UNS8 count*/
+ 0, /*UNS8 dataType*/
+ &Heartbeat_Producer_Time,/*void *data*/
+ ConfigureSlaveNode); /*SDOCallback_t Callback*/
+ break;
+
+ case 4: /*Second step*/
+
+ if(getWriteResultNetworkDict (d, slavenodeid, &abortCode) != SDO_FINISHED)
+ eprintf("Master : Couldn't set slave %2.2x Heartbeat_Producer_Time. AbortCode :%4.4x \n", nodeId, abortCode);
+
+ /* Finalise last SDO transfer with this node */
+ closeSDOtransfer(&TestMaster_Data,
+ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
+ slavenodeid, /*UNS8 nodeId*/
+ SDO_CLIENT);
+
+ /* Put the master in operational mode */
+ setState(d, Operational);
+
+ /* Ask slave node to go in operational mode */
+ masterSendNMTstateChange (d, slavenodeid, NMT_Start_Node);
+ }
+
+}
+
+void TestMaster_preOperational()
+{
+
+ eprintf("TestMaster_preOperational\n");
+ ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
+
+}
+
+void TestMaster_operational()
+{
+ eprintf("TestMaster_operational\n");
+}
+
+void TestMaster_stopped()
+{
+ eprintf("TestMaster_stopped\n");
+}
+
+void TestMaster_post_sync()
+{
+ DO++;
+ eprintf("MicroMod Digital Out: %2.2x In: %2.2d\n",DO,DI);
+}
+
+void TestMaster_post_TPDO()
+{
+// eprintf("TestMaster_post_TPDO\n");
+}
+
+//s_BOARD SlaveBoard = {"0", "500K"};
+s_BOARD MasterBoard = {"32", "125K"};
+
+#if !defined(WIN32) || defined(__CYGWIN__)
+void catch_signal(int sig)
+{
+ signal(SIGTERM, catch_signal);
+ signal(SIGINT, catch_signal);
+
+ eprintf("Got Signal %d\n",sig);
+}
+#endif
+
+void help()
+{
+ printf("**************************************************************\n");
+ printf("* TestMasterMicroMod *\n");
+ printf("* *\n");
+ printf("* A simple example for PC. *\n");
+ printf("* A CanOpen master that control a MicroMod module: *\n");
+ printf("* - setup module TPDO 1 transmit type (ignored ???) *\n");
+ printf("* - setup module RPDO 1 transmit type (ignored ???) *\n");
+ printf("* - setup module hearbeatbeat period *\n");
+ printf("* - set state to operational *\n");
+ printf("* - send periodic SYNC (ignored ???) *\n");
+ printf("* - send periodic RPDO 1 to Micromod (digital output) *\n");
+ printf("* - listen Micromod's TPDO 1 (digital input) *\n");
+ printf("* *\n");
+ printf("* Usage: *\n");
+ printf("* ./TestMasterMicroMod [OPTIONS] *\n");
+ printf("* *\n");
+ printf("* OPTIONS: *\n");
+ printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n");
+ printf("* *\n");
+ printf("* Slave: *\n");
+ printf("* -i : Slave Node id format [0x01 , 0x7F] *\n");
+ printf("* *\n");
+ printf("* Master: *\n");
+ printf("* -m : bus name [\"1\"] *\n");
+ printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n");
+ printf("* *\n");
+ printf("**************************************************************\n");
+}
+
+/*************************** INIT *****************************************/
+void InitNodes(CO_Data* d, UNS32 id)
+{
+ /****************************** INITIALISATION MASTER *******************************/
+ if(MasterBoard.baudrate){
+ /* Defining the node Id */
+ setNodeId(&TestMaster_Data, 0x01);
+
+ /* init */
+ setState(&TestMaster_Data, Initialisation);
+ }
+}
+
+/****************************************************************************/
+/*************************** MAIN *****************************************/
+/****************************************************************************/
+int main(int argc,char **argv)
+{
+
+ char c;
+ extern char *optarg;
+ char* LibraryPath="libcanfestival_can_virtual.so";
+ char *snodeid;
+ while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
+ {
+ switch(c)
+ {
+ case 'm' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ MasterBoard.busname = optarg;
+ break;
+ case 'M' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ MasterBoard.baudrate = optarg;
+ break;
+ case 'l' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ LibraryPath = optarg;
+ break;
+ case 'i' :
+ if (optarg[0] == 0)
+ {
+ help();
+ exit(1);
+ }
+ snodeid = optarg;
+ sscanf(snodeid,"%x",&slavenodeid);
+ break;
+ default:
+ help();
+ exit(1);
+ }
+ }
+
+#if !defined(WIN32) || defined(__CYGWIN__)
+ /* install signal handler for manual break */
+ signal(SIGTERM, catch_signal);
+ signal(SIGINT, catch_signal);
+#endif
+
+#ifndef NOT_USE_DYNAMIC_LOADING
+ LoadCanDriver(LibraryPath);
+#endif
+
+ if(MasterBoard.baudrate){
+
+ TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
+ TestMaster_Data.SDOtimeoutError = TestMaster_SDOtimeoutError;
+ 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;
+
+ if(!canOpen(&MasterBoard,&TestMaster_Data)){
+ eprintf("Cannot open Master Board\n");
+ goto fail_master;
+ }
+ }
+
+ // Start timer thread
+ StartTimerLoop(&InitNodes);
+
+ // wait Ctrl-C
+ pause();
+ eprintf("Finishing.\n");
+
+ // Reset the slave node for next use (will stop emitting heartbeat)
+ masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
+
+ // Stop master
+ setState(&TestMaster_Data, Stopped);
+
+ // Stop timer thread
+ StopTimerLoop();
+
+fail_master:
+ if(MasterBoard.baudrate) canClose(&TestMaster_Data);
+
+ return 0;
+}
+
+