Modifs mineures.
/*
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;
}