/*
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);
return 0;
}
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
int TranslateBaudeRate(char* optarg){
if(!strcmp( optarg, "1M")) return CAN_BAUD_1M;
if(!strcmp( optarg, "500K")) return CAN_BAUD_500K;
if(!strcmp( optarg, "250K")) return CAN_BAUD_250K;
if(!strcmp( optarg, "125K")) return CAN_BAUD_125K;
if(!strcmp( optarg, "100K")) return CAN_BAUD_100K;
if(!strcmp( optarg, "50K")) return CAN_BAUD_50K;
if(!strcmp( optarg, "20K")) return CAN_BAUD_20K;
if(!strcmp( optarg, "10K")) return CAN_BAUD_10K;
if(!strcmp( optarg, "5K")) return CAN_BAUD_5K;
if(!strcmp( optarg, "none")) return 0;
return 0x0000;
}
s_BOARD SlaveBoard = {"0", CAN_BAUD_500K, &TestSlave_Data};
s_BOARD MasterBoard = {"1", CAN_BAUD_500K, &TestMaster_Data};
#else
int TranslateBaudeRate(char* optarg){
if(!strcmp( optarg, "1M")) return 1000;
if(!strcmp( optarg, "500K")) return 500;
if(!strcmp( optarg, "250K")) return 250;
if(!strcmp( optarg, "125K")) return 125;
if(!strcmp( optarg, "100K")) return 100;
if(!strcmp( optarg, "50K")) return 50;
if(!strcmp( optarg, "20K")) return 20;
if(!strcmp( optarg, "10K")) return 10;
if(!strcmp( optarg, "5K")) return 5;
if(!strcmp( optarg, "none")) return 0;
return 0;
}
s_BOARD SlaveBoard = {"0", 500, &TestSlave_Data};
s_BOARD MasterBoard = {"1", 500, &TestMaster_Data};
#endif
void catch_signal(int sig)
{
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
eprintf("Got Signal %d\n",sig);
}
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("* Usage: *\n");
printf("* ./TestMasterSlave [OPTIONS] *\n");
printf("* *\n");
printf("* OPTIONS: *\n");
printf("* Slave: *\n");
printf("* -s : bus name [\"0\"] *\n");
printf("* -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\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 SLAVE *******************************/
if(SlaveBoard.baudrate) {
/* Defining the node Id */
setNodeId(&TestSlave_Data, 0x02);
/* init */
setState(&TestSlave_Data, Initialisation);
}
/****************************** INITIALISATION MASTER *******************************/
if(MasterBoard.baudrate){
RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
/* Defining the node Id */
setNodeId(&TestMaster_Data, 0x01);
/* init */
setState(&TestMaster_Data, Initialisation);
/****************************** START *******************************/
/* Put the master in operational mode */
setState(&TestMaster_Data, Operational);
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
}
}
/****************************************************************************/
/*************************** MAIN *****************************************/
/****************************************************************************/
int main(int argc,char **argv)
{
char c;
extern char *optarg;
while ((c = getopt(argc, argv, "-m:s: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;
case 'S' :
if (optarg[0] == 0)
{
help();
exit(1);
}
SlaveBoard.baudrate = TranslateBaudeRate(optarg);
break;
case 'M' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.baudrate = TranslateBaudeRate(optarg);
break;
default:
help();
exit(1);
}
}
/* install signal handler for manual break */
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
// Open CAN devices
if(SlaveBoard.baudrate)
if((SlaveCanHandle = canOpen(&SlaveBoard))==NULL) goto fail_slave;
if(MasterBoard.baudrate)
if((MasterCanHandle = canOpen(&MasterBoard))==NULL) goto fail_master;
// Start timer thread
StartTimerLoop(&InitNodes);
// wait Ctrl-C
pause();
eprintf("Finishing.\n");
// Stop timer thread
StopTimerLoop();
// Close CAN devices (and can threads)
if(SlaveBoard.baudrate) canClose(SlaveCanHandle);
fail_master:
if(MasterBoard.baudrate) canClose(MasterCanHandle);
fail_slave:
return 0;
}