Updated .od files to keep compatible with $NODEID+... way to express OD entry values, as in EDS.
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<a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a> » <a class="el" href="dir_4f45567b048264117a95e53b67d9aefb.html">TestMasterSlave</a></div>
<h1>Slave.c</h1><a href="Slave_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment">This file is part of CanFestival, a library implementing CanOpen Stack. </span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">Copyright (C): Edouard TISSERANT and Francis DUPIN</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">See COPYING file for copyrights details.</span>
<a name="l00007"></a>00007 <span class="comment"></span>
<a name="l00008"></a>00008 <span class="comment">This library is free software; you can redistribute it and/or</span>
<a name="l00009"></a>00009 <span class="comment">modify it under the terms of the GNU Lesser General Public</span>
<a name="l00010"></a>00010 <span class="comment">License as published by the Free Software Foundation; either</span>
<a name="l00011"></a>00011 <span class="comment">version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment">This library is distributed in the hope that it will be useful,</span>
<a name="l00014"></a>00014 <span class="comment">but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00015"></a>00015 <span class="comment">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00016"></a>00016 <span class="comment">Lesser General Public License for more details.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">You should have received a copy of the GNU Lesser General Public</span>
<a name="l00019"></a>00019 <span class="comment">License along with this library; if not, write to the Free Software</span>
<a name="l00020"></a>00020 <span class="comment">Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00021"></a>00021 <span class="comment">*/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="Slave_8h.html">Slave.h</a>"</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="Master_8h.html">Master.h</a>"</span>
<a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="TestMasterSlave_8h.html">TestMasterSlave.h</a>"</span>
<a name="l00026"></a>00026
<a name="l00027"></a>00027 <span class="comment">/*****************************************************************************/</span>
<a name="l00028"></a><a class="code" href="Slave_8h.html#b113cb0bf6c1e7b16bf3798de7bc04ca">00028</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#feea6edbb1f58238a49c0e292410d449">TestSlave_heartbeatError</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> heartbeatID)
<a name="l00029"></a>00029 {
<a name="l00030"></a>00030 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_heartbeatError %d\n"</span>, heartbeatID);
<a name="l00031"></a>00031 }
<a name="l00032"></a>00032
<a name="l00033"></a><a class="code" href="Slave_8h.html#be175819de926e00cd1d45b749871dbb">00033</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#ee7e3cdd945d35d48890257d44afc522">TestSlave_initialisation</a>()
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_initialisation\n"</span>);
<a name="l00036"></a>00036 }
<a name="l00037"></a>00037
<a name="l00038"></a><a class="code" href="Slave_8h.html#598794b89434bdcd679afc12406cc53c">00038</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#5e1c535a74c3aa907292c27b098a3af5">TestSlave_preOperational</a>()
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_preOperational\n"</span>);
<a name="l00041"></a>00041 }
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="Slave_8h.html#dbbf37899be8261b0736a9322c6e212a">00043</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#b3b281beb6cca9520ac6d69b057ace58">TestSlave_operational</a>()
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_operational\n"</span>);
<a name="l00046"></a>00046 }
<a name="l00047"></a>00047
<a name="l00048"></a><a class="code" href="Slave_8h.html#7d0e5692a9e255824c9435401f3c317b">00048</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#492b2140b6577220c8f6a3ef37e7fba8">TestSlave_stopped</a>()
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_stopped\n"</span>);
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="Slave_8h.html#b30abcdc5a47fc21367928db85b4a8f5">00053</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#b4e6d39d4f2b797c291976a5fcdeb061">TestSlave_post_sync</a>()
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_post_sync\n"</span>);
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <a class="code" href="TestSlave_8c.html#0315855e3166f37754f677c12af37079">SlaveMap1</a>=1;
<a name="l00058"></a>00058 <a class="code" href="TestSlave_8c.html#d4c4941435a80a898d90853bce7d7fb5">SlaveMap2</a>=1;
<a name="l00059"></a>00059 <a class="code" href="TestSlave_8c.html#02568038809abb8ee767b6e735e15661">SlaveMap3</a>=0;
<a name="l00060"></a>00060 <a class="code" href="TestSlave_8c.html#faa2629460f263d770c1b0c44ed23f3c">SlaveMap4</a>=0;
<a name="l00061"></a>00061 <a class="code" href="TestSlave_8c.html#97c4f8e9e1e1d495801d4e43c4b4e18e">SlaveMap5</a>=1;
<a name="l00062"></a>00062 <a class="code" href="TestSlave_8c.html#60b4c22166fc6d7c3b94b62591528ec5">SlaveMap6</a>=0;
<a name="l00063"></a>00063 <a class="code" href="TestSlave_8c.html#f3e1a22314eee7aa09ce25546f37a7c3">SlaveMap7</a>=1;
<a name="l00064"></a>00064 <a class="code" href="TestSlave_8c.html#6a4e0c32ada9a1b549dde17e7068f1d6">SlaveMap8</a>=0;
<a name="l00065"></a>00065 <a class="code" href="TestSlave_8c.html#5dc8dd78ebf4094815a611f2e656c921">SlaveMap9</a>=16;
<a name="l00066"></a>00066 <a class="code" href="TestSlave_8c.html#74dc04e166f002237ea9555dde2be1f8">SlaveMap10</a> = 0xff00ff00;
<a name="l00067"></a>00067 <a class="code" href="TestSlave_8c.html#ca2a65d14682fe50c421ca02e4fb4d7a">SlaveMap11</a> = 0xabcd;
<a name="l00068"></a>00068 <a class="code" href="TestSlave_8c.html#80e94f62a38da8440388f48d1907bd09">SlaveMap12</a> += <a class="code" href="TestSlave_8c.html#80e94f62a38da8440388f48d1907bd09">SlaveMap12</a> > 0x80 ? 0 : 1;
<a name="l00069"></a>00069 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Slave: %d %d %d %d %d %d %d %d %d %x %x %d %d \n"</span>,
<a name="l00070"></a>00070 <a class="code" href="TestSlave_8c.html#0315855e3166f37754f677c12af37079">SlaveMap1</a>,
<a name="l00071"></a>00071 <a class="code" href="TestSlave_8c.html#d4c4941435a80a898d90853bce7d7fb5">SlaveMap2</a>,
<a name="l00072"></a>00072 <a class="code" href="TestSlave_8c.html#02568038809abb8ee767b6e735e15661">SlaveMap3</a>,
<a name="l00073"></a>00073 <a class="code" href="TestSlave_8c.html#faa2629460f263d770c1b0c44ed23f3c">SlaveMap4</a>,
<a name="l00074"></a>00074 <a class="code" href="TestSlave_8c.html#97c4f8e9e1e1d495801d4e43c4b4e18e">SlaveMap5</a>,
<a name="l00075"></a>00075 <a class="code" href="TestSlave_8c.html#60b4c22166fc6d7c3b94b62591528ec5">SlaveMap6</a>,
<a name="l00076"></a>00076 <a class="code" href="TestSlave_8c.html#f3e1a22314eee7aa09ce25546f37a7c3">SlaveMap7</a>,
<a name="l00077"></a>00077 <a class="code" href="TestSlave_8c.html#6a4e0c32ada9a1b549dde17e7068f1d6">SlaveMap8</a>,
<a name="l00078"></a>00078 <a class="code" href="TestSlave_8c.html#5dc8dd78ebf4094815a611f2e656c921">SlaveMap9</a>,
<a name="l00079"></a>00079 <a class="code" href="TestSlave_8c.html#74dc04e166f002237ea9555dde2be1f8">SlaveMap10</a>,
<a name="l00080"></a>00080 <a class="code" href="TestSlave_8c.html#ca2a65d14682fe50c421ca02e4fb4d7a">SlaveMap11</a>,
<a name="l00081"></a>00081 <a class="code" href="TestSlave_8c.html#80e94f62a38da8440388f48d1907bd09">SlaveMap12</a>,
<a name="l00082"></a>00082 <a class="code" href="TestSlave_8c.html#679fa4981c285007faf389b25a4f8436">SlaveMap13</a>);
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="Slave_8h.html#c41c40ecef45e9e2085a2bac354b2595">00085</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#fc116705e79ad78a9e32ec33e5226e2d">TestSlave_post_TPDO</a>()
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 <a class="code" href="TestSlave_8c.html#679fa4981c285007faf389b25a4f8436">SlaveMap13</a> += 1;
<a name="l00088"></a>00088 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_post_TPDO\n"</span>);
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090
<a name="l00091"></a><a class="code" href="Slave_8h.html#1e047d439fd5887cc80528724fae0ca2">00091</a> <span class="keywordtype">void</span> <a class="code" href="Slave_8c.html#1e047d439fd5887cc80528724fae0ca2">TestSlave_storeODSubIndex</a>(<a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> wIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> bSubindex)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 <span class="comment">/*TODO : </span>
<a name="l00094"></a>00094 <span class="comment"> * - call getODEntry for index and subindex, </span>
<a name="l00095"></a>00095 <span class="comment"> * - save content to file, database, flash, nvram, ...</span>
<a name="l00096"></a>00096 <span class="comment"> * </span>
<a name="l00097"></a>00097 <span class="comment"> * To ease flash organisation, index of variable to store</span>
<a name="l00098"></a>00098 <span class="comment"> * can be established by scanning d->objdict[d->ObjdictSize]</span>
<a name="l00099"></a>00099 <span class="comment"> * for variables to store.</span>
<a name="l00100"></a>00100 <span class="comment"> * </span>
<a name="l00101"></a>00101 <span class="comment"> * */</span>
<a name="l00102"></a>00102 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"TestSlave_storeODSubIndex : %4.4x %2.2x\n"</span>, wIndex, bSubindex);
<a name="l00103"></a>00103 }
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