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<a class="el" href="dir_fc8d77725c328f9de5a130dceab5a508.html">examples</a> » <a class="el" href="dir_a7260e1e7d8c32b9634bb52472535efa.html">TestMasterMicroMod</a></div>
<h1>TestMasterMicroMod.c</h1><a href="TestMasterMicroMod_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">#if defined(WIN32) && !defined(__CYGWIN__)</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#include <windows.h></span>
<a name="l00025"></a>00025 <span class="preprocessor">#include "getopt.h"</span>
<a name="l00026"></a>00026 <span class="keywordtype">void</span> pause(<span class="keywordtype">void</span>)
<a name="l00027"></a>00027 {
<a name="l00028"></a>00028 system(<span class="stringliteral">"PAUSE"</span>);
<a name="l00029"></a>00029 }
<a name="l00030"></a>00030 <span class="preprocessor">#else</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#include <unistd.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <stdio.h></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <string.h></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <signal.h></span>
<a name="l00036"></a>00036 <span class="preprocessor">#endif</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="TestMasterMicroMod_8h.html">TestMasterMicroMod.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="TestMasterMicroMod_2TestMaster_8h.html">TestMaster.h</a>"</span>
<a name="l00041"></a><a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">00041</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">slavenodeid</a>;
<a name="l00042"></a>00042
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">/*****************************************************************************/</span>
<a name="l00045"></a><a class="code" href="TestMasterMicroMod_8c.html#47eb45e75b4db150fb465fcf171ef4b4">00045</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#47eb45e75b4db150fb465fcf171ef4b4">TestMaster_heartbeatError</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> heartbeatID)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_heartbeatError %d\n"</span>, heartbeatID);
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="comment">/********************************************************</span>
<a name="l00051"></a>00051 <span class="comment"> * ConfigureSlaveNode is responsible to</span>
<a name="l00052"></a>00052 <span class="comment"> * - setup master RPDO 1 to receive TPDO 1 from id 0x40</span>
<a name="l00053"></a>00053 <span class="comment"> * - setup master TPDO 1 to send RPDO 1 to id 0x40</span>
<a name="l00054"></a>00054 <span class="comment"> ********************************************************/</span>
<a name="l00055"></a><a class="code" href="TestMasterMicroMod_8c.html#e08dfb379eebaa62524fac5bba2196d5">00055</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#e08dfb379eebaa62524fac5bba2196d5">TestMaster_initialisation</a>()
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> PDO1_COBID = 0x0180 + <a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">slavenodeid</a>;
<a name="l00058"></a>00058 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> PDO2_COBID = 0x0200 + <a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">slavenodeid</a>;
<a name="l00059"></a>00059 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> size = <span class="keyword">sizeof</span>(<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>);
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_initialisation\n"</span>);
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="comment">/*****************************************</span>
<a name="l00064"></a>00064 <span class="comment"> * Define RPDOs to match slave ID=0x40 TPDOs*</span>
<a name="l00065"></a>00065 <span class="comment"> *****************************************/</span>
<a name="l00066"></a>00066 <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>( &<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
<a name="l00067"></a>00067 0x1400, <span class="comment">/*UNS16 index*/</span>
<a name="l00068"></a>00068 0x01, <span class="comment">/*UNS8 subind*/</span>
<a name="l00069"></a>00069 &PDO1_COBID, <span class="comment">/*void * pSourceData,*/</span>
<a name="l00070"></a>00070 &size, <span class="comment">/* UNS8 * pExpectedSize*/</span>
<a name="l00071"></a>00071 <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>); <span class="comment">/* UNS8 checkAccess */</span>
<a name="l00072"></a>00072
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="comment">/*****************************************</span>
<a name="l00075"></a>00075 <span class="comment"> * Define TPDOs to match slave ID=0x40 RPDOs*</span>
<a name="l00076"></a>00076 <span class="comment"> *****************************************/</span>
<a name="l00077"></a>00077 <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>( &<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <span class="comment">/*CO_Data* d*/</span>
<a name="l00078"></a>00078 0x1800, <span class="comment">/*UNS16 index*/</span>
<a name="l00079"></a>00079 0x01, <span class="comment">/*UNS8 subind*/</span>
<a name="l00080"></a>00080 &PDO2_COBID, <span class="comment">/*void * pSourceData,*/</span>
<a name="l00081"></a>00081 &size, <span class="comment">/* UNS8 * pExpectedSize*/</span>
<a name="l00082"></a>00082 <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>); <span class="comment">/* UNS8 checkAccess */</span>
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keyword">static</span> init_step = 0;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment">/*Froward declaration*/</span>
<a name="l00088"></a>00088 <span class="keyword">static</span> <span class="keywordtype">void</span> ConfigureSlaveNode(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId);
<a name="l00089"></a>00089
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keyword">static</span> <span class="keywordtype">void</span> CheckSDOAndContinue(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> abortCode;
<a name="l00094"></a>00094
<a name="l00095"></a>00095 <span class="keywordflow">if</span>(<a class="code" href="sdo_8c.html#8671e306873f19362c60bb50ab930d1d">getWriteResultNetworkDict</a> (d, nodeId, &abortCode) != <a class="code" href="def_8h.html#7d9dad1485ed532424092d21b1e22ad2">SDO_FINISHED</a>)
<a name="l00096"></a>00096 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n"</span>, nodeId, init_step, abortCode);
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="comment">/* Finalise last SDO transfer with this node */</span>
<a name="l00099"></a>00099 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, nodeId, <a class="code" href="def_8h.html#b1dccfddc653c2a7c4eaf3e1cc8d8e57">SDO_CLIENT</a>);
<a name="l00100"></a>00100
<a name="l00101"></a>00101 ConfigureSlaveNode(d, nodeId);
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment">/********************************************************</span>
<a name="l00105"></a>00105 <span class="comment"> * ConfigureSlaveNode is responsible to</span>
<a name="l00106"></a>00106 <span class="comment"> * - setup slave TPDO 1 transmit time</span>
<a name="l00107"></a>00107 <span class="comment"> * - setup slave TPDO 2 transmit time</span>
<a name="l00108"></a>00108 <span class="comment"> * - setup slave Heartbeat Producer time</span>
<a name="l00109"></a>00109 <span class="comment"> * - switch to operational mode</span>
<a name="l00110"></a>00110 <span class="comment"> * - send NMT to slave</span>
<a name="l00111"></a>00111 <span class="comment"> ********************************************************</span>
<a name="l00112"></a>00112 <span class="comment"> * This an example of :</span>
<a name="l00113"></a>00113 <span class="comment"> * Network Dictionary Access (SDO) with Callback </span>
<a name="l00114"></a>00114 <span class="comment"> * Slave node state change request (NMT) </span>
<a name="l00115"></a>00115 <span class="comment"> ********************************************************</span>
<a name="l00116"></a>00116 <span class="comment"> * This is called first by TestMaster_preOperational</span>
<a name="l00117"></a>00117 <span class="comment"> * then it called again each time a SDO exchange is</span>
<a name="l00118"></a>00118 <span class="comment"> * finished.</span>
<a name="l00119"></a>00119 <span class="comment"> ********************************************************/</span>
<a name="l00120"></a>00120 <span class="keyword">static</span> <span class="keywordtype">void</span> ConfigureSlaveNode(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId)
<a name="l00121"></a>00121 {
<a name="l00122"></a>00122 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res;
<a name="l00123"></a>00123 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : ConfigureSlaveNode %2.2x\n"</span>, nodeId);
<a name="l00124"></a>00124 <span class="keywordflow">switch</span>(++init_step){
<a name="l00125"></a>00125 <span class="keywordflow">case</span> 1:
<a name="l00126"></a>00126 { <span class="comment">/*disable Slave's TPDO 1 */</span>
<a name="l00127"></a>00127 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x80000180 + nodeId;
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : disable slave %2.2x TPDO 1 \n"</span>, nodeId);
<a name="l00130"></a>00130 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00132"></a>00132 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00133"></a>00133 0x1800, <span class="comment">/*UNS16 index*/</span>
<a name="l00134"></a>00134 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00135"></a>00135 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00136"></a>00136 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00137"></a>00137 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00138"></a>00138 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140 <span class="keywordflow">break</span>;
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keywordflow">case</span> 2:
<a name="l00143"></a>00143 { <span class="comment">/*setup Slave's TPDO 1 to be transmitted on SYNC*/</span>
<a name="l00144"></a>00144 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Transmission_Type = 0x01;
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x TPDO 1 transmit type\n"</span>, nodeId);
<a name="l00147"></a>00147 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00149"></a>00149 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00150"></a>00150 0x1800, <span class="comment">/*UNS16 index*/</span>
<a name="l00151"></a>00151 0x02, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00152"></a>00152 1, <span class="comment">/*UNS8 count*/</span>
<a name="l00153"></a>00153 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00154"></a>00154 &Transmission_Type,<span class="comment">/*void *data*/</span>
<a name="l00155"></a>00155 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="keywordflow">break</span>;
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keywordflow">case</span> 3:
<a name="l00160"></a>00160 { <span class="comment">/*re-enable Slave's TPDO 1 */</span>
<a name="l00161"></a>00161 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x00000180 + nodeId;
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : re-enable slave %2.2x TPDO 1\n"</span>, nodeId);
<a name="l00164"></a>00164 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00166"></a>00166 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00167"></a>00167 0x1800, <span class="comment">/*UNS16 index*/</span>
<a name="l00168"></a>00168 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00169"></a>00169 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00170"></a>00170 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00171"></a>00171 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00172"></a>00172 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174 <span class="keywordflow">break</span>;
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="keywordflow">case</span> 4:
<a name="l00177"></a>00177 { <span class="comment">/*disable Slave's TPDO 2 */</span>
<a name="l00178"></a>00178 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x80000200 + nodeId;
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : disable slave %2.2x RPDO 1\n"</span>, nodeId);
<a name="l00181"></a>00181 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00183"></a>00183 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00184"></a>00184 0x1400, <span class="comment">/*UNS16 index*/</span>
<a name="l00185"></a>00185 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00186"></a>00186 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00187"></a>00187 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00188"></a>00188 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00189"></a>00189 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 <span class="keywordflow">break</span>;
<a name="l00192"></a>00192
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="keywordflow">case</span> 5:
<a name="l00195"></a>00195 {
<a name="l00196"></a>00196 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> Transmission_Type = 0x01;
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x RPDO 1 receive type\n"</span>, nodeId);
<a name="l00199"></a>00199 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00201"></a>00201 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00202"></a>00202 0x1400, <span class="comment">/*UNS16 index*/</span>
<a name="l00203"></a>00203 0x02, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00204"></a>00204 1, <span class="comment">/*UNS8 count*/</span>
<a name="l00205"></a>00205 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00206"></a>00206 &Transmission_Type,<span class="comment">/*void *data*/</span>
<a name="l00207"></a>00207 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00208"></a>00208 }
<a name="l00209"></a>00209 <span class="keywordflow">break</span>;
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="keywordflow">case</span> 6:
<a name="l00212"></a>00212 { <span class="comment">/*re-enable Slave's TPDO 1 */</span>
<a name="l00213"></a>00213 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x00000200 + nodeId;
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : re-enable %2.2x RPDO 1\n"</span>, nodeId);
<a name="l00216"></a>00216 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00218"></a>00218 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00219"></a>00219 0x1400, <span class="comment">/*UNS16 index*/</span>
<a name="l00220"></a>00220 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00221"></a>00221 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00222"></a>00222 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00223"></a>00223 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00224"></a>00224 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00225"></a>00225 }
<a name="l00226"></a>00226 <span class="keywordflow">break</span>;
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="keywordflow">case</span> 7:
<a name="l00229"></a>00229 {
<a name="l00230"></a>00230 <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> Heartbeat_Producer_Time = 0x03E8;
<a name="l00231"></a>00231 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : set slave %2.2x heartbeat producer time \n"</span>, nodeId);
<a name="l00232"></a>00232 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00234"></a>00234 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00235"></a>00235 0x1017, <span class="comment">/*UNS16 index*/</span>
<a name="l00236"></a>00236 0x00, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00237"></a>00237 2, <span class="comment">/*UNS8 count*/</span>
<a name="l00238"></a>00238 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00239"></a>00239 &Heartbeat_Producer_Time,<span class="comment">/*void *data*/</span>
<a name="l00240"></a>00240 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00241"></a>00241 }
<a name="l00242"></a>00242 <span class="keywordflow">break</span>;
<a name="l00243"></a>00243
<a name="l00244"></a>00244 <span class="keywordflow">case</span> 8:
<a name="l00245"></a>00245 { <span class="comment">/*disable Slave's TPDO 2 */</span>
<a name="l00246"></a>00246 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x80000280 + nodeId;
<a name="l00247"></a>00247
<a name="l00248"></a>00248 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : disable slave %2.2x TPDO 2 \n"</span>, nodeId);
<a name="l00249"></a>00249 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00251"></a>00251 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00252"></a>00252 0x1801, <span class="comment">/*UNS16 index*/</span>
<a name="l00253"></a>00253 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00254"></a>00254 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00255"></a>00255 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00256"></a>00256 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00257"></a>00257 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00258"></a>00258 }
<a name="l00259"></a>00259 <span class="keywordflow">break</span>;
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <span class="keywordflow">case</span> 9:
<a name="l00262"></a>00262 { <span class="comment">/*disable Slave's TPDO 3 */</span>
<a name="l00263"></a>00263 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x80000380 + nodeId;
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : disable slave %2.2x TPDO 3 \n"</span>, nodeId);
<a name="l00266"></a>00266 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00268"></a>00268 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00269"></a>00269 0x1802, <span class="comment">/*UNS16 index*/</span>
<a name="l00270"></a>00270 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00271"></a>00271 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00272"></a>00272 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00273"></a>00273 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00274"></a>00274 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00275"></a>00275 }
<a name="l00276"></a>00276 <span class="keywordflow">break</span>;
<a name="l00277"></a>00277
<a name="l00278"></a>00278 <span class="keywordflow">case</span> 10:
<a name="l00279"></a>00279 { <span class="comment">/*disable Slave's TPDO 2 */</span>
<a name="l00280"></a>00280 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> TPDO_COBId = 0x80000480 + nodeId;
<a name="l00281"></a>00281
<a name="l00282"></a>00282 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Master : disable slave %2.2x TPDO 4 \n"</span>, nodeId);
<a name="l00283"></a>00283 res = <a class="code" href="sdo_8c.html#f4ec05293fb8971a1b282994498ed4f5">writeNetworkDictCallBack</a> (d, <span class="comment">/*CO_Data* d*/</span>
<a name="l00285"></a>00285 nodeId, <span class="comment">/*UNS8 nodeId*/</span>
<a name="l00286"></a>00286 0x1803, <span class="comment">/*UNS16 index*/</span>
<a name="l00287"></a>00287 0x01, <span class="comment">/*UNS8 subindex*/</span>
<a name="l00288"></a>00288 4, <span class="comment">/*UNS8 count*/</span>
<a name="l00289"></a>00289 0, <span class="comment">/*UNS8 dataType*/</span>
<a name="l00290"></a>00290 &TPDO_COBId,<span class="comment">/*void *data*/</span>
<a name="l00291"></a>00291 CheckSDOAndContinue); <span class="comment">/*SDOCallback_t Callback*/</span>
<a name="l00292"></a>00292 }
<a name="l00293"></a>00293 <span class="keywordflow">break</span>;
<a name="l00294"></a>00294
<a name="l00295"></a>00295 <span class="keywordflow">case</span> 11:
<a name="l00296"></a>00296 <span class="comment">/* Put the master in operational mode */</span>
<a name="l00297"></a>00297 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(d, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>);
<a name="l00298"></a>00298
<a name="l00299"></a>00299 <span class="comment">/* Ask slave node to go in operational mode */</span>
<a name="l00300"></a>00300 <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a> (d, nodeId, <a class="code" href="def_8h.html#9654207fdc32413aa792c8a2dc9d414f">NMT_Start_Node</a>);
<a name="l00301"></a>00301 }
<a name="l00302"></a>00302
<a name="l00303"></a>00303 }
<a name="l00304"></a>00304
<a name="l00305"></a><a class="code" href="TestMasterMicroMod_8c.html#8fe2bae5bb407a3a71ee5fa5ea5d617f">00305</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#8fe2bae5bb407a3a71ee5fa5ea5d617f">TestMaster_preOperational</a>()
<a name="l00306"></a>00306 {
<a name="l00307"></a>00307
<a name="l00308"></a>00308 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_preOperational\n"</span>);
<a name="l00309"></a>00309 ConfigureSlaveNode(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">slavenodeid</a>);
<a name="l00310"></a>00310
<a name="l00311"></a>00311 }
<a name="l00312"></a>00312
<a name="l00313"></a><a class="code" href="TestMasterMicroMod_8c.html#81c297f2b4b9676e906286bf46541fc1">00313</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#81c297f2b4b9676e906286bf46541fc1">TestMaster_operational</a>()
<a name="l00314"></a>00314 {
<a name="l00315"></a>00315 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_operational\n"</span>);
<a name="l00316"></a>00316 }
<a name="l00317"></a>00317
<a name="l00318"></a><a class="code" href="TestMasterMicroMod_8c.html#897d573cafc13ac80abbc207c0ee41b0">00318</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#897d573cafc13ac80abbc207c0ee41b0">TestMaster_stopped</a>()
<a name="l00319"></a>00319 {
<a name="l00320"></a>00320 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"TestMaster_stopped\n"</span>);
<a name="l00321"></a>00321 }
<a name="l00322"></a>00322
<a name="l00323"></a><a class="code" href="TestMasterMicroMod_8c.html#9a8f72cab7f649481ca84ab2222dd179">00323</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#9a8f72cab7f649481ca84ab2222dd179">TestMaster_post_sync</a>()
<a name="l00324"></a>00324 {
<a name="l00325"></a>00325 <a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#0f3fc8fd8c6e5e90bd27d90173313c5a">DO</a>++;
<a name="l00326"></a>00326 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"MicroMod Digital Out: %2.2x\n"</span>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#0f3fc8fd8c6e5e90bd27d90173313c5a">DO</a>);
<a name="l00327"></a>00327 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n"</span>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#7da56ff4d171b28e13107db1644f22cd">DI1</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#a13d657655f5e7e284cc71bf17422f89">DI2</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#e28ac010ddba987ed2c6d787ddedc6de">DI3</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#acdd17be31428ac56c25129bbf2a7a99">DI4</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#86ae52f9103ebedc7966fbc749968d8b">DI5</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#dc4a7539d04dd740bb3cb2e85a3a39ba">DI6</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#92bd70c6064c5c14d1fe9dfa3010e60f">DI7</a>,<a class="code" href="TestMasterMicroMod_2TestMaster_8c.html#143c1ddeb1107fd8f9dbcfed8ff6c03b">DI8</a>);
<a name="l00328"></a>00328 }
<a name="l00329"></a>00329
<a name="l00330"></a><a class="code" href="TestMasterMicroMod_8c.html#5e466aa03eae00c269cf20359a7ee074">00330</a> <span class="keywordtype">void</span> <a class="code" href="Master_8c.html#5e466aa03eae00c269cf20359a7ee074">TestMaster_post_TPDO</a>()
<a name="l00331"></a>00331 {
<a name="l00332"></a>00332 <span class="comment">// eprintf("TestMaster_post_TPDO\n"); </span>
<a name="l00333"></a>00333 }
<a name="l00334"></a>00334
<a name="l00335"></a>00335 <span class="comment">//s_BOARD SlaveBoard = {"0", "500K"};</span>
<a name="l00336"></a><a class="code" href="TestMasterMicroMod_8c.html#460b5e3b15bb47df23119998ea0fbd31">00336</a> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a> = {<span class="stringliteral">"32"</span>, <span class="stringliteral">"125K"</span>};
<a name="l00337"></a>00337
<a name="l00338"></a>00338 <span class="preprocessor">#if !defined(WIN32) || defined(__CYGWIN__)</span>
<a name="l00339"></a><a class="code" href="TestMasterMicroMod_8c.html#f2dc378d0481adcc49b61efb98493a9b">00339</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>(<span class="keywordtype">int</span> sig)
<a name="l00340"></a>00340 {
<a name="l00341"></a>00341 signal(SIGTERM, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
<a name="l00342"></a>00342 signal(SIGINT, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
<a name="l00343"></a>00343
<a name="l00344"></a>00344 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Got Signal %d\n"</span>,sig);
<a name="l00345"></a>00345 }
<a name="l00346"></a>00346 <span class="preprocessor">#endif</span>
<a name="l00347"></a>00347 <span class="preprocessor"></span>
<a name="l00348"></a><a class="code" href="TestMasterMicroMod_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">00348</a> <span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>()
<a name="l00349"></a>00349 {
<a name="l00350"></a>00350 printf(<span class="stringliteral">"**************************************************************\n"</span>);
<a name="l00351"></a>00351 printf(<span class="stringliteral">"* TestMasterMicroMod *\n"</span>);
<a name="l00352"></a>00352 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00353"></a>00353 printf(<span class="stringliteral">"* A simple example for PC. *\n"</span>);
<a name="l00354"></a>00354 printf(<span class="stringliteral">"* A CanOpen master that control a MicroMod module: *\n"</span>);
<a name="l00355"></a>00355 printf(<span class="stringliteral">"* - setup module TPDO 1 transmit type *\n"</span>);
<a name="l00356"></a>00356 printf(<span class="stringliteral">"* - setup module RPDO 1 transmit type *\n"</span>);
<a name="l00357"></a>00357 printf(<span class="stringliteral">"* - setup module hearbeatbeat period *\n"</span>);
<a name="l00358"></a>00358 printf(<span class="stringliteral">"* - disable others TPDOs *\n"</span>);
<a name="l00359"></a>00359 printf(<span class="stringliteral">"* - set state to operational *\n"</span>);
<a name="l00360"></a>00360 printf(<span class="stringliteral">"* - send periodic SYNC *\n"</span>);
<a name="l00361"></a>00361 printf(<span class="stringliteral">"* - send periodic RPDO 1 to Micromod (digital output) *\n"</span>);
<a name="l00362"></a>00362 printf(<span class="stringliteral">"* - listen Micromod's TPDO 1 (digital input) *\n"</span>);
<a name="l00363"></a>00363 printf(<span class="stringliteral">"* - Mapping RPDO 1 bit per bit (digital input) *\n"</span>);
<a name="l00364"></a>00364 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00365"></a>00365 printf(<span class="stringliteral">"* Usage: *\n"</span>);
<a name="l00366"></a>00366 printf(<span class="stringliteral">"* ./TestMasterMicroMod [OPTIONS] *\n"</span>);
<a name="l00367"></a>00367 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00368"></a>00368 printf(<span class="stringliteral">"* OPTIONS: *\n"</span>);
<a name="l00369"></a>00369 printf(<span class="stringliteral">"* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n"</span>);
<a name="l00370"></a>00370 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00371"></a>00371 printf(<span class="stringliteral">"* Slave: *\n"</span>);
<a name="l00372"></a>00372 printf(<span class="stringliteral">"* -i : Slave Node id format [0x01 , 0x7F] *\n"</span>);
<a name="l00373"></a>00373 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00374"></a>00374 printf(<span class="stringliteral">"* Master: *\n"</span>);
<a name="l00375"></a>00375 printf(<span class="stringliteral">"* -m : bus name [\"1\"] *\n"</span>);
<a name="l00376"></a>00376 printf(<span class="stringliteral">"* -M : 1M,500K,250K,125K,100K,50K,20K,10K *\n"</span>);
<a name="l00377"></a>00377 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00378"></a>00378 printf(<span class="stringliteral">"**************************************************************\n"</span>);
<a name="l00379"></a>00379 }
<a name="l00380"></a>00380
<a name="l00381"></a>00381 <span class="comment">/*************************** INIT *****************************************/</span>
<a name="l00382"></a><a class="code" href="TestMasterMicroMod_8c.html#8a51032f7610fe37c131376e5a392fd5">00382</a> <span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#8a51032f7610fe37c131376e5a392fd5">InitNodes</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> <span class="keywordtype">id</span>)
<a name="l00383"></a>00383 {
<a name="l00384"></a>00384 <span class="comment">/****************************** INITIALISATION MASTER *******************************/</span>
<a name="l00385"></a>00385 <span class="keywordflow">if</span>(<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>){
<a name="l00386"></a>00386 <span class="comment">/* Defining the node Id */</span>
<a name="l00387"></a>00387 <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, 0x01);
<a name="l00388"></a>00388
<a name="l00389"></a>00389 <span class="comment">/* init */</span>
<a name="l00390"></a>00390 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>);
<a name="l00391"></a>00391 }
<a name="l00392"></a>00392 }
<a name="l00393"></a>00393
<a name="l00394"></a>00394 <span class="comment">/****************************************************************************/</span>
<a name="l00395"></a>00395 <span class="comment">/*************************** MAIN *****************************************/</span>
<a name="l00396"></a>00396 <span class="comment">/****************************************************************************/</span>
<a name="l00397"></a><a class="code" href="TestMasterMicroMod_8c.html#3c04138a5bfe5d72780bb7e82a18e627">00397</a> <span class="keywordtype">int</span> <a class="code" href="appli_8c.html#ef83014be811ae964a5ef7f0af7b46a2">main</a>(<span class="keywordtype">int</span> argc,<span class="keywordtype">char</span> **argv)
<a name="l00398"></a>00398 {
<a name="l00399"></a>00399
<a name="l00400"></a>00400 <span class="keywordtype">int</span> c;
<a name="l00401"></a>00401 <span class="keyword">extern</span> <span class="keywordtype">char</span> *<a class="code" href="TestMasterSlave_2getopt_8c.html#db50a0eab9fed92fc3bfc7dfa4f2c410">optarg</a>;
<a name="l00402"></a>00402 <span class="keywordtype">char</span>* LibraryPath=<span class="stringliteral">"libcanfestival_can_virtual.so"</span>;
<a name="l00403"></a>00403 <span class="keywordtype">char</span> *snodeid;
<a name="l00404"></a>00404 <span class="keywordflow">while</span> ((c = <a class="code" href="TestMasterSlave_2getopt_8c.html#1b2ada39ab92162c6ec9c67c8093fa2e">getopt</a>(argc, argv, <span class="stringliteral">"-m:s:M:S:l:i:"</span>)) != EOF)
<a name="l00405"></a>00405 {
<a name="l00406"></a>00406 <span class="keywordflow">switch</span>(c)
<a name="l00407"></a>00407 {
<a name="l00408"></a>00408 <span class="keywordflow">case</span> <span class="charliteral">'m'</span> :
<a name="l00409"></a>00409 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00410"></a>00410 {
<a name="l00411"></a>00411 <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
<a name="l00412"></a>00412 exit(1);
<a name="l00413"></a>00413 }
<a name="l00414"></a>00414 <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#fb28847fd702021b624afe1f7d4b25b2">busname</a> = optarg;
<a name="l00415"></a>00415 <span class="keywordflow">break</span>;
<a name="l00416"></a>00416 <span class="keywordflow">case</span> <span class="charliteral">'M'</span> :
<a name="l00417"></a>00417 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00418"></a>00418 {
<a name="l00419"></a>00419 <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
<a name="l00420"></a>00420 exit(1);
<a name="l00421"></a>00421 }
<a name="l00422"></a>00422 <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a> = optarg;
<a name="l00423"></a>00423 <span class="keywordflow">break</span>;
<a name="l00424"></a>00424 <span class="keywordflow">case</span> <span class="charliteral">'l'</span> :
<a name="l00425"></a>00425 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00426"></a>00426 {
<a name="l00427"></a>00427 <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
<a name="l00428"></a>00428 exit(1);
<a name="l00429"></a>00429 }
<a name="l00430"></a>00430 LibraryPath = optarg;
<a name="l00431"></a>00431 <span class="keywordflow">break</span>;
<a name="l00432"></a>00432 <span class="keywordflow">case</span> <span class="charliteral">'i'</span> :
<a name="l00433"></a>00433 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00434"></a>00434 {
<a name="l00435"></a>00435 <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
<a name="l00436"></a>00436 exit(1);
<a name="l00437"></a>00437 }
<a name="l00438"></a>00438 snodeid = optarg;
<a name="l00439"></a>00439 sscanf(snodeid,<span class="stringliteral">"%x"</span>,&<a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">slavenodeid</a>);
<a name="l00440"></a>00440 <span class="keywordflow">break</span>;
<a name="l00441"></a>00441 <span class="keywordflow">default</span>:
<a name="l00442"></a>00442 <a class="code" href="TestMasterSlave_8c.html#97ee70a8770dc30d06c744b24eb2fcfc">help</a>();
<a name="l00443"></a>00443 exit(1);
<a name="l00444"></a>00444 }
<a name="l00445"></a>00445 }
<a name="l00446"></a>00446
<a name="l00447"></a>00447 <span class="preprocessor">#if !defined(WIN32) || defined(__CYGWIN__)</span>
<a name="l00448"></a>00448 <span class="preprocessor"></span> <span class="comment">/* install signal handler for manual break */</span>
<a name="l00449"></a>00449 signal(SIGTERM, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
<a name="l00450"></a>00450 signal(SIGINT, <a class="code" href="TestMasterSlave_8c.html#f2dc378d0481adcc49b61efb98493a9b">catch_signal</a>);
<a name="l00451"></a>00451 <span class="preprocessor">#endif</span>
<a name="l00452"></a>00452 <span class="preprocessor"></span>
<a name="l00453"></a>00453 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span>
<a name="l00454"></a>00454 <span class="preprocessor"></span> <a class="code" href="unix_8c.html#a6eed61fc15f41f772d4645d7a5edeb5">LoadCanDriver</a>(LibraryPath);
<a name="l00455"></a>00455 <span class="preprocessor">#endif </span>
<a name="l00456"></a>00456 <span class="preprocessor"></span>
<a name="l00457"></a>00457 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#2ec2bc87656945d2c7dda7ebe662b245">heartbeatError</a> = <a class="code" href="Master_8c.html#47eb45e75b4db150fb465fcf171ef4b4">TestMaster_heartbeatError</a>;
<a name="l00458"></a>00458 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#b45e9ca46cffe7924c35ae136db6a2b6">initialisation</a> = <a class="code" href="Master_8c.html#e08dfb379eebaa62524fac5bba2196d5">TestMaster_initialisation</a>;
<a name="l00459"></a>00459 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#d7c66fb721e3f6279a6ff03bf91d82e2">preOperational</a> = <a class="code" href="Master_8c.html#8fe2bae5bb407a3a71ee5fa5ea5d617f">TestMaster_preOperational</a>;
<a name="l00460"></a>00460 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#432ddce132ec2f7473064e4fa8ef3f9a">operational</a> = <a class="code" href="Master_8c.html#81c297f2b4b9676e906286bf46541fc1">TestMaster_operational</a>;
<a name="l00461"></a>00461 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#89dd7dd17f9dd16b7a06c3cf30c2ca02">stopped</a> = <a class="code" href="Master_8c.html#897d573cafc13ac80abbc207c0ee41b0">TestMaster_stopped</a>;
<a name="l00462"></a>00462 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#7eeaefe180dfceca6e829a0a8018f342">post_sync</a> = <a class="code" href="Master_8c.html#9a8f72cab7f649481ca84ab2222dd179">TestMaster_post_sync</a>;
<a name="l00463"></a>00463 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#0cf540e2e36e14c04e1c783dc88d9a0e">post_TPDO</a> = <a class="code" href="Master_8c.html#5e466aa03eae00c269cf20359a7ee074">TestMaster_post_TPDO</a>;
<a name="l00464"></a>00464
<a name="l00465"></a>00465 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>(&<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>,&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>)){
<a name="l00466"></a>00466 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Cannot open Master Board\n"</span>);
<a name="l00467"></a>00467 <span class="keywordflow">goto</span> fail_master;
<a name="l00468"></a>00468 }
<a name="l00469"></a>00469
<a name="l00470"></a>00470 <span class="comment">// Start timer thread</span>
<a name="l00471"></a>00471 <a class="code" href="timers__unix_8c.html#c9e1731843825eb55e7a94894e6a8ec5">StartTimerLoop</a>(&<a class="code" href="TestMasterSlave_8c.html#8a51032f7610fe37c131376e5a392fd5">InitNodes</a>);
<a name="l00472"></a>00472
<a name="l00473"></a>00473 <span class="comment">// wait Ctrl-C</span>
<a name="l00474"></a>00474 pause();
<a name="l00475"></a>00475 <a class="code" href="TestMasterSlave_8h.html#82f06ace20f96f70bc165247e69fac57">eprintf</a>(<span class="stringliteral">"Finishing.\n"</span>);
<a name="l00476"></a>00476
<a name="l00477"></a>00477 <span class="comment">// Reset the slave node for next use (will stop emitting heartbeat)</span>
<a name="l00478"></a>00478 <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a> (&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <a class="code" href="TestMasterMicroMod_8c.html#65effe41fa5288e7ab03a431d0c42b31">slavenodeid</a>, <a class="code" href="def_8h.html#b349b5574a1ea67ff0ef76b9f9b6319e">NMT_Reset_Node</a>);
<a name="l00479"></a>00479
<a name="l00480"></a>00480 <span class="comment">// Stop master</span>
<a name="l00481"></a>00481 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>);
<a name="l00482"></a>00482
<a name="l00483"></a>00483 <span class="comment">// Stop timer thread</span>
<a name="l00484"></a>00484 <a class="code" href="timers__unix_8c.html#8758484f3cebb0cd44bb247c3f23d5e3">StopTimerLoop</a>();
<a name="l00485"></a>00485
<a name="l00486"></a>00486 fail_master:
<a name="l00487"></a>00487 <span class="keywordflow">if</span>(<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#5316679ded23cf846c63c06ab51a4646">baudrate</a>) <a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">canClose</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#ed10e5c829f0ea258ebc67896842cabe">TestMaster_Data</a>);
<a name="l00488"></a>00488
<a name="l00489"></a>00489 <span class="keywordflow">return</span> 0;
<a name="l00490"></a>00490 }
<a name="l00491"></a>00491
<a name="l00492"></a>00492
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Fri Jun 8 08:51:39 2007 for CanFestival by
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
</body>
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