Removed genrated dead prototypes for depricated callbacks.
/*
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 "Master.h"
#include "Slave.h"
#include "TestMasterSlave.h"
/*****************************************************************************/
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 2
* - setup master RPDO 2 to receive TPDO 2 from id 2
********************************************************/
void TestMaster_initialisation()
{
UNS32 PDO1_COBID = 0x0182;
UNS32 PDO2_COBID = 0x0282;
UNS8 size = sizeof(UNS32);
eprintf("TestMaster_initialisation\n");
/*****************************************
* Define RPDOs to match slave ID=2 TPDOs*
*****************************************/
setODentry( &TestMaster_Data, /*CO_Data* d*/
0x1400, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO1_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
setODentry( &TestMaster_Data, /*CO_Data* d*/
0x1401, /*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
* - 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;
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*/
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*/
/*check and warn for previous slave OD access error*/
if(getWriteResultNetworkDict (d, nodeId, &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,
SDO_CLIENT);
/*Setup Slave's TPDO 1 to be transmitted on SYNC*/
eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
writeNetworkDictCallBack (d, /*CO_Data* d*/
*TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
0x1801, /*UNS16 index*/
0x02, /*UNS16 index*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&Transmission_Type,/*void *data*/
ConfigureSlaveNode); /*SDOCallback_t Callback*/
break;
case 3: /*Last step*/
/*check and warn for previous slave OD access error*/
if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
eprintf("Master : Couldn't set slave %2.2x TPDO 2 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
/* Finalise last SDO transfer with this node */
closeSDOtransfer(&TestMaster_Data,
*TestSlave_Data.bDeviceNodeId,
SDO_CLIENT);
/* Put the master in operational mode */
setState(d, Operational);
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
}
}
void TestMaster_preOperational()
{
eprintf("TestMaster_preOperational\n");
ConfigureSlaveNode(&TestMaster_Data, 2);
}
void TestMaster_operational()
{
eprintf("TestMaster_operational\n");
}
void TestMaster_stopped()
{
eprintf("TestMaster_stopped\n");
}
void TestMaster_post_sync()
{
eprintf("TestMaster_post_sync\n");
eprintf("Master: %d %d %d %d\n",MasterMap1, MasterMap2, MasterMap3, MasterMap4);
}
char query_result = 0;
char waiting_answer = 0;
void TestMaster_post_TPDO()
{
eprintf("TestMaster_post_TPDO\n");
// {
// char zero = 0;
// if(MasterMap4 > 0x80){
// writeNetworkDict (
// &TestMaster_Data,
// TestSlave_Data->bDeviceNodeId,
// 0x2002,
// 0x00,
// 1,
// 0,
// &zero);
// }
// }
if(waiting_answer){
UNS32 abortCode;
UNS8 size;
switch(getReadResultNetworkDict (
&TestMaster_Data,
*TestSlave_Data.bDeviceNodeId,
&query_result,
&size,
&abortCode))
{
case SDO_FINISHED:
/* Do something with result here !!*/
eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
case SDO_ABORTED_RCV:
case SDO_ABORTED_INTERNAL:
case SDO_RESET:
waiting_answer = 0;
closeSDOtransfer(
&TestMaster_Data,
*TestSlave_Data. bDeviceNodeId,
SDO_CLIENT);
break;
case SDO_DOWNLOAD_IN_PROGRESS:
case SDO_UPLOAD_IN_PROGRESS:
break;
}
}else if(MasterMap1 % 10 == 0){
readNetworkDict (
&TestMaster_Data,
*TestSlave_Data.bDeviceNodeId,
0x2002,
0x00,
0);
waiting_answer = 1;
}
}