Fixed some endianization problems caused by switch to UNS16 for cob_id member in CAN messages. To be continued.
/*
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);
}
/********************************************************
* 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);
UNS32 SINC_cicle=0;
UNS8 data_type = 0;
eprintf("TestMaster_initialisation\n");
/*****************************************
* Define RPDOs to match slave ID=2 TPDOs*
*****************************************/
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1400, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO1_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1401, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO2_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
}
// Step counts number of times ConfigureSlaveNode is called
static init_step = 0;
/*Froward declaration*/
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
/**/
static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
{
UNS32 abortCode;
if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
/* Finalise last SDO transfer with this node */
closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
ConfigureSlaveNode(d, nodeId);
}
/********************************************************
* 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)
{
/* Master configure heartbeat producer time at 1000 ms
* for slave node-id 0x02 by DCF concise */
UNS8 Transmission_Type = 0x01;
UNS32 abortCode;
UNS8 res;
eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
switch(++init_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*/
nodeId, /*UNS8 nodeId*/
0x1800, /*UNS16 index*/
0x02, /*UNS8 subindex*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&Transmission_Type,/*void *data*/
CheckSDOAndContinue); /*SDOCallback_t Callback*/
break;
case 2: /*Second step*/
eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
writeNetworkDictCallBack (d, /*CO_Data* d*/
nodeId, /*UNS8 nodeId*/
0x1801, /*UNS16 index*/
0x02, /*UNS16 index*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&Transmission_Type,/*void *data*/
CheckSDOAndContinue); /*SDOCallback_t Callback*/
break;
case 3:
/****************************** START *******************************/
/* Put the master in operational mode */
setState(d, Operational);
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
}
}
#ifdef CO_ENABLE_LSS
static void ConfigureLSSNode(CO_Data* d);
// Step counts number of times ConfigureLSSNode is called
UNS8 init_step_LSS=1;
static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
{
UNS32 dat1;
UNS8 dat2;
printf("CheckLSS->");
if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
if(command==LSS_IDENT_REMOTE_NON_CONF){
eprintf("Master : There are not no-configured slaves in the net\n", command);
return;
}
else{
eprintf("Master : Failed in LSS comand %d. Trying again\n", command);
}
}
else
{
init_step_LSS++;
switch(command){
case LSS_CONF_NODE_ID:
switch(dat1){
case 0: printf("Node ID change succesful\n");break;
case 1: printf("Node ID change error:out of range\n");break;
case 0xFF:printf("Node ID change error:specific error\n");break;
default:break;
}
break;
case LSS_CONF_BIT_TIMING:
switch(dat1){
case 0: printf("Baud rate change succesful\n");break;
case 1: printf("Baud rate change error: change baud rate not supported\n");break;
case 0xFF:printf("Baud rate change error:specific error\n");break;
default:break;
}
break;
case LSS_CONF_STORE:
switch(dat1){
case 0: printf("Store configuration succesful\n");break;
case 1: printf("Store configuration error:not supported\n");break;
case 0xFF:printf("Store configuration error:specific error\n");break;
default:break;
}
break;
case LSS_SM_SELECTIVE_SERIAL:
printf("Slave in CONFIGURATION mode\n");
break;
case LSS_IDENT_REMOTE_SERIAL_HIGH:
printf("node identified\n");
break;
case LSS_IDENT_REMOTE_NON_CONF:
printf("non-configured remote slave in the net\n");
break;
case LSS_INQ_VENDOR_ID:
printf("Slave VendorID %x\n", dat1);
break;
case LSS_INQ_PRODUCT_CODE:
printf("Slave Product Code %x\n", dat1);
break;
case LSS_INQ_REV_NUMBER:
printf("Slave Revision Number %x\n", dat1);
break;
case LSS_INQ_SERIAL_NUMBER:
printf("Slave Serial Number %x\n", dat1);
break;
case LSS_INQ_NODE_ID:
printf("Slave nodeid %x\n", dat1);
break;
#ifdef CO_ENABLE_LSS_FS
case LSS_IDENT_FASTSCAN:
if(dat1==0)
printf("Slave node identified with FastScan\n");
else
{
printf("There is not unconfigured node in the net\n");
return;
}
init_step_LSS++;
break;
#endif
}
}
printf("\n");
ConfigureLSSNode(d);
}
/* First ask if there is a node with an invalid nodeID.
* If FastScan is activated it is used to put the node in the state “configuration”.
* If FastScan is not activated, identification services are used to identify the node.
* Then switch mode service is used to put it in configuration state.
* Next all the inquire and configuration services are used.
* Finally, the node LSS state is restored to “waiting” and all the process is repeated
* again until there isn't any node with a invalid nodeID.
* */
static void ConfigureLSSNode(CO_Data* d)
{
UNS32 Vendor_ID=0x12345678;
UNS32 Product_Code=0x90123456;
UNS32 Revision_Number=0x78901234;
UNS32 Serial_Number=0x56789012;
UNS32 Revision_Number_high=0x78901240;
UNS32 Revision_Number_low=0x78901230;
UNS32 Serial_Number_high=0x56789020;
UNS32 Serial_Number_low=0x56789010;
UNS8 NodeID=0x02;
UNS8 Baud_Table=0;
UNS8 Baud_BitTiming=3;
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_WAITING_MODE;
UNS8 res;
eprintf("ConfigureLSSNode -> ",0);
switch(init_step_LSS){
case 1: /* LSS=>identify non-configured remote slave */
eprintf("LSS=>identify non-configured remote slave\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
break;
#ifdef CO_ENABLE_LSS_FS
case 2: /* LSS=>FastScan */
eprintf("LSS=>FastScan\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_FASTSCAN,0,0,CheckLSSAndContinue);
break;
#else
case 2: /* LSS=>identify node */
eprintf("LSS=>identify node\n");
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
break;
case 3: /*LSS=>put in configuration mode*/
eprintf("LSS=>put in configuration mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
break;
#endif
case 4: /* LSS=>inquire nodeID */
eprintf("LSS=>inquire nodeID\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
break;
case 5: /* LSS=>inquire VendorID */
eprintf("LSS=>inquire VendorID\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
break;
case 6: /* LSS=>inquire Product code */
eprintf("LSS=>inquire Product code\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
break;
case 7: /* LSS=>inquire Revision Number */
eprintf("LSS=>inquire Revision Number\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
break;
case 8: /* LSS=>inquire Serial Number */
eprintf("LSS=>inquire Serial Number\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
break;
case 9: /* LSS=>change the nodeID */
eprintf("LSS=>change the nodeId\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
break;
case 10: /* LSS=>change the Baud rate */
eprintf("LSS=>change the Baud rate\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
break;
case 11:
eprintf("LSS=>Activate Bit Timing\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0);
/*no break;*/
init_step_LSS++;
case 12:
/*LSS=>store configuration*/
/* It will fail the first time (time out) due to the switch delay */
/* It will fail the second time because it is not implemented in the slave */
eprintf("LSS=>store configuration\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
break;
case 13: /* LSS=>put in operation mod */
eprintf("LSS=>put in operation mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);
/* Search again for not-configured slaves*/
eprintf("LSS=>identify not-configured remote slave\n");
res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
init_step_LSS=1;
break;
}
}
#endif
void TestMaster_preOperational()
{
eprintf("TestMaster_preOperational\n");
#ifdef CO_ENABLE_LSS
/* Ask slave node to go in stop mode */
masterSendNMTstateChange (&TestMaster_Data, 0, NMT_Stop_Node);
ConfigureLSSNode(&TestMaster_Data);
#endif
}
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 %d %d %d %d %d %x %x %d %d\n",
MasterMap1,
MasterMap2,
MasterMap3,
MasterMap4,
MasterMap5,
MasterMap6,
MasterMap7,
MasterMap8,
MasterMap9,
MasterMap10,
MasterMap11,
MasterMap12,
MasterMap13);
}
void TestMaster_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg)
{
eprintf("Master received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
}
char query_result = 0;
char waiting_answer = 0;
static void CheckSDO(CO_Data* d, UNS8 nodeId)
{
UNS32 abortCode;
if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode);
/* Finalise last SDO transfer with this node */
closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
}
static int MasterSyncCount = 0;
void TestMaster_post_TPDO()
{
eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
//
// {
// char zero = 0;
// if(MasterMap4 > 0x80){
// writeNetworkDict (
// &TestMaster_Data,
// TestSlave_Data->bDeviceNodeId,
// 0x2002,
// 0x00,
// 1,
// 0,
// &zero);
// }
// }
#if 0
if(waiting_answer){
UNS32 abortCode;
UNS8 size;
switch(getReadResultNetworkDict (
&TestMaster_Data,
0x02,
&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,
0x02,
SDO_CLIENT);
break;
case SDO_DOWNLOAD_IN_PROGRESS:
case SDO_UPLOAD_IN_PROGRESS:
break;
}
}else if(MasterSyncCount % 10 == 0){
readNetworkDict (
&TestMaster_Data,
0x02,
0x2002,
0x00,
0);
waiting_answer = 1;
}
#endif
if(MasterSyncCount % 17 == 0){
eprintf("Master : Ask RTR PDO (0x1402)\n");
sendPDOrequest(&TestMaster_Data, 0x1402 );
sendPDOrequest(&TestMaster_Data, 0x1403 );
}
if(MasterSyncCount % 50 == 0){
eprintf("Master : Change slave's transmit type to 0xFF\n");
UNS8 transmitiontype = 0xFF;
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
2, /*UNS8 nodeId*/
0x1802, /*UNS16 index*/
0x02, /*UNS16 index*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&transmitiontype,/*void *data*/
CheckSDO); /*SDOCallback_t Callback*/
}
if(MasterSyncCount % 50 == 25){
eprintf("Master : Change slave's transmit type to 0x00\n");
UNS8 transmitiontype = 0x00;
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
2, /*UNS8 nodeId*/
0x1802, /*UNS16 index*/
0x02, /*UNS16 index*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&transmitiontype,/*void *data*/
CheckSDO); /*SDOCallback_t Callback*/
}
MasterSyncCount++;
}
void TestMaster_post_SlaveBootup(UNS8 nodeid)
{
eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
ConfigureSlaveNode(&TestMaster_Data, nodeid);
}