/*
This file is part of CanFestival, a library implementing CanOpen Stack.
Copyright (C): Edouard TISSERANT , Francis DUPIN and Jorge BERZOSA
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 "SlaveA.h"
#include "SlaveB.h"
#include "TestMasterSlaveLSS.h"
extern s_BOARD MasterBoard;
/*****************************************************************************/
void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
{
eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
}
/********************************************************
* TestMaster_initialisation is responsible to
* - setup master RPDO 1 to receive TPDO 1 from id 2
* - setup master RPDO 2 to receive TPDO 1 from id 3
********************************************************/
void TestMaster_initialisation(CO_Data* d)
{
UNS32 PDO1_COBID = 0x0182;
UNS32 PDO2_COBID = 0x0183;
UNS8 size = sizeof(UNS32);
eprintf("TestMaster_initialisation\n");
/*****************************************
* Define RPDO to match slave ID=2 TPDO1*
*****************************************/
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1400, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO1_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
/*****************************************
* Define RPDO to match slave ID=3 TPDO1*
*****************************************/
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
// There is one per each slave
static init_step[] ={0,0};
/*Forward 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 'n' TPDO 1 transmit type
* - setup slave 'n' Producer Hertbeat Time
* - setup the Consumer Heartbeat Time for slave 'n'
* - 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_post_SlaveBootup
* after the LSS configuration has been done
* 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 0 ms
* for slaves node-id 0x02 and 0x03 by DCF concise */
UNS8 Transmission_Type = 0x01;
UNS16 Slave_Prod_Heartbeat_T=1000;//ms
UNS32 Master_Cons_Heartbeat_Base=0x05DC; //1500ms
UNS32 abortCode;
UNS8 res;
eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
switch(++init_step[nodeId-2]){
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 : Set the new heartbeat producer time in the slave */
{
UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000);
UNS8 size = sizeof(UNS32);
eprintf("Master : set slave %2.2x Producer Heartbeat Time = %d\n", nodeId,Slave_Prod_Heartbeat_T);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
nodeId, /*UNS8 nodeId*/
0x1017, /*UNS16 index*/
0x00, /*UNS8 subindex*/
2, /*UNS8 count*/
0, /*UNS8 dataType*/
&Slave_Prod_Heartbeat_T,/*void *data*/
CheckSDOAndContinue); /*SDOCallback_t Callback*/
break;
/* Set the new heartbeat consumer time in the master*/
eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T);
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1016, /*UNS16 index*/
nodeId-1, /*UNS8 subind*/
&Master_Cons_Heartbeat_T, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
}
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);
}
}
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){
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_CONF_ACT_BIT_TIMING:
if(dat1==0){
UNS8 LSS_mode=LSS_WAITING_MODE;
UNS32 SINC_cicle=50000;// us
UNS8 size = sizeof(UNS32);
/* The slaves are now configured (nodeId and Baudrate) via the LSS services.
* Switch the LSS state to WAITING and restart the slaves. */
MasterBoard.baudrate="250K";
printf("Master : Switch Delay period finished. Switching to LSS WAITING state\n");
configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
printf("Master : Restarting all the slaves\n");
masterSendNMTstateChange (d, 0x00, NMT_Reset_Node);
printf("Master : Starting the SYNC producer\n");
writeLocalDict( d, /*CO_Data* d*/
0x1006, /*UNS16 index*/
0x00, /*UNS8 subind*/
&SINC_cicle, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
return;
}
else{
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
eprintf("Master : unable to activate bit timing. trying again\n");
configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
return;
}
break;
case LSS_SM_SELECTIVE_SERIAL:
printf("Slave in LSS CONFIGURATION state\n");
break;
case LSS_IDENT_REMOTE_SERIAL_HIGH:
printf("node identified\n");
break;
case LSS_IDENT_REMOTE_NON_CONF:
if(dat1==0)
eprintf("There are no-configured remote slave(s) in the net\n");
else
{
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
/*The configuration of the slaves' nodeId ended.
* Start the configuration of the baud rate. */
eprintf("Master : There are not no-configured slaves in the net\n", command);
eprintf("Switching all the nodes to LSS CONFIGURATION state\n");
configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
eprintf("LSS=>Activate Bit Timing\n");
configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
return;
}
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);
}
/* Initial nodeID and VendorID. They are incremented by one for each slave*/
UNS8 NodeID=0x02;
UNS32 Vendor_ID=0x12345678;
/* Configuration of the nodeID and baudrate with LSS services:
* --First ask if there is a node with an invalid nodeID.
* --If FastScan is activated it is used to put the slave in the state “configuration”.
* --If FastScan is not activated, identification services are used to identify the slave. Then
* switch mode service is used to put it in configuration state.
* --Next, all the inquire services are used (only for example) and a valid nodeId and a
* new baudrate are assigned to the slave.
* --Finally, the slave's LSS state is restored to “waiting” and all the process is repeated
* again until there isn't any node with an invalid nodeID.
* --After the configuration of all the slaves finished the LSS state of all of them is switched
* again to "configuration" and the Activate Bit Timing service is requested. On sucessfull, the
* LSS state is restored to "waiting" and NMT state is changed to reset (by means of the NMT services).
* */
static void ConfigureLSSNode(CO_Data* d)
{
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 LSS_mode=LSS_WAITING_MODE;
UNS8 Baud_Table=0;
//UNS8 Baud_BitTiming=3;
char* Baud_BitTiming="250K";
UNS8 res;
eprintf("ConfigureLSSNode step %d -> ",init_step_LSS);
switch(init_step_LSS){
case 1: /* LSS=>identify non-configured remote slave */
eprintf("LSS=>identify no-configured remote slave(s)\n");
res=configNetworkNode(&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=configNetworkNode(&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,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0,NULL);
res=configNetworkNode(&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,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0,NULL);
res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
Vendor_ID++;
break;
#endif
case 4: /* LSS=>inquire nodeID */
eprintf("LSS=>inquire nodeID\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
break;
case 5: /* LSS=>inquire VendorID */
eprintf("LSS=>inquire VendorID\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
break;
case 6: /* LSS=>inquire Product code */
eprintf("LSS=>inquire Product code\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
break;
case 7: /* LSS=>inquire Revision Number */
eprintf("LSS=>inquire Revision Number\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
break;
case 8: /* LSS=>inquire Serial Number */
eprintf("LSS=>inquire Serial Number\n");
res=configNetworkNode(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
break;
case 9: /* LSS=>change the nodeID */
eprintf("LSS=>change the nodeId\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
NodeID++;
break;
case 10: /* LSS=>change the Baud rate */
eprintf("LSS=>change the Baud rate\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
break;
case 11:
/*LSS=>store configuration*/
eprintf("LSS=>store configuration\n");
res=configNetworkNode(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
break;
case 12: /* LSS=>put in waiting mode */
eprintf("LSS=>put in waiting mode\n");
res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
/* Search again for no-configured slaves*/
eprintf("LSS=>identify no-configured remote slave(s)\n");
res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
init_step_LSS=1;
break;
}
}
void TestMaster_preOperational(CO_Data* d)
{
eprintf("TestMaster_preOperational\n");
/* Ask slaves to go in stop mode */
masterSendNMTstateChange (d, 0, NMT_Stop_Node);
ConfigureLSSNode(&TestMaster_Data);
}
void TestMaster_operational(CO_Data* d)
{
eprintf("TestMaster_operational\n");
}
void TestMaster_stopped(CO_Data* d)
{
eprintf("TestMaster_stopped\n");
}
void TestMaster_post_sync(CO_Data* d)
{
eprintf("TestMaster_post_sync\n");
eprintf("Master: %d %d %d\n",
MasterMap1,
MasterMap2,
MasterMap3);
}
void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
{
eprintf("Master received EMCY message. Node: %2.2x ErrorCode: %4.4x ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
}
void TestMaster_post_TPDO(CO_Data* d)
{
eprintf("TestMaster_post_TPDO\n");
}
void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
{
eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
/* Wait until the new baud rate is stored before configure the slaves*/
if(MasterBoard.baudrate=="250K")
ConfigureSlaveNode(d, nodeid);
}