examples/TestMasterSlave/Slave.c
author etisserant
Mon, 02 Jul 2007 18:22:58 +0200
changeset 236 905677ed00f3
parent 201 2966cd34162a
child 284 24bf3d692993
permissions -rw-r--r--
Full preliminary implementation of TPDO transmit type:
- SYNC (N) (1-240)
- RTR only + SYNC (252)
- RTR only (253)
- EVENT, with timer and inhibit time (254 and 255)

User app have to call sendPDOevent(d) to eventually signal mapped data changes.
Callbacks added to 0x140N, TPDO comm parameters for on the fly timers values change.
TestMasterSlave updated.
/*
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 "Slave.h"
#include "Master.h"
#include "TestMasterSlave.h"

/*****************************************************************************/
void TestSlave_heartbeatError(UNS8 heartbeatID)
{
	eprintf("TestSlave_heartbeatError %d\n", heartbeatID);
}

void TestSlave_initialisation()
{
	eprintf("TestSlave_initialisation\n");
}

void TestSlave_preOperational()
{
	eprintf("TestSlave_preOperational\n");
}

void TestSlave_operational()
{
	eprintf("TestSlave_operational\n");
}

void TestSlave_stopped()
{
	eprintf("TestSlave_stopped\n");
}

void TestSlave_post_sync()
{
      eprintf("TestSlave_post_sync\n");
      
      SlaveMap1=1;
      SlaveMap2=1;
      SlaveMap3=0;
      SlaveMap4=0;
      SlaveMap5=1;
      SlaveMap6=0;
      SlaveMap7=1;
      SlaveMap8=0;
      SlaveMap9=16;
      SlaveMap10 = 0xff00ff00;
      SlaveMap11 = 0xabcd;
      SlaveMap12 += SlaveMap12 > 0x80 ? 0 : 1;
      eprintf("Slave: %d %d %d %d %d %d %d %d %d %x %x %d %d \n",
      	SlaveMap1, 
      	SlaveMap2, 
      	SlaveMap3, 
      	SlaveMap4, 
      	SlaveMap5, 
      	SlaveMap6, 
      	SlaveMap7, 
      	SlaveMap8, 
      	SlaveMap9, 
      	SlaveMap10,
      	SlaveMap11, 
      	SlaveMap12,
      	SlaveMap13);
}

void TestSlave_post_TPDO()
{
        SlaveMap13 += 1;
	eprintf("TestSlave_post_TPDO\n");
}

void TestSlave_storeODSubIndex(UNS16 wIndex, UNS8 bSubindex)
{
	/*TODO : 
	 * - call getODEntry for index and subindex, 
	 * - save content to file, database, flash, nvram, ...
	 * 
	 * To ease flash organisation, index of variable to store
	 * can be established by scanning d->objdict[d->ObjdictSize]
	 * for variables to store.
	 * 
	 * */
	eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex,  bSubindex);
}