Minor changes in SYNC. Splitted SendSync in SendSync and SendSyncMessage to allow manual SYNC message transmission and separate SYNC proceeding (synced TPDOs)
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<a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a> » <a class="el" href="dir_4f45567b048264117a95e53b67d9aefb.html">TestMasterSlave</a></div>
<h1>TestMasterSlave.c</h1><a href="TestMasterSlave_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 <stdio.h></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <string.h></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <unistd.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="comment">//#include <can_driver.h></span>
<a name="l00040"></a>00040 <span class="comment">//#include <timers_driver.h></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="preprocessor">#include "<a class="code" href="Master_8h.html">Master.h</a>"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "<a class="code" href="Slave_8h.html">Slave.h</a>"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "<a class="code" href="TestMasterSlave_8h.html">TestMasterSlave.h</a>"</span>
<a name="l00045"></a>00045
<a name="l00046"></a><a class="code" href="TestMasterSlave_8c.html#5357a5c72524c67e0141e51ebd001293">00046</a> <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <a class="code" href="TestMasterSlave_8c.html#5357a5c72524c67e0141e51ebd001293">OnMasterMap1Update</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <span class="keyword">const</span> <a class="code" href="structtd__indextable.html">indextable</a> * unsused_indextable, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> unsused_bSubindex)
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"OnSlaveMap1Update:%d\n"</span>, <a class="code" href="TestSlave_8c.html#0315855e3166f37754f677c12af37079">SlaveMap1</a>);
<a name="l00049"></a>00049 <span class="keywordflow">return</span> 0;
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051
<a name="l00052"></a><a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">00052</a> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a> = {<span class="stringliteral">"0"</span>, <span class="stringliteral">"125K"</span>};
<a name="l00053"></a><a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">00053</a> <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a> = {<span class="stringliteral">"1"</span>, <span class="stringliteral">"125K"</span>};
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="preprocessor">#if !defined(WIN32) || defined(__CYGWIN__)</span>
<a name="l00056"></a><a class="code" href="TestMasterSlave_8c.html#3ce141bc870bf5a7cb52fa529ef2ad52">00056</a> <span class="preprocessor"></span><span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#3ce141bc870bf5a7cb52fa529ef2ad52">catch_signal</a>(<span class="keywordtype">int</span> sig)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 signal(SIGTERM, <a class="code" href="TestMasterSlave_8c.html#3ce141bc870bf5a7cb52fa529ef2ad52">catch_signal</a>);
<a name="l00059"></a>00059 signal(SIGINT, <a class="code" href="TestMasterSlave_8c.html#3ce141bc870bf5a7cb52fa529ef2ad52">catch_signal</a>);
<a name="l00060"></a>00060 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Got Signal %d\n"</span>,sig);
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062 <span class="preprocessor">#endif</span>
<a name="l00063"></a>00063 <span class="preprocessor"></span>
<a name="l00064"></a><a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">00064</a> <span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>()
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 printf(<span class="stringliteral">"**************************************************************\n"</span>);
<a name="l00067"></a>00067 printf(<span class="stringliteral">"* TestMasterSlave *\n"</span>);
<a name="l00068"></a>00068 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00069"></a>00069 printf(<span class="stringliteral">"* A simple example for PC. It does implement 2 CanOpen *\n"</span>);
<a name="l00070"></a>00070 printf(<span class="stringliteral">"* nodes in the same process. A master and a slave. Both *\n"</span>);
<a name="l00071"></a>00071 printf(<span class="stringliteral">"* communicate together, exchanging periodically NMT, SYNC, *\n"</span>);
<a name="l00072"></a>00072 printf(<span class="stringliteral">"* SDO and PDO. Master configure heartbeat producer time *\n"</span>);
<a name="l00073"></a>00073 printf(<span class="stringliteral">"* at 1000 ms for slave node-id 0x02 by concise DCF. *\n"</span>);
<a name="l00074"></a>00074 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00075"></a>00075 printf(<span class="stringliteral">"* Usage: *\n"</span>);
<a name="l00076"></a>00076 printf(<span class="stringliteral">"* ./TestMasterSlave [OPTIONS] *\n"</span>);
<a name="l00077"></a>00077 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00078"></a>00078 printf(<span class="stringliteral">"* OPTIONS: *\n"</span>);
<a name="l00079"></a>00079 printf(<span class="stringliteral">"* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n"</span>);
<a name="l00080"></a>00080 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00081"></a>00081 printf(<span class="stringliteral">"* Slave: *\n"</span>);
<a name="l00082"></a>00082 printf(<span class="stringliteral">"* -s : bus name [\"0\"] *\n"</span>);
<a name="l00083"></a>00083 printf(<span class="stringliteral">"* -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n"</span>);
<a name="l00084"></a>00084 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00085"></a>00085 printf(<span class="stringliteral">"* Master: *\n"</span>);
<a name="l00086"></a>00086 printf(<span class="stringliteral">"* -m : bus name [\"1\"] *\n"</span>);
<a name="l00087"></a>00087 printf(<span class="stringliteral">"* -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *\n"</span>);
<a name="l00088"></a>00088 printf(<span class="stringliteral">"* *\n"</span>);
<a name="l00089"></a>00089 printf(<span class="stringliteral">"**************************************************************\n"</span>);
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">/*************************** INIT *****************************************/</span>
<a name="l00093"></a><a class="code" href="TestMasterSlave_8c.html#5c2037498a2c950d815a9ad8c4ad1a51">00093</a> <span class="keywordtype">void</span> <a class="code" href="TestMasterSlave_8c.html#5c2037498a2c950d815a9ad8c4ad1a51">InitNodes</a>(<a class="code" href="structstruct__CO__Data.html">CO_Data</a>* d, <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> <span class="keywordtype">id</span>)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="comment">/****************************** INITIALISATION SLAVE *******************************/</span>
<a name="l00096"></a>00096 <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>, <span class="stringliteral">"none"</span>)) {
<a name="l00097"></a>00097 <span class="comment">/* Defining the node Id */</span>
<a name="l00098"></a>00098 <a class="code" href="states_8c.html#191c0cad67e093ea44285c9acd187513">setNodeId</a>(&<a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>, 0x02);
<a name="l00099"></a>00099 <span class="comment">/* init */</span>
<a name="l00100"></a>00100 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&<a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>);
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment">/****************************** INITIALISATION MASTER *******************************/</span>
<a name="l00104"></a>00104 <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>, <span class="stringliteral">"none"</span>)){
<a name="l00105"></a>00105 <a class="code" href="objacces_8c.html#9a512a966532e40f35d3a4201bf54ead">RegisterSetODentryCallBack</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, 0x2000, 0, &<a class="code" href="TestMasterSlave_8c.html#5357a5c72524c67e0141e51ebd001293">OnMasterMap1Update</a>);
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">/* Defining the node Id */</span>
<a name="l00108"></a>00108 <a class="code" href="states_8c.html#191c0cad67e093ea44285c9acd187513">setNodeId</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, 0x01);
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment">/* init */</span>
<a name="l00111"></a>00111 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>);
<a name="l00112"></a>00112
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="comment">/****************************************************************************/</span>
<a name="l00117"></a>00117 <span class="comment">/*************************** MAIN *****************************************/</span>
<a name="l00118"></a>00118 <span class="comment">/****************************************************************************/</span>
<a name="l00119"></a><a class="code" href="TestMasterSlave_8c.html#24e6ce6d053864cf5fb7af941457bb0e">00119</a> <span class="keywordtype">int</span> <a class="code" href="appli_8c.html#35d180f652ecf52603a5e9d7e891665f">main</a>(<span class="keywordtype">int</span> argc,<span class="keywordtype">char</span> **argv)
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="keywordtype">int</span> c;
<a name="l00123"></a>00123 <span class="keyword">extern</span> <span class="keywordtype">char</span> *<a class="code" href="TestMasterSlave_2getopt_8c.html#a2d33a77952a7e6973146c1284042818">optarg</a>;
<a name="l00124"></a>00124 <span class="keywordtype">char</span>* LibraryPath=<span class="stringliteral">"libcanfestival_can_virtual.so"</span>;
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="keywordflow">while</span> ((c = <a class="code" href="TestMasterSlave_2getopt_8c.html#afdf882e55974b727c64559defdc4326">getopt</a>(argc, argv, <span class="stringliteral">"-m:s:M:S:l:"</span>)) != EOF)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 <span class="keywordflow">switch</span>(c)
<a name="l00129"></a>00129 {
<a name="l00130"></a>00130 <span class="keywordflow">case</span> <span class="charliteral">'s'</span> :
<a name="l00131"></a>00131 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>();
<a name="l00134"></a>00134 exit(1);
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136 <a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a> = optarg;
<a name="l00137"></a>00137 <span class="keywordflow">break</span>;
<a name="l00138"></a>00138 <span class="keywordflow">case</span> <span class="charliteral">'m'</span> :
<a name="l00139"></a>00139 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>();
<a name="l00142"></a>00142 exit(1);
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144 <a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a> = optarg;
<a name="l00145"></a>00145 <span class="keywordflow">break</span>;
<a name="l00146"></a>00146 <span class="keywordflow">case</span> <span class="charliteral">'S'</span> :
<a name="l00147"></a>00147 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>();
<a name="l00150"></a>00150 exit(1);
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 <a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a> = optarg;
<a name="l00153"></a>00153 <span class="keywordflow">break</span>;
<a name="l00154"></a>00154 <span class="keywordflow">case</span> <span class="charliteral">'M'</span> :
<a name="l00155"></a>00155 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00156"></a>00156 {
<a name="l00157"></a>00157 <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>();
<a name="l00158"></a>00158 exit(1);
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160 <a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a> = optarg;
<a name="l00161"></a>00161 <span class="keywordflow">break</span>;
<a name="l00162"></a>00162 <span class="keywordflow">case</span> <span class="charliteral">'l'</span> :
<a name="l00163"></a>00163 <span class="keywordflow">if</span> (optarg[0] == 0)
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>();
<a name="l00166"></a>00166 exit(1);
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168 LibraryPath = optarg;
<a name="l00169"></a>00169 <span class="keywordflow">break</span>;
<a name="l00170"></a>00170 <span class="keywordflow">default</span>:
<a name="l00171"></a>00171 <a class="code" href="TestMasterSlave_8c.html#c26945a412008c505d56d9c43688813c">help</a>();
<a name="l00172"></a>00172 exit(1);
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="preprocessor">#if !defined(WIN32) || defined(__CYGWIN__)</span>
<a name="l00177"></a>00177 <span class="preprocessor"></span> <span class="comment">/* install signal handler for manual break */</span>
<a name="l00178"></a>00178 signal(SIGTERM, <a class="code" href="TestMasterSlave_8c.html#3ce141bc870bf5a7cb52fa529ef2ad52">catch_signal</a>);
<a name="l00179"></a>00179 signal(SIGINT, <a class="code" href="TestMasterSlave_8c.html#3ce141bc870bf5a7cb52fa529ef2ad52">catch_signal</a>);
<a name="l00180"></a>00180 <span class="preprocessor">#endif</span>
<a name="l00181"></a>00181 <span class="preprocessor"></span>
<a name="l00182"></a>00182 <span class="preprocessor">#ifndef NOT_USE_DYNAMIC_LOADING</span>
<a name="l00183"></a>00183 <span class="preprocessor"></span> <a class="code" href="unix_8c.html#0012a2aa42ef694bd275c6b5be5c89c7">LoadCanDriver</a>(LibraryPath);
<a name="l00184"></a>00184 <span class="preprocessor">#endif </span>
<a name="l00185"></a>00185 <span class="preprocessor"></span> <span class="comment">// Open CAN devices</span>
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>, <span class="stringliteral">"none"</span>)){
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">heartbeatError</a> = <a class="code" href="Slave_8c.html#feea6edbb1f58238a49c0e292410d449">TestSlave_heartbeatError</a>;
<a name="l00190"></a>00190 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#1d171d82b1e6ed1eb1e936f23e44b680">initialisation</a> = <a class="code" href="Slave_8c.html#ee7e3cdd945d35d48890257d44afc522">TestSlave_initialisation</a>;
<a name="l00191"></a>00191 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a> = <a class="code" href="Slave_8c.html#5e1c535a74c3aa907292c27b098a3af5">TestSlave_preOperational</a>;
<a name="l00192"></a>00192 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#78f4481967d34a40cf253a19170234b2">operational</a> = <a class="code" href="Slave_8c.html#b3b281beb6cca9520ac6d69b057ace58">TestSlave_operational</a>;
<a name="l00193"></a>00193 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#2d3862c6f89d6f8d849bafdd7167276f">stopped</a> = <a class="code" href="Slave_8c.html#492b2140b6577220c8f6a3ef37e7fba8">TestSlave_stopped</a>;
<a name="l00194"></a>00194 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#f51d3f1c7af9ab07bed3a8c28e3e2162">post_sync</a> = <a class="code" href="Slave_8c.html#b4e6d39d4f2b797c291976a5fcdeb061">TestSlave_post_sync</a>;
<a name="l00195"></a>00195 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#ebb8649e117348c6cc94cd6f86684747">post_TPDO</a> = <a class="code" href="Slave_8c.html#fc116705e79ad78a9e32ec33e5226e2d">TestSlave_post_TPDO</a>;
<a name="l00196"></a>00196 <a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>.<a class="code" href="structstruct__CO__Data.html#4683b8a458fce00699b14b3448f61bf8">storeODSubIndex</a> = <a class="code" href="Slave_8c.html#1e047d439fd5887cc80528724fae0ca2">TestSlave_storeODSubIndex</a>;
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#c32083e9caa1b02f7726a8b87d10ce33">canOpen</a>(&<a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>,&<a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>)){
<a name="l00199"></a>00199 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Cannot open Slave Board (%s,%s)\n"</span>,<a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>, <a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>);
<a name="l00200"></a>00200 <span class="keywordflow">goto</span> fail_slave;
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203 <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>, <span class="stringliteral">"none"</span>)){
<a name="l00204"></a>00204
<a name="l00205"></a>00205 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#79effaec98b98fcda7d2e9ba987c3b34">heartbeatError</a> = <a class="code" href="Master_8c.html#ab44b8110510c170a1075227cf400caf">TestMaster_heartbeatError</a>;
<a name="l00206"></a>00206 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#1d171d82b1e6ed1eb1e936f23e44b680">initialisation</a> = <a class="code" href="Master_8c.html#173d54878164bf1ef49845c8fffbf19f">TestMaster_initialisation</a>;
<a name="l00207"></a>00207 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#617bf112ab2cd668a8aa35f350a6456b">preOperational</a> = <a class="code" href="Master_8c.html#9d3d58aa8fa14fe445f0fa13be678d2a">TestMaster_preOperational</a>;
<a name="l00208"></a>00208 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#78f4481967d34a40cf253a19170234b2">operational</a> = <a class="code" href="Master_8c.html#c7ed44191510ba965044b347870c4ebf">TestMaster_operational</a>;
<a name="l00209"></a>00209 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#2d3862c6f89d6f8d849bafdd7167276f">stopped</a> = <a class="code" href="Master_8c.html#85ea45ff95b4b9520cc73920d08232a8">TestMaster_stopped</a>;
<a name="l00210"></a>00210 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#f51d3f1c7af9ab07bed3a8c28e3e2162">post_sync</a> = <a class="code" href="Master_8c.html#3f440fb00a4dddf2fde3349c2bc8b2d4">TestMaster_post_sync</a>;
<a name="l00211"></a>00211 <a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>.<a class="code" href="structstruct__CO__Data.html#ebb8649e117348c6cc94cd6f86684747">post_TPDO</a> = <a class="code" href="Master_8c.html#dc95bf1be3ee99722ed0cb2009c38b18">TestMaster_post_TPDO</a>;
<a name="l00212"></a>00212
<a name="l00213"></a>00213 <span class="keywordflow">if</span>(!<a class="code" href="unix_8c.html#c32083e9caa1b02f7726a8b87d10ce33">canOpen</a>(&<a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>,&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>)){
<a name="l00214"></a>00214 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Cannot open Master Board (%s,%s)\n"</span>,<a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#83944366d00f1fbb0ab61e6532a4e9f2">busname</a>, <a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>);
<a name="l00215"></a>00215 <span class="keywordflow">goto</span> fail_master;
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="comment">// Start timer thread</span>
<a name="l00220"></a>00220 <a class="code" href="timers__unix_8c.html#dd08f21a7c3fcbcd53a2c41b00879fdd">StartTimerLoop</a>(&<a class="code" href="TestMasterSlave_8c.html#5c2037498a2c950d815a9ad8c4ad1a51">InitNodes</a>);
<a name="l00221"></a>00221
<a name="l00222"></a>00222 <span class="comment">// wait Ctrl-C</span>
<a name="l00223"></a>00223
<a name="l00224"></a>00224 pause();
<a name="l00225"></a>00225 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"Finishing.\n"</span>);
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <a class="code" href="nmtMaster_8c.html#c1ba0feb792adfae21a4adb96593ab3b">masterSendNMTstateChange</a> (&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, 0x02, <a class="code" href="def_8h.html#a74bd7065a5e72d9fefb3b24c239bcab">NMT_Reset_Node</a>);
<a name="l00228"></a>00228 <a class="code" href="TestMasterSlave_8h.html#1d11de6c74e6c32fa27bcde825414a00">eprintf</a>(<span class="stringliteral">"reset\n"</span>);
<a name="l00229"></a>00229 <span class="comment">// Stop master</span>
<a name="l00230"></a>00230 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>);
<a name="l00231"></a>00231
<a name="l00232"></a>00232 <span class="comment">// Stop timer thread</span>
<a name="l00233"></a>00233 <a class="code" href="timers__unix_8c.html#8d52f2db8b505e53ace5dd1c2a789d94">StopTimerLoop</a>();
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="comment">// Close CAN devices (and can threads)</span>
<a name="l00236"></a>00236 <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#bb2fe357b92adf5413dca47e85606400">SlaveBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>, <span class="stringliteral">"none"</span>)) <a class="code" href="unix_8c.html#6d6b692e726dee0a5726e6d3db1b1693">canClose</a>(&<a class="code" href="TestSlave_8c.html#bcd8091fd5ae1a85c56564327086f6b5">TestSlave_Data</a>);
<a name="l00237"></a>00237 fail_master:
<a name="l00238"></a>00238 <span class="keywordflow">if</span>(strcmp(<a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>.<a class="code" href="structstruct__s__BOARD.html#8fa92cf9df3b66e547c079de89b00562">baudrate</a>, <span class="stringliteral">"none"</span>)) <a class="code" href="unix_8c.html#6d6b692e726dee0a5726e6d3db1b1693">canClose</a>(&<a class="code" href="TestMasterSlave_2TestMaster_8c.html#3a8f0f252681df21db87f6d2066def8c">TestMaster_Data</a>);
<a name="l00239"></a>00239 fail_slave:
<a name="l00240"></a>00240 <span class="keywordflow">return</span> 0;
<a name="l00241"></a>00241 }
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 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>
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