As requested long ago, added CoData* parameter to all this applications callback, let application designer use identical callback for multiple nodes, and reduce source code length.
Concerned callbacks :
initialisation
preOperational
operational
stopped
heartbeatError
post_sync
post_TPDO
post_SlaveBootup
storeODSubIndex
post_emcy
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<a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a> » <a class="el" href="dir_c6ec2311b9c3220564f22df7a614280d.html">TestMasterMicroMod</a></div>
<h1>TestMasterMicroMod.h</h1><a href="TestMasterMicroMod_8h.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 <span class="preprocessor">#ifdef USE_XENO</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="preprocessor">#define eprintf(...)</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00025"></a><a class="code" href="TestMasterMicroMod_8h.html#1d11de6c74e6c32fa27bcde825414a00">00025</a> <span class="preprocessor"></span><span class="preprocessor">#define eprintf(...) printf (__VA_ARGS__)</span>
<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="comment">//void print_message(Message *m);</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="comment">/*UNS8 canSend(CAN_HANDLE fd0, Message *m);*/</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="comment">/*</span>
<a name="l00034"></a>00034 <span class="comment">#define CAN_FIFO_LENGTH 100</span>
<a name="l00035"></a>00035 <span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment">#define DECLARE_A_CAN_FIFO \</span>
<a name="l00037"></a>00037 <span class="comment">static Message FIFO[CAN_FIFO_LENGTH];\</span>
<a name="l00038"></a>00038 <span class="comment">static int FIFO_First = 0;\</span>
<a name="l00039"></a>00039 <span class="comment">static int FIFO_Last = 0;\</span>
<a name="l00040"></a>00040 <span class="comment">\</span>
<a name="l00041"></a>00041 <span class="comment">static void PutInFIFO(Message *m)\</span>
<a name="l00042"></a>00042 <span class="comment">{\</span>
<a name="l00043"></a>00043 <span class="comment"> FIFO[FIFO_Last++] = *m;\</span>
<a name="l00044"></a>00044 <span class="comment"> FIFO_Last %= CAN_FIFO_LENGTH;\</span>
<a name="l00045"></a>00045 <span class="comment">}\</span>
<a name="l00046"></a>00046 <span class="comment">\</span>
<a name="l00047"></a>00047 <span class="comment">static void GetFromFIFO(Message *m)\</span>
<a name="l00048"></a>00048 <span class="comment">{\</span>
<a name="l00049"></a>00049 <span class="comment"> *m = FIFO[FIFO_First++];\</span>
<a name="l00050"></a>00050 <span class="comment"> FIFO_First %= CAN_FIFO_LENGTH;\</span>
<a name="l00051"></a>00051 <span class="comment">}\</span>
<a name="l00052"></a>00052 <span class="comment">\</span>
<a name="l00053"></a>00053 <span class="comment">static void TransmitMessage(CO_Data* d, UNS32 id)\</span>
<a name="l00054"></a>00054 <span class="comment">{\</span>
<a name="l00055"></a>00055 <span class="comment"> Message m;\</span>
<a name="l00056"></a>00056 <span class="comment"> GetFromFIFO(&m);\</span>
<a name="l00057"></a>00057 <span class="comment"> canDispatch(d, &m);\</span>
<a name="l00058"></a>00058 <span class="comment">}</span>
<a name="l00059"></a>00059 <span class="comment">*/</span>
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