etisserant@400: /*
etisserant@400: Copyright (C): Giuseppe Massimo BERTANI
etisserant@400: gmbertani@users.sourceforge.net
etisserant@400:
etisserant@400:
etisserant@400: See COPYING file for copyrights details.
etisserant@400:
etisserant@400: This library is free software; you can redistribute it and/or
etisserant@400: modify it under the terms of the GNU Lesser General Public
etisserant@400: License as published by the Free Software Foundation; either
etisserant@400: version 2.1 of the License, or (at your option) any later version.
etisserant@400:
etisserant@400: This library is distributed in the hope that it will be useful,
etisserant@400: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@400: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
etisserant@400: Lesser General Public License for more details.
etisserant@400:
etisserant@400: You should have received a copy of the GNU Lesser General Public
etisserant@400: License along with this library; if not, write to the Free Software
etisserant@400: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
etisserant@400: */
etisserant@400:
etisserant@400: /**
etisserant@400: * @file slave.c
etisserant@400: * @author GMB
etisserant@400: * @date 17/1/08
etisserant@400: *
etisserant@400: * This file is part of SillySlave demo for CANfestival
etisserant@400: * open source CANopen stack.
etisserant@400: */
etisserant@400:
etisserant@400: #include "SillySlave.h"
etisserant@400: #include "slave.h"
etisserant@400: #include "main.h"
etisserant@400:
etisserant@400:
etisserant@400: static UNS8 slaveNode = 0;
etisserant@400:
etisserant@400: void InitNode(CO_Data* d, UNS32 id)
etisserant@400: {
etisserant@400: /* Defining the node Id */
etisserant@400: setNodeId(&SillySlave_Data, slaveNode);
etisserant@400: /* CAN init */
etisserant@400: setState(&SillySlave_Data, Initialisation);
etisserant@400: }
etisserant@400:
greg@454: void Exit(CO_Data* d, UNS32 id)
greg@454: {
greg@454: /* Stop slave */
greg@454: setState(&SillySlave_Data, Stopped);
greg@454: }
greg@454:
etisserant@400: INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node )
etisserant@400: {
etisserant@400: char busName[2];
etisserant@400: char baudRate[7];
etisserant@400: s_BOARD board;
etisserant@400:
etisserant@400: sprintf(busName, "%u", bus);
Christian@642: sprintf(baudRate, "%uK", baudrate);
etisserant@400: board.busname = busName;
etisserant@400: board.baudrate = baudRate;
etisserant@400:
etisserant@400: slaveNode = node;
etisserant@400:
etisserant@400: SillySlave_Data.heartbeatError = SillySlave_heartbeatError;
etisserant@400: SillySlave_Data.initialisation = SillySlave_initialisation;
etisserant@400: SillySlave_Data.preOperational = SillySlave_preOperational;
etisserant@400: SillySlave_Data.operational = SillySlave_operational;
etisserant@400: SillySlave_Data.stopped = SillySlave_stopped;
etisserant@400: SillySlave_Data.post_sync = SillySlave_post_sync;
etisserant@400: SillySlave_Data.post_TPDO = SillySlave_post_TPDO;
etisserant@400: SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex;
etisserant@400: SillySlave_Data.post_emcy = SillySlave_post_emcy;
etisserant@400:
Christian@642: TimerInit();
Christian@642:
etisserant@400: if(!canOpen(&board, &SillySlave_Data))
etisserant@400: {
etisserant@400: printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate);
etisserant@400: return -1;
etisserant@400: }
etisserant@400:
etisserant@400:
etisserant@400: printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n");
etisserant@400:
Christian@642: /* Start timer thread */
etisserant@400: StartTimerLoop(&InitNode);
etisserant@400:
etisserant@400: /* wait Ctrl-C */
etisserant@400: pause();
etisserant@400: printf("\nFinishing.\n");
etisserant@400:
etisserant@400: /* Stop timer thread */
greg@454: StopTimerLoop(&Exit);
etisserant@400: return 0;
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)
etisserant@400: {
etisserant@400: printf("SillySlave_heartbeatError %d\n", heartbeatID);
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_initialisation(CO_Data* d )
etisserant@400: {
etisserant@400: UNS32 PDO1_COBID = 0x0180 + NODE_MASTER;
etisserant@400: UNS8 size = sizeof(PDO1_COBID);
etisserant@400:
etisserant@400: printf("SillySlave_initialisation\n");
etisserant@400:
etisserant@400: /* sets TXPDO1 COB-ID to match master node ID */
etisserant@400: writeLocalDict(
etisserant@400: &SillySlave_Data, /*CO_Data* d*/
etisserant@400: 0x1800, /*UNS16 index*/
etisserant@400: 0x01, /*UNS8 subind*/
etisserant@400: &PDO1_COBID, /*void * pSourceData,*/
etisserant@400: &size, /* UNS8 * pExpectedSize*/
etisserant@400: RW); /* UNS8 checkAccess */
etisserant@400:
etisserant@400: /* value sent to master at each SYNC received */
etisserant@400: LifeSignal = 0;
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_preOperational(CO_Data* d)
etisserant@400: {
etisserant@400: printf("SillySlave_preOperational\n");
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_operational(CO_Data* d)
etisserant@400: {
etisserant@400: printf("SillySlave_operational\n");
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_stopped(CO_Data* d)
etisserant@400: {
etisserant@400: printf("SillySlave_stopped\n");
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_post_sync(CO_Data* d)
etisserant@400: {
etisserant@400: printf("SillySlave_post_sync: \n");
etisserant@400: LifeSignal++;
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_post_TPDO(CO_Data* d)
etisserant@400: {
etisserant@400: printf("SillySlave_post_TPDO: \n");
etisserant@400: printf("LifeSignal = %u\n", LifeSignal);
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)
etisserant@400: {
etisserant@400: /*TODO :
etisserant@400: * - call getODEntry for index and subindex,
etisserant@400: * - save content to file, database, flash, nvram, ...
etisserant@400: *
etisserant@400: * To ease flash organisation, index of variable to store
etisserant@400: * can be established by scanning d->objdict[d->ObjdictSize]
etisserant@400: * for variables to store.
etisserant@400: *
etisserant@400: * */
etisserant@400: printf("SillySlave_storeODSubIndex : %4.4x %2.2xh\n", wIndex, bSubindex);
etisserant@400: }
etisserant@400:
etisserant@400: void SillySlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
etisserant@400: {
etisserant@400: printf("Slave received EMCY message. Node: %2.2xh ErrorCode: %4.4x ErrorRegister: %2.2xh\n", nodeID, errCode, errReg);
etisserant@400: }
etisserant@400: