etisserant@0: /*
etisserant@0: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@0: 
etisserant@0: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@0: 
etisserant@0: See COPYING file for copyrights details.
etisserant@0: 
etisserant@0: This library is free software; you can redistribute it and/or
etisserant@0: modify it under the terms of the GNU Lesser General Public
etisserant@0: License as published by the Free Software Foundation; either
etisserant@0: version 2.1 of the License, or (at your option) any later version.
etisserant@0: 
etisserant@0: This library is distributed in the hope that it will be useful,
etisserant@0: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@0: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@0: Lesser General Public License for more details.
etisserant@0: 
etisserant@0: You should have received a copy of the GNU Lesser General Public
etisserant@0: License along with this library; if not, write to the Free Software
etisserant@0: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@0: */
etisserant@0: 
etisserant@0: #include "Master.h"
etisserant@0: #include "Slave.h"
etisserant@0: #include "TestMasterSlave.h"
etisserant@0: 
etisserant@0: /*****************************************************************************/
etisserant@0: void TestMaster_heartbeatError(UNS8 heartbeatID)
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
etisserant@0: }
etisserant@0: 
etisserant@154: /********************************************************
etisserant@154:  * ConfigureSlaveNode is responsible to
etisserant@154:  *  - setup master RPDO 1 to receive TPDO 1 from id 2
etisserant@154:  *  - setup master RPDO 2 to receive TPDO 2 from id 2
etisserant@154:  ********************************************************/
etisserant@0: void TestMaster_initialisation()
etisserant@0: {
etisserant@154: 	UNS32 PDO1_COBID = 0x0182; 
etisserant@154: 	UNS32 PDO2_COBID = 0x0282;
etisserant@154: 	UNS8 size = sizeof(UNS32); 
greg@179: 	
etisserant@0: 	eprintf("TestMaster_initialisation\n");
etisserant@154: 
etisserant@154: 	/*****************************************
etisserant@154: 	 * Define RPDOs to match slave ID=2 TPDOs*
etisserant@154: 	 *****************************************/
etisserant@175: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@154: 			0x1400, /*UNS16 index*/
etisserant@154: 			0x01, /*UNS8 subind*/ 
etisserant@154: 			&PDO1_COBID, /*void * pSourceData,*/ 
etisserant@154: 			&size, /* UNS8 * pExpectedSize*/
etisserant@154: 			RW);  /* UNS8 checkAccess */
etisserant@154: 			
etisserant@175: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@154: 			0x1401, /*UNS16 index*/
etisserant@154: 			0x01, /*UNS8 subind*/ 
etisserant@154: 			&PDO2_COBID, /*void * pSourceData,*/ 
etisserant@154: 			&size, /* UNS8 * pExpectedSize*/
etisserant@154: 			RW);  /* UNS8 checkAccess */
etisserant@154: }
etisserant@154: 
greg@179: // Step counts number of times ConfigureSlaveNode is called
greg@179: static init_step = 0;
greg@179: 
greg@179: /*Froward declaration*/
greg@179: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
greg@179: 
greg@179: /**/
greg@179: static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
greg@179: {
greg@179: 	UNS32 abortCode;	
greg@179: 	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
greg@179: 		eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
greg@179: 
greg@179: 	/* Finalise last SDO transfer with this node */
greg@179: 	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
greg@179: 
greg@179: 	ConfigureSlaveNode(d, nodeId);
greg@179: }
greg@179: 
etisserant@154: /********************************************************
etisserant@154:  * ConfigureSlaveNode is responsible to
etisserant@154:  *  - setup slave TPDO 1 transmit time
etisserant@154:  *  - setup slave TPDO 2 transmit time
etisserant@154:  *  - switch to operational mode
etisserant@154:  *  - send NMT to slave
etisserant@154:  ********************************************************
etisserant@154:  * This an example of :
etisserant@154:  * Network Dictionary Access (SDO) with Callback 
etisserant@154:  * Slave node state change request (NMT) 
etisserant@154:  ********************************************************
etisserant@154:  * This is called first by TestMaster_preOperational
etisserant@154:  * then it called again each time a SDO exchange is
etisserant@154:  * finished.
etisserant@154:  ********************************************************/
greg@179:  
etisserant@154: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
etisserant@154: {
greg@179: 	/* Master configure heartbeat producer time at 1000 ms 
greg@179: 	 * for slave node-id 0x02 by DCF concise */
greg@179: 	 
greg@179: 	UNS8 Transmission_Type = 0x01;
etisserant@154: 	UNS32 abortCode;
etisserant@154: 	UNS8 res;
etisserant@154: 	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
etisserant@154: 
greg@179: 	switch(++init_step){
etisserant@154: 		case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
etisserant@154: 			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
etisserant@154: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
greg@179: 					nodeId, /*UNS8 nodeId*/
etisserant@154: 					0x1800, /*UNS16 index*/
etisserant@154: 					0x02, /*UNS8 subindex*/
etisserant@154: 					1, /*UNS8 count*/
etisserant@154: 					0, /*UNS8 dataType*/
etisserant@154: 					&Transmission_Type,/*void *data*/
greg@179: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
greg@179: 					break;
greg@179: 		
etisserant@154: 		case 2:	/*Second step*/
etisserant@154: 			eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
etisserant@154: 			writeNetworkDictCallBack (d, /*CO_Data* d*/
greg@179: 					nodeId, /*UNS8 nodeId*/
etisserant@154: 					0x1801, /*UNS16 index*/
etisserant@154: 					0x02, /*UNS16 index*/
etisserant@154: 					1, /*UNS8 count*/
etisserant@154: 					0, /*UNS8 dataType*/
etisserant@154: 					&Transmission_Type,/*void *data*/
greg@179: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
greg@179: 					break;
greg@179: 		case 3: 
greg@179: 		
greg@179: 		/****************************** START *******************************/
greg@179: 		
etisserant@154: 			/* Put the master in operational mode */
etisserant@154: 			setState(d, Operational);
greg@179: 		 
etisserant@154: 			/* Ask slave node to go in operational mode */
etisserant@154: 			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
greg@179: 			
etisserant@154: 	}
etisserant@0: }
etisserant@0: 
etisserant@343: #ifdef CO_ENABLE_LSS
etisserant@343: static void ConfigureLSSNode(CO_Data* d);
etisserant@343: UNS8 init_step_LSS=1;
etisserant@343: 
etisserant@343: static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
etisserant@343: {
etisserant@343: 	UNS32 dat1;
etisserant@343: 	UNS8 dat2;
etisserant@343: 	printf("CheckLSS->");
etisserant@343: 	if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
etisserant@343: 		if(command==LSS_IDENT_NON_CONF_SLAVE){
etisserant@343: 			eprintf("Master : There are not no-configured slaves in the net\n", command);
etisserant@343: 			return;
etisserant@343: 		}
etisserant@343: 		else{
etisserant@343: 			eprintf("Master : Failed in LSS comand %d.  Trying again\n", command);
etisserant@343: 		}
etisserant@343: 	}
etisserant@343: 	else
etisserant@343: 	{
etisserant@343: 		init_step_LSS++;
etisserant@343: 	
etisserant@343: 		switch(command){
etisserant@343: 		case LSS_CONF_NODE_ID:
etisserant@343:    			switch(dat1){
etisserant@343:    				case 0: printf("Node ID change succesful\n");break;
etisserant@343:    				case 1: printf("Node ID change error:out of range\n");break;
etisserant@343:    				case 0xFF:printf("Node ID change error:specific error\n");break;
etisserant@343:    				default:break;
etisserant@343:    			}
etisserant@343:    			break;
etisserant@343:    		case LSS_CONF_BIT_TIMING:
etisserant@343:    			switch(dat1){
etisserant@343:    				case 0: printf("Baud rate change succesful\n");break;
etisserant@343:    				case 1: printf("Baud rate change error: change baud rate not supported\n");break;
etisserant@343:    				case 0xFF:printf("Baud rate change error:specific error\n");break;
etisserant@343:    				default:break;
etisserant@343:    			}
etisserant@343:    			break;
etisserant@343:    		case LSS_CONF_STORE:
etisserant@343:    			switch(dat1){
etisserant@343:    				case 0: printf("Store configuration succesful\n");break;
etisserant@343:    				case 1: printf("Store configuration error:not supported\n");break;
etisserant@343:    				case 0xFF:printf("Store configuration error:specific error\n");break;
etisserant@343:    				default:break;
etisserant@343:    			}
etisserant@343:    			break;
etisserant@343: 		case LSS_SM_SELECTIVE_RESP:
etisserant@343:    			printf("Slave in CONFIGURATION mode\n");
etisserant@343:    			break;
etisserant@343:    		case LSS_IDENT_SLAVE:
etisserant@343:    			printf("node identified\n");
etisserant@343:    			break;
etisserant@343:    		case LSS_IDENT_NON_CONF_SLAVE:
etisserant@343:    			printf("non-configured remote slave in the net\n");
etisserant@343:    			break;
etisserant@343:    		case LSS_INQ_VENDOR_ID:
etisserant@343:    			printf("Slave VendorID %x\n", dat1);
etisserant@343:    			break;
etisserant@343:    		case LSS_INQ_PRODUCT_CODE:
etisserant@343:    			printf("Slave Product Code %x\n", dat1);
etisserant@343:    			break;
etisserant@343:    		case LSS_INQ_REV_NUMBER:
etisserant@343:    			printf("Slave Revision Number %x\n", dat1);
etisserant@343:    			break;
etisserant@343:    		case LSS_INQ_SERIAL_NUMBER:
etisserant@343:    			printf("Slave Serial Number %x\n", dat1);
etisserant@343:    			break;
etisserant@343:    		case LSS_INQ_NODE_ID:
etisserant@343:    			printf("Slave nodeid %x\n", dat1);
etisserant@343:    			break;
etisserant@343: 		}
etisserant@343: 	}
etisserant@343: 
etisserant@343: 	printf("\n");
etisserant@343: 	ConfigureLSSNode(d);
etisserant@343: }
etisserant@343: 
etisserant@343: 
etisserant@343: struct timeval master_prev_time,master_current_time;
etisserant@343: static void ConfigureLSSNode(CO_Data* d)
etisserant@343: {
etisserant@343: 	UNS32 Vendor_ID=0x12345678;
etisserant@343: 	UNS32 Product_Code=0x90123456;
etisserant@343: 	UNS32 Revision_Number=0x78901234;
etisserant@343: 	UNS32 Serial_Number=0x56789012;
etisserant@343: 	UNS32 Revision_Number_high=0x78901240;
etisserant@343: 	UNS32 Revision_Number_low=0x78901230;
etisserant@343: 	UNS32 Serial_Number_high=0x56789020;
etisserant@343: 	UNS32 Serial_Number_low=0x56789010;
etisserant@343: 	UNS8 NodeID=0x02;
etisserant@343: 	UNS8 Baud_Table=0;
etisserant@343: 	UNS8 Baud_BitTiming=3;
etisserant@343: 	UNS16 Switch_delay=1;
etisserant@343: 	UNS8 LSS_mode=LSS_WAITING_MODE;
etisserant@343: 	UNS8 res;
etisserant@343: 	eprintf("ConfigureLSSNode-> ");
etisserant@343: 
etisserant@343: 	switch(init_step_LSS){
etisserant@343: 		case 1:	/* LSS=>identify non-configured remote slave */
etisserant@343: 			eprintf("LSS=>identify non-configured remote slave\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 2:	/* LSS=>identify node */
etisserant@343: 			eprintf("LSS=>identify node\n");
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0);
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0);
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0);
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 3: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
etisserant@343: 			eprintf("LSS=>put in configuration mode\n");
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 4:	/* LSS=>inquire nodeID */
etisserant@343: 			eprintf("LSS=>inquire nodeID\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 5:	/* LSS=>inquire VendorID */
etisserant@343: 			eprintf("LSS=>inquire VendorID\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 6:	/* LSS=>inquire Product code */
etisserant@343: 			eprintf("LSS=>inquire Product code\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 7:	/* LSS=>inquire Revision Number */
etisserant@343: 			eprintf("LSS=>inquire Revision Number\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 8:	/* LSS=>inquire Serial Number */
etisserant@343: 			eprintf("LSS=>inquire Serial Number\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 9:	/* LSS=>change the nodeID */
etisserant@343: 			eprintf("LSS=>change the nodeId\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 10:	/* LSS=>change the Baud rate */
etisserant@343: 			eprintf("LSS=>change the Baud rate\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 11:
etisserant@343: 			eprintf("LSS=>Activate Bit Timing\n");
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0);
etisserant@343: 			/*no break;*/
etisserant@343: 			init_step_LSS++;
etisserant@343: 		case 12:
etisserant@343: 			/*LSS=>store configuration*/
etisserant@343: 			/* It will fail the first time (time out) due to the switch delay */
etisserant@343: 			/* It will fail the second time because it is not implemented in the slave */
etisserant@343: 			eprintf("LSS=>store configuration\n");
etisserant@343: 			res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
etisserant@343: 			break;
etisserant@343: 		case 13: /* LSS=>put in operation mod */
etisserant@343: 			eprintf("LSS=>put in operation mode\n");
etisserant@343: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);
etisserant@343: 			break;
etisserant@343: 	}
etisserant@343: }
etisserant@343: #endif
etisserant@343: 
etisserant@0: void TestMaster_preOperational()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_preOperational\n");
etisserant@343: #ifdef CO_ENABLE_LSS
etisserant@343: 	/* Ask slave node to go in stop mode */
etisserant@343: 	masterSendNMTstateChange (&TestMaster_Data, 0, NMT_Stop_Node);
etisserant@343: 	ConfigureLSSNode(&TestMaster_Data);
etisserant@343: #endif
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_operational()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_operational\n");
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_stopped()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_stopped\n");
etisserant@0: }
etisserant@0: 
etisserant@0: void TestMaster_post_sync()
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_post_sync\n");
etisserant@236: 	eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n",
etisserant@236: 		MasterMap1,
etisserant@236: 		MasterMap2,
etisserant@236: 		MasterMap3, 
etisserant@236: 		MasterMap4,
etisserant@236: 		MasterMap5,
etisserant@236: 		MasterMap6,
etisserant@236: 		MasterMap7,
etisserant@236: 		MasterMap8,
etisserant@236: 		MasterMap9,
etisserant@236: 		MasterMap10,
etisserant@236: 		MasterMap11,
etisserant@236: 		MasterMap12,
etisserant@236: 		MasterMap13);
etisserant@0: }
etisserant@0: 
luis@284: void TestMaster_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg)
luis@284: {
luis@284: 	eprintf("Master received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
luis@284: }
luis@284: 
etisserant@0: char query_result = 0;
etisserant@0: char waiting_answer = 0;
etisserant@0: 
etisserant@236: static void CheckSDO(CO_Data* d, UNS8 nodeId)
etisserant@236: {
etisserant@236: 	UNS32 abortCode;	
etisserant@236: 	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
etisserant@236: 		eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode);
etisserant@236: 
etisserant@236: 	/* Finalise last SDO transfer with this node */
etisserant@236: 	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
etisserant@236: }
etisserant@236: 
etisserant@236: 
etisserant@236: static int MasterSyncCount = 0;
etisserant@0: void TestMaster_post_TPDO()
etisserant@0: {
etisserant@236: 	eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
greg@179: //
etisserant@0: //	{
etisserant@0: //		char zero = 0;
etisserant@0: //		if(MasterMap4 > 0x80){
etisserant@0: //			writeNetworkDict (
etisserant@0: //				&TestMaster_Data,
etisserant@0: //				TestSlave_Data->bDeviceNodeId,
etisserant@0: //				0x2002,
etisserant@0: //				0x00,
etisserant@0: //				1,
etisserant@0: //				0,
etisserant@0: //				&zero); 
etisserant@0: //		}
etisserant@0: //	}
etisserant@0: 
etisserant@236: #if 0
etisserant@0: 	if(waiting_answer){
etisserant@0: 		UNS32 abortCode;			
etisserant@0: 		UNS8 size;			
etisserant@0: 		switch(getReadResultNetworkDict (
etisserant@0: 			&TestMaster_Data, 
greg@201: 			0x02,
etisserant@0: 			&query_result,
etisserant@0: 			&size,
etisserant@0: 			&abortCode))
etisserant@0: 		{
etisserant@0: 			case SDO_FINISHED:
etisserant@0: 				/* Do something with result here !!*/
etisserant@0: 				eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
etisserant@0: 			case SDO_ABORTED_RCV:
etisserant@0: 			case SDO_ABORTED_INTERNAL:
etisserant@0: 			case SDO_RESET:
etisserant@0: 				waiting_answer = 0;
etisserant@0: 				closeSDOtransfer(
etisserant@0: 					&TestMaster_Data,
greg@201: 					0x02,
etisserant@0: 					SDO_CLIENT);
etisserant@0: 			break;
etisserant@0: 			case SDO_DOWNLOAD_IN_PROGRESS:
etisserant@0: 			case SDO_UPLOAD_IN_PROGRESS:
etisserant@0: 			break;
etisserant@0: 		}
etisserant@236: 	}else if(MasterSyncCount % 10 == 0){
etisserant@0: 		readNetworkDict (
etisserant@0: 			&TestMaster_Data,
greg@201: 			0x02,
etisserant@0: 			0x2002,
etisserant@0: 			0x00,
etisserant@0: 			0);
etisserant@0: 		waiting_answer = 1;
etisserant@0: 	}
etisserant@236: #endif	
etisserant@236: 	if(MasterSyncCount % 17 == 0){
etisserant@236: 		eprintf("Master : Ask RTR PDO (0x1402)\n");
etisserant@236: 		sendPDOrequest(&TestMaster_Data, 0x1402 );
etisserant@236: 		sendPDOrequest(&TestMaster_Data, 0x1403 );
etisserant@236: 	}
etisserant@236: 	if(MasterSyncCount % 50 == 0){
etisserant@236: 		eprintf("Master : Change slave's transmit type to 0xFF\n");
etisserant@236: 		UNS8 transmitiontype = 0xFF;
etisserant@236: 		writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
etisserant@236: 					2, /*UNS8 nodeId*/
etisserant@236: 					0x1802, /*UNS16 index*/
etisserant@236: 					0x02, /*UNS16 index*/
etisserant@236: 					1, /*UNS8 count*/
etisserant@236: 					0, /*UNS8 dataType*/
etisserant@236: 					&transmitiontype,/*void *data*/
etisserant@236: 					CheckSDO); /*SDOCallback_t Callback*/
etisserant@236: 	}
etisserant@236: 	if(MasterSyncCount % 50 == 25){
etisserant@236: 		eprintf("Master : Change slave's transmit type to 0x00\n");
etisserant@236: 		UNS8 transmitiontype = 0x00;
etisserant@236: 		writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
etisserant@236: 					2, /*UNS8 nodeId*/
etisserant@236: 					0x1802, /*UNS16 index*/
etisserant@236: 					0x02, /*UNS16 index*/
etisserant@236: 					1, /*UNS8 count*/
etisserant@236: 					0, /*UNS8 dataType*/
etisserant@236: 					&transmitiontype,/*void *data*/
etisserant@236: 					CheckSDO); /*SDOCallback_t Callback*/
etisserant@236: 	}
etisserant@236: 	MasterSyncCount++;
etisserant@236: }
etisserant@343: 
etisserant@343: void TestMaster_post_SlaveBootup(UNS8 nodeid)
etisserant@343: {
etisserant@343: 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
groke6@349: 
etisserant@343: 	ConfigureSlaveNode(&TestMaster_Data, nodeid);
groke6@349: 
groke6@349: }
groke6@349: