etisserant@166: /*
etisserant@166: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@166: 
etisserant@166: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@166: 
etisserant@166: See COPYING file for copyrights details.
etisserant@166: 
etisserant@166: This library is free software; you can redistribute it and/or
etisserant@166: modify it under the terms of the GNU Lesser General Public
etisserant@166: License as published by the Free Software Foundation; either
etisserant@166: version 2.1 of the License, or (at your option) any later version.
etisserant@166: 
etisserant@166: This library is distributed in the hope that it will be useful,
etisserant@166: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@166: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@166: Lesser General Public License for more details.
etisserant@166: 
etisserant@166: You should have received a copy of the GNU Lesser General Public
etisserant@166: License along with this library; if not, write to the Free Software
etisserant@166: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@166: */
etisserant@166: 
etisserant@166: #if defined(WIN32) && !defined(__CYGWIN__)
etisserant@166: #include <windows.h>
etisserant@166: #include "getopt.h"
etisserant@166: void pause(void)
etisserant@166: {
etisserant@166: 	system("PAUSE");
etisserant@166: }
etisserant@166: #else
etisserant@169: #include <unistd.h>
etisserant@166: #include <stdio.h>
etisserant@166: #include <string.h>
etisserant@166: #include <stdlib.h>
etisserant@166: #include <signal.h>
etisserant@166: #endif
etisserant@166: 
etisserant@166: #include "canfestival.h"
etisserant@166: #include "TestMasterMicroMod.h"
etisserant@166: #include "TestMaster.h"
etisserant@331: UNS8 slavenodeid = 0x40;
etisserant@166: 
etisserant@166: 
etisserant@166: /*****************************************************************************/
etisserant@378: void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
etisserant@166: }
etisserant@166: 
etisserant@166: /********************************************************
etisserant@166:  * ConfigureSlaveNode is responsible to
etisserant@166:  *  - setup master RPDO 1 to receive TPDO 1 from id 0x40
etisserant@166:  *  - setup master TPDO 1 to send RPDO 1 to id 0x40
etisserant@166:  ********************************************************/
etisserant@378: void TestMaster_initialisation(CO_Data* d)
etisserant@166: {
etisserant@166: 	UNS32 PDO1_COBID = 0x0180 + slavenodeid; 
etisserant@166: 	UNS32 PDO2_COBID = 0x0200 + slavenodeid;
etisserant@166: 	UNS8 size = sizeof(UNS32); 
etisserant@166: 
etisserant@166: 	eprintf("TestMaster_initialisation\n");
etisserant@166: 
etisserant@166: 	/*****************************************
etisserant@166: 	 * Define RPDOs to match slave ID=0x40 TPDOs*
etisserant@166: 	 *****************************************/
etisserant@175: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@166: 			0x1400, /*UNS16 index*/
etisserant@166: 			0x01, /*UNS8 subind*/ 
etisserant@166: 			&PDO1_COBID, /*void * pSourceData,*/ 
etisserant@166: 			&size, /* UNS8 * pExpectedSize*/
etisserant@166: 			RW);  /* UNS8 checkAccess */
etisserant@166: 			
etisserant@166: 
etisserant@166: 	/*****************************************
etisserant@166: 	 * Define TPDOs to match slave ID=0x40 RPDOs*
etisserant@166: 	 *****************************************/
etisserant@175: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@166: 			0x1800, /*UNS16 index*/
etisserant@166: 			0x01, /*UNS8 subind*/ 
etisserant@166: 			&PDO2_COBID, /*void * pSourceData,*/ 
etisserant@166: 			&size, /* UNS8 * pExpectedSize*/
etisserant@166: 			RW);  /* UNS8 checkAccess */
etisserant@166: }
etisserant@166: 
greg@454: static int init_step = 0;
etisserant@173: 
etisserant@173: /*Froward declaration*/
etisserant@173: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
etisserant@173: 
etisserant@173: /**/
etisserant@173: static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
etisserant@173: {
etisserant@173: 	UNS32 abortCode;
etisserant@173: 
etisserant@173: 	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
etisserant@173: 		eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
etisserant@173: 
etisserant@173: 	/* Finalise last SDO transfer with this node */
etisserant@173: 	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
etisserant@173: 
etisserant@173: 	ConfigureSlaveNode(d, nodeId);
etisserant@173: }
etisserant@173: 
etisserant@166: /********************************************************
etisserant@166:  * ConfigureSlaveNode is responsible to
etisserant@166:  *  - setup slave TPDO 1 transmit time
etisserant@166:  *  - setup slave TPDO 2 transmit time
etisserant@166:  *  - setup slave Heartbeat Producer time
etisserant@166:  *  - switch to operational mode
etisserant@166:  *  - send NMT to slave
etisserant@166:  ********************************************************
etisserant@166:  * This an example of :
etisserant@166:  * Network Dictionary Access (SDO) with Callback 
etisserant@166:  * Slave node state change request (NMT) 
etisserant@166:  ********************************************************
etisserant@166:  * This is called first by TestMaster_preOperational
etisserant@166:  * then it called again each time a SDO exchange is
etisserant@166:  * finished.
etisserant@166:  ********************************************************/
etisserant@166: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
etisserant@166: {
etisserant@166: 	UNS8 res;
etisserant@166: 	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
etisserant@173: 	switch(++init_step){
etisserant@173: 		case 1: 
etisserant@173: 		{	/*disable Slave's TPDO 1 */
etisserant@173: 			UNS32 TPDO_COBId = 0x80000180 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1800, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@173: 		break;
etisserant@173: 
etisserant@173: 		case 2: 
etisserant@173: 		{	/*setup Slave's TPDO 1 to be transmitted on SYNC*/
etisserant@173: 			UNS8 Transmission_Type = 0x01;
etisserant@173: 			
etisserant@166: 			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
etisserant@166: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@166: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@166: 					nodeId, /*UNS8 nodeId*/
etisserant@166: 					0x1800, /*UNS16 index*/
etisserant@166: 					0x02, /*UNS8 subindex*/
etisserant@166: 					1, /*UNS8 count*/
etisserant@166: 					0, /*UNS8 dataType*/
etisserant@166: 					&Transmission_Type,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@173: 		break;
etisserant@173: 
etisserant@173: 		case 3: 
etisserant@173: 		{	/*re-enable Slave's TPDO 1 */
etisserant@173: 			UNS32 TPDO_COBId = 0x00000180 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1800, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@166: 		break;
etisserant@166: 					
etisserant@173: 		case 4: 
greg@335: 		{	/*disable Slave's RPDO 1 */
etisserant@173: 			UNS32 TPDO_COBId = 0x80000200 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1400, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@173: 		break;
etisserant@173: 
etisserant@166: 					
etisserant@173: 		case 5:
etisserant@173: 		{	
etisserant@173: 			UNS8 Transmission_Type = 0x01;
etisserant@173: 			
etisserant@166: 			eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
etisserant@166: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@166: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@166: 					0x1400, /*UNS16 index*/
etisserant@166: 					0x02, /*UNS8 subindex*/
etisserant@166: 					1, /*UNS8 count*/
etisserant@166: 					0, /*UNS8 dataType*/
etisserant@166: 					&Transmission_Type,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}	
etisserant@173: 		break;
etisserant@173: 
etisserant@173: 		case 6: 
greg@335: 		{	/*re-enable Slave's RPDO 1 */
etisserant@173: 			UNS32 TPDO_COBId = 0x00000200 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1400, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@166: 		break;
etisserant@166: 		
etisserant@173: 		case 7:	
etisserant@173: 		{
greg@335: 			/*set the heartbeat Producer Time*/
etisserant@173: 			UNS16 Heartbeat_Producer_Time = 0x03E8; 
etisserant@166: 			eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
etisserant@166: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@166: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@166: 					0x1017, /*UNS16 index*/
etisserant@166: 					0x00, /*UNS8 subindex*/
etisserant@166: 					2, /*UNS8 count*/
etisserant@166: 					0, /*UNS8 dataType*/
etisserant@166: 					&Heartbeat_Producer_Time,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@173: 		break;
etisserant@173: 
etisserant@173: 		case 8: 
etisserant@173: 		{	/*disable Slave's TPDO 2 */
etisserant@173: 			UNS32 TPDO_COBId = 0x80000280 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1801, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@173: 		break;
etisserant@173: 
etisserant@173: 		case 9: 
etisserant@173: 		{	/*disable Slave's TPDO 3 */
etisserant@173: 			UNS32 TPDO_COBId = 0x80000380 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1802, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}
etisserant@173: 		break;			
etisserant@173: 
etisserant@173: 		case 10: 
greg@335: 		{	/*disable Slave's TPDO 4 */
etisserant@173: 			UNS32 TPDO_COBId = 0x80000480 + nodeId;
etisserant@173: 			
etisserant@173: 			eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
etisserant@173: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@173: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@173: 					nodeId, /*UNS8 nodeId*/
etisserant@173: 					0x1803, /*UNS16 index*/
etisserant@173: 					0x01, /*UNS8 subindex*/
etisserant@173: 					4, /*UNS8 count*/
etisserant@173: 					0, /*UNS8 dataType*/
etisserant@173: 					&TPDO_COBId,/*void *data*/
etisserant@173: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@173: 		}			
etisserant@173: 		break;			
etisserant@166: 		
etisserant@173: 		case 11:
etisserant@166: 			/* Put the master in operational mode */
etisserant@166: 			setState(d, Operational);
etisserant@166: 			  
etisserant@166: 			/* Ask slave node to go in operational mode */
etisserant@173: 			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
etisserant@166: 	}
etisserant@166: 			
etisserant@166: }
etisserant@166: 
etisserant@378: void TestMaster_preOperational(CO_Data* d)
etisserant@166: {
etisserant@166: 
etisserant@166: 	eprintf("TestMaster_preOperational\n");
etisserant@166: 	ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
etisserant@166: 	
etisserant@166: }
etisserant@166: 
etisserant@378: void TestMaster_operational(CO_Data* d)
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_operational\n");
etisserant@166: }
etisserant@166: 
etisserant@378: void TestMaster_stopped(CO_Data* d)
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_stopped\n");
etisserant@166: }
etisserant@166: 
etisserant@378: void TestMaster_post_sync(CO_Data* d)
etisserant@166: {
etisserant@166: 	DO++;
greg@201: 	eprintf("MicroMod Digital Out: %2.2x\n",DO);
greg@201: 	eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
etisserant@166: }
etisserant@166: 
etisserant@378: void TestMaster_post_TPDO(CO_Data* d)
etisserant@166: {
etisserant@166: //	eprintf("TestMaster_post_TPDO\n");	
etisserant@166: }
etisserant@166: 
etisserant@166: //s_BOARD SlaveBoard = {"0", "500K"};
etisserant@331: s_BOARD MasterBoard = {"0", "125K"};
etisserant@166: 
etisserant@166: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@166: void catch_signal(int sig)
etisserant@166: {
etisserant@166:   signal(SIGTERM, catch_signal);
etisserant@166:   signal(SIGINT, catch_signal);
etisserant@166:   
etisserant@166:   eprintf("Got Signal %d\n",sig);
etisserant@166: }
etisserant@166: #endif
etisserant@166: 
greg@454: void help(void)
etisserant@166: {
etisserant@166:   printf("**************************************************************\n");
etisserant@166:   printf("*  TestMasterMicroMod                                        *\n");
etisserant@166:   printf("*                                                            *\n");
etisserant@166:   printf("*  A simple example for PC.                                  *\n");
etisserant@166:   printf("*  A CanOpen master that control a MicroMod module:          *\n");
greg@180:   printf("*  - setup module TPDO 1 transmit type                       *\n");
greg@180:   printf("*  - setup module RPDO 1 transmit type                       *\n");
etisserant@166:   printf("*  - setup module hearbeatbeat period                        *\n");
greg@180:   printf("*  - disable others TPDOs                                    *\n");
etisserant@166:   printf("*  - set state to operational                                *\n");
greg@180:   printf("*  - send periodic SYNC                                      *\n");
etisserant@166:   printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
etisserant@166:   printf("*  - listen Micromod's TPDO 1 (digital input)                *\n");
greg@201:   printf("*  - Mapping RPDO 1 bit per bit (digital input)              *\n");
etisserant@166:   printf("*                                                            *\n");
etisserant@166:   printf("*   Usage:                                                   *\n");
etisserant@166:   printf("*   ./TestMasterMicroMod  [OPTIONS]                          *\n");
etisserant@166:   printf("*                                                            *\n");
etisserant@166:   printf("*   OPTIONS:                                                 *\n");
etisserant@166:   printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
etisserant@166:   printf("*                                                            *\n");
etisserant@166:   printf("*    Slave:                                                  *\n");
etisserant@166:   printf("*     -i : Slave Node id format [0x01 , 0x7F]                *\n");
etisserant@166:   printf("*                                                            *\n");
etisserant@166:   printf("*    Master:                                                 *\n");
etisserant@166:   printf("*     -m : bus name [\"1\"]                                    *\n");
etisserant@169:   printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *\n");
etisserant@166:   printf("*                                                            *\n");
etisserant@166:   printf("**************************************************************\n");
etisserant@166: }
etisserant@166: 
etisserant@166: /***************************  INIT  *****************************************/
etisserant@166: void InitNodes(CO_Data* d, UNS32 id)
etisserant@166: {
etisserant@166: 	/****************************** INITIALISATION MASTER *******************************/
etisserant@166: 	if(MasterBoard.baudrate){
etisserant@166: 		/* Defining the node Id */
etisserant@166: 		setNodeId(&TestMaster_Data, 0x01);
etisserant@166: 
etisserant@166: 		/* init */
etisserant@166: 		setState(&TestMaster_Data, Initialisation);
etisserant@166: 	}
etisserant@166: }
etisserant@166: 
greg@454: /***************************  EXIT  *****************************************/
greg@454: void Exit(CO_Data* d, UNS32 id)
greg@454: {
greg@465: 	if(strcmp(MasterBoard.baudrate, "none")){
greg@465: 		masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
greg@454:     
greg@465:     	//Stop master
greg@465: 		setState(&TestMaster_Data, Stopped);
greg@465: 	}
greg@454: }
etisserant@166: /****************************************************************************/
etisserant@166: /***************************  MAIN  *****************************************/
etisserant@166: /****************************************************************************/
etisserant@166: int main(int argc,char **argv)
etisserant@166: {
etisserant@166: 
etisserant@191:   int c;
etisserant@166:   extern char *optarg;
etisserant@166:   char* LibraryPath="libcanfestival_can_virtual.so";
etisserant@166:   char *snodeid;
etisserant@166:   while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
etisserant@166:   {
etisserant@166:     switch(c)
etisserant@166:     {
etisserant@166:       case 'm' :
etisserant@166:         if (optarg[0] == 0)
etisserant@166:         {
etisserant@166:           help();
etisserant@166:           exit(1);
etisserant@166:         }
etisserant@166:         MasterBoard.busname = optarg;
etisserant@166:         break;
etisserant@166:       case 'M' :
etisserant@166:         if (optarg[0] == 0)
etisserant@166:         {
etisserant@166:           help();
etisserant@166:           exit(1);
etisserant@166:         }
etisserant@166:         MasterBoard.baudrate = optarg;
etisserant@166:         break;
etisserant@166:       case 'l' :
etisserant@166:         if (optarg[0] == 0)
etisserant@166:         {
etisserant@166:           help();
etisserant@166:           exit(1);
etisserant@166:         }
etisserant@166:         LibraryPath = optarg;
etisserant@166:         break;
etisserant@166:       case 'i' :
etisserant@166:         if (optarg[0] == 0)
etisserant@166:         {
etisserant@166:           help();
etisserant@166:           exit(1);
etisserant@166:         }
etisserant@166:         snodeid = optarg;
etisserant@166: 		sscanf(snodeid,"%x",&slavenodeid);
etisserant@166:         break;
etisserant@166:       default:
etisserant@166:         help();
etisserant@166:         exit(1);
etisserant@166:     }
etisserant@166:   }
etisserant@166: 
etisserant@166: #if !defined(WIN32) || defined(__CYGWIN__)
etisserant@166:   /* install signal handler for manual break */
etisserant@166: 	signal(SIGTERM, catch_signal);
etisserant@166: 	signal(SIGINT, catch_signal);
greg@454: 	TimerInit();
etisserant@166: #endif
etisserant@166: 
etisserant@166: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@166: 	LoadCanDriver(LibraryPath);
etisserant@166: #endif		
etisserant@166: 
etisserant@169: 	TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
etisserant@169: 	TestMaster_Data.initialisation = TestMaster_initialisation;
etisserant@169: 	TestMaster_Data.preOperational = TestMaster_preOperational;
etisserant@169: 	TestMaster_Data.operational = TestMaster_operational;
etisserant@169: 	TestMaster_Data.stopped = TestMaster_stopped;
etisserant@169: 	TestMaster_Data.post_sync = TestMaster_post_sync;
etisserant@169: 	TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
etisserant@169: 	
etisserant@169: 	if(!canOpen(&MasterBoard,&TestMaster_Data)){
etisserant@169: 		eprintf("Cannot open Master Board\n");
etisserant@169: 		goto fail_master;
etisserant@166: 	}
etisserant@166: 	
etisserant@166: 	// Start timer thread
etisserant@166: 	StartTimerLoop(&InitNodes);
etisserant@166: 
etisserant@166: 	// wait Ctrl-C
etisserant@166: 	pause();
etisserant@166: 	eprintf("Finishing.\n");
etisserant@166: 	
etisserant@166: 	// Stop timer thread
greg@454: 	StopTimerLoop(&Exit);
etisserant@166: 	
etisserant@166: fail_master:
etisserant@166: 	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
etisserant@166: 
greg@454:   TimerCleanup();
etisserant@166:   return 0;
etisserant@166: }
etisserant@166: 
etisserant@166: