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 <stdio.h>
etisserant@0: #include <string.h>
etisserant@0: #include <sys/time.h>
etisserant@0: #include <unistd.h>
etisserant@0: #include <stdlib.h>
etisserant@0: #include <signal.h>
etisserant@0: 
etisserant@0: #include <applicfg.h>
etisserant@0: #include <can_driver.h>
etisserant@0: #include <timers_driver.h>
etisserant@0: 
etisserant@0: #include "Master.h"
etisserant@0: #include "Slave.h"
etisserant@0: #include "TestMasterSlave.h"
etisserant@0: 
etisserant@0: #define MyCase(fc) case fc: eprintf(#fc);break;
etisserant@0: void print_message(Message *m)
etisserant@0: {
etisserant@0: 	int i;
etisserant@0: 	switch(m->cob_id.w >> 7)
etisserant@0: 	{
etisserant@0: 		MyCase(SYNC)
etisserant@0: 		MyCase(TIME_STAMP)
etisserant@0: 		MyCase(PDO1tx)
etisserant@0: 		MyCase(PDO1rx)
etisserant@0: 		MyCase(PDO2tx)
etisserant@0: 		MyCase(PDO2rx)
etisserant@0: 		MyCase(PDO3tx)
etisserant@0: 		MyCase(PDO3rx)
etisserant@0: 		MyCase(PDO4tx)
etisserant@0: 		MyCase(PDO4rx)
etisserant@0: 		MyCase(SDOtx)
etisserant@0: 		MyCase(SDOrx)
etisserant@0: 		MyCase(NODE_GUARD)
etisserant@0: 		MyCase(NMT)
etisserant@0: 	}
etisserant@0: 	eprintf(" rtr:%d", m->rtr);
etisserant@0: 	eprintf(" len:%d", m->len);
etisserant@0: 	for (i = 0 ; i < m->len ; i++)
etisserant@0: 		eprintf(" %02x", m->data[i]);
etisserant@0: 	eprintf("\n");
etisserant@0: }
etisserant@0: 
etisserant@0: UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
etisserant@0: {
etisserant@0: 	eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
lbessard@31: 	return 0;
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: 
etisserant@0: void InitNodes(CO_Data* d, UNS32 id)
etisserant@0: {
etisserant@0: //  TestSlave_Index2000_callbacks[0] = &OnMasterMap1Update;
etisserant@0:   RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
etisserant@0: 
etisserant@0:   /****************************** INITIALISATION MASTER *******************************/
etisserant@0:   /* Defining the node Id */
etisserant@0:   setNodeId(&TestMaster_Data, 0x01);
etisserant@0: 
etisserant@0:   /* init */
etisserant@0:   setState(&TestMaster_Data, Initialisation);
etisserant@0: 
etisserant@0:   /****************************** INITIALISATION SLAVE *******************************/
etisserant@0:   /* Defining the node Id */
etisserant@0:   setNodeId(&TestSlave_Data, 0x02);
etisserant@0: 
etisserant@0:   /* init */
etisserant@0:   setState(&TestSlave_Data, Initialisation);
etisserant@0: 
etisserant@0:   /****************************** START *******************************/
etisserant@0:   /* Put the master in operational mode */
etisserant@0:   setState(&TestMaster_Data, Operational);
etisserant@0:   
etisserant@0:   masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
etisserant@0: 	
etisserant@0: }
etisserant@0: 
etisserant@0: CAN_HANDLE SlaveCanHandle;
etisserant@0: CAN_HANDLE MasterCanHandle;
etisserant@0: 
etisserant@0: // Baudrate values for Peak board :
etisserant@0: // CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K
etisserant@0: // CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K
etisserant@0: 
etisserant@0: #ifdef CAN_BAUD_500K
etisserant@0: // Appli have been compiled for Peak. Baudrate is defined
etisserant@0: # define BAUDRATE CAN_BAUD_500K
etisserant@0: #else
etisserant@0: // Appli have been compiled for Generic. Baudrate not used
etisserant@0: # define BAUDRATE 0
etisserant@0: #endif
etisserant@0: 
etisserant@0: void catch_signal(int sig)
etisserant@0: {
etisserant@0:   signal(SIGTERM, catch_signal);
etisserant@0:   signal(SIGINT, catch_signal);
etisserant@0:   stopTimer();
etisserant@0:   eprintf("Got Sigterm - Finishing.\n");
etisserant@0: }
etisserant@0: 
etisserant@0: 
etisserant@0: void help()
etisserant@0: {
etisserant@0:   printf("**************************************************************\n");
etisserant@0:   printf("*  TestMasterSlave                                           *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("*  A simple example for PC. It does implement 2 CanOpen      *\n");
etisserant@0:   printf("*  nodes in the same process. A master and a slave. Both     *\n");
etisserant@0:   printf("*   communicate together, exchanging periodically NMT, SYNC, *\n");
etisserant@0:   printf("*   SDO and PDO.                                             *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("*   If you have chosen virtual CAN driver, just type         *\n");
etisserant@0:   printf("*   ./TestMasterSlave                                        *\n");
etisserant@0:   printf("*                                                            *\n");
lbessard@31:   printf("*   Else you need to specify bus:                            *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("*     -s : slave CAN bus [default 0, peak first PCI]         *\n");
etisserant@0:   printf("*     -m : master CAN bus [default 1, peak second PCI]       *\n");
etisserant@0:   printf("*                                                            *\n");
etisserant@0:   printf("**************************************************************\n");
etisserant@0: }
etisserant@0: 
etisserant@0: /****************************************************************************/
etisserant@0: /***************************  MAIN  *****************************************/
etisserant@0: /****************************************************************************/
etisserant@0: int main(int argc,char **argv)
etisserant@0: {
etisserant@0: 	s_BOARD SlaveBoard = {"0", BAUDRATE, &TestSlave_Data};
etisserant@0: 	s_BOARD MasterBoard = {"1", BAUDRATE, &TestMaster_Data};
etisserant@0: 
etisserant@0: 
etisserant@0:   char c;
etisserant@0:   extern char *optarg;
etisserant@0: 
etisserant@0:   while ((c = getopt(argc, argv, "-m:s:")) != EOF)
etisserant@0:   {
etisserant@0:     switch(c)
etisserant@0:     {
etisserant@0:       case 's' :
etisserant@0:         if (optarg[0] == 0)
etisserant@0:         {
etisserant@0:           help();
etisserant@0:           exit(1);
etisserant@0:         }
etisserant@0:         SlaveBoard.busname = optarg;
etisserant@0:         break;
etisserant@0:       case 'm' :
etisserant@0:         if (optarg[0] == 0)
etisserant@0:         {
etisserant@0:           help();
etisserant@0:           exit(1);
etisserant@0:         }
etisserant@0:         MasterBoard.busname = optarg;
etisserant@0:         break;
etisserant@0:       default:
etisserant@0:         help();
etisserant@0:         exit(1);
etisserant@0:     }
etisserant@0:   }
etisserant@0: 
etisserant@0: 	/* install signal handler for manual break */
etisserant@0: 	signal(SIGTERM, catch_signal);
etisserant@0: 	signal(SIGINT, catch_signal);
etisserant@0: 	
etisserant@0: 	// Open CAN devices
etisserant@0: 	SlaveCanHandle = canOpen(&SlaveBoard);
etisserant@0: 	MasterCanHandle = canOpen(&MasterBoard);	
etisserant@0: 	
etisserant@0: 	// Will call InitNodes, and wait and handle next timer events.
etisserant@0: 	TimerLoop(&InitNodes);
etisserant@0: 	
etisserant@0: 	// Close CAN devices
etisserant@0: 	canClose(SlaveCanHandle);
etisserant@0: 	canClose(MasterCanHandle);	
etisserant@0: 	
etisserant@0: 
etisserant@0:   return 0;
etisserant@0: }