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@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@166: UNS8 slavenodeid;
etisserant@166: 
etisserant@166: 
etisserant@166: /*****************************************************************************/
etisserant@166: void TestMaster_heartbeatError(UNS8 heartbeatID)
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
etisserant@166: }
etisserant@166: 
etisserant@166: /*****************************************************************************/
etisserant@166: void TestMaster_SDOtimeoutError (UNS8 line)
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_SDOtimeoutError %d\n", line);
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@166: void TestMaster_initialisation()
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@166: 	setODentry( &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@166: 	setODentry( &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: 
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: 	// Step counts number of times ConfigureSlaveNode is called
etisserant@166: 	static step = 1;
etisserant@166: 	
etisserant@166: 	UNS8 Transmission_Type = 0x01;
etisserant@166: 	UNS16 Heartbeat_Producer_Time = 0x03E8; 
etisserant@166: 	UNS32 abortCode;
etisserant@166: 	UNS8 res;
etisserant@166: 	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
etisserant@166: 	switch(step++){
etisserant@166: 		case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
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@166: 					ConfigureSlaveNode); /*SDOCallback_t Callback*/			
etisserant@166: 		break;
etisserant@166: 					
etisserant@166: 					
etisserant@166: 		case 2:	/*Second step*/
etisserant@166: 			if(getWriteResultNetworkDict (d, slavenodeid, &abortCode) != SDO_FINISHED)
etisserant@166: 				eprintf("Master : Couldn't set slave %2.2x TPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
etisserant@166: 
etisserant@166: 			/* Finalise last SDO transfer with this node */
etisserant@166: 			closeSDOtransfer(&TestMaster_Data,
etisserant@166: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@166: 					slavenodeid, /*UNS8 nodeId*/
etisserant@166: 					SDO_CLIENT);
etisserant@166: 
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@166: 					slavenodeid, /*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@166: 					ConfigureSlaveNode); /*SDOCallback_t Callback*/	
etisserant@166: 		break;
etisserant@166: 		
etisserant@166: 		case 3:	/*Second step*/
etisserant@166: 			if(getWriteResultNetworkDict (d, slavenodeid, &abortCode) != SDO_FINISHED)
etisserant@166: 			eprintf("Master : Couldn't set slave %2.2x RPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
etisserant@166: 
etisserant@166: 			/* Finalise last SDO transfer with this node */
etisserant@166: 			closeSDOtransfer(&TestMaster_Data,
etisserant@166: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@166: 					slavenodeid, /*UNS8 nodeId*/
etisserant@166: 					SDO_CLIENT);
etisserant@166: 
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@166: 					slavenodeid, /*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@166: 					ConfigureSlaveNode); /*SDOCallback_t Callback*/			
etisserant@166: 		break;
etisserant@166: 		
etisserant@166: 		case 4:	/*Second step*/
etisserant@166: 
etisserant@166: 			if(getWriteResultNetworkDict (d, slavenodeid, &abortCode) != SDO_FINISHED)
etisserant@166: 			eprintf("Master : Couldn't set slave %2.2x Heartbeat_Producer_Time. AbortCode :%4.4x \n", nodeId, abortCode);
etisserant@166: 
etisserant@166: 			/* Finalise last SDO transfer with this node */
etisserant@166: 			closeSDOtransfer(&TestMaster_Data,
etisserant@166: 					/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
etisserant@166: 					slavenodeid, /*UNS8 nodeId*/
etisserant@166: 					SDO_CLIENT);
etisserant@166: 
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@166: 			masterSendNMTstateChange (d, slavenodeid, NMT_Start_Node);
etisserant@166: 	}
etisserant@166: 			
etisserant@166: }
etisserant@166: 
etisserant@166: void TestMaster_preOperational()
etisserant@166: {
etisserant@166: 
etisserant@166: 	eprintf("TestMaster_preOperational\n");
etisserant@166: 	ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
etisserant@166: 	
etisserant@166: }
etisserant@166: 
etisserant@166: void TestMaster_operational()
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_operational\n");
etisserant@166: }
etisserant@166: 
etisserant@166: void TestMaster_stopped()
etisserant@166: {
etisserant@166: 	eprintf("TestMaster_stopped\n");
etisserant@166: }
etisserant@166: 
etisserant@166: void TestMaster_post_sync()
etisserant@166: {
etisserant@166: 	DO++;
etisserant@166: 	eprintf("MicroMod Digital Out: %2.2x In: %2.2d\n",DO,DI);
etisserant@166: }
etisserant@166: 
etisserant@166: void TestMaster_post_TPDO()
etisserant@166: {
etisserant@166: //	eprintf("TestMaster_post_TPDO\n");	
etisserant@166: }
etisserant@166: 
etisserant@166: //s_BOARD SlaveBoard = {"0", "500K"};
etisserant@166: s_BOARD MasterBoard = {"32", "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: 
etisserant@166: void help()
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");
etisserant@166:   printf("*  - setup module TPDO 1 transmit type (ignored ???)         *\n");
etisserant@166:   printf("*  - setup module RPDO 1 transmit type (ignored ???)         *\n");
etisserant@166:   printf("*  - setup module hearbeatbeat period                        *\n");
etisserant@166:   printf("*  - set state to operational                                *\n");
etisserant@166:   printf("*  - send periodic SYNC (ignored ???)                        *\n");
etisserant@166:   printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
etisserant@166:   printf("*  - listen Micromod's TPDO 1 (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@166:   printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *\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: 
etisserant@166: /****************************************************************************/
etisserant@166: /***************************  MAIN  *****************************************/
etisserant@166: /****************************************************************************/
etisserant@166: int main(int argc,char **argv)
etisserant@166: {
etisserant@166: 
etisserant@166:   char 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);
etisserant@166: #endif
etisserant@166: 
etisserant@166: #ifndef NOT_USE_DYNAMIC_LOADING
etisserant@166: 	LoadCanDriver(LibraryPath);
etisserant@166: #endif		
etisserant@166: 
etisserant@166: 	if(MasterBoard.baudrate){
etisserant@166: 		
etisserant@166: 		TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
etisserant@166: 		TestMaster_Data.SDOtimeoutError = TestMaster_SDOtimeoutError;
etisserant@166: 		TestMaster_Data.initialisation = TestMaster_initialisation;
etisserant@166: 		TestMaster_Data.preOperational = TestMaster_preOperational;
etisserant@166: 		TestMaster_Data.operational = TestMaster_operational;
etisserant@166: 		TestMaster_Data.stopped = TestMaster_stopped;
etisserant@166: 		TestMaster_Data.post_sync = TestMaster_post_sync;
etisserant@166: 		TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
etisserant@166: 		
etisserant@166: 		if(!canOpen(&MasterBoard,&TestMaster_Data)){
etisserant@166: 			eprintf("Cannot open Master Board\n");
etisserant@166: 			goto fail_master;
etisserant@166: 		}
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: 	// Reset the slave node for next use (will stop emitting heartbeat)
etisserant@166: 	masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
etisserant@166: 	
etisserant@166: 	// Stop master
etisserant@166: 	setState(&TestMaster_Data, Stopped);
etisserant@166: 	
etisserant@166: 	// Stop timer thread
etisserant@166: 	StopTimerLoop();
etisserant@166: 	
etisserant@166: fail_master:
etisserant@166: 	if(MasterBoard.baudrate) canClose(&TestMaster_Data);	
etisserant@166: 
etisserant@166:   return 0;
etisserant@166: }
etisserant@166: 
etisserant@166: