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: 
groke6@381: extern s_BOARD MasterBoard;
etisserant@0: /*****************************************************************************/
etisserant@378: void TestMaster_heartbeatError(CO_Data* d, 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@378: void TestMaster_initialisation(CO_Data* d)
etisserant@0: {
etisserant@154: 	UNS32 PDO1_COBID = 0x0182; 
etisserant@154: 	UNS32 PDO2_COBID = 0x0282;
etisserant@540: 	UNS32 size = sizeof(UNS32); 
groke6@362: 	UNS32 SINC_cicle=0;
groke6@362: 	UNS8 data_type = 0;
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 */
groke6@381: 					
etisserant@154: }
etisserant@154: 
greg@179: // Step counts number of times ConfigureSlaveNode is called
greg@454: static int 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
groke6@381:  *  - setup slave TPDO 1 transmit type
groke6@381:  *  - setup slave TPDO 2 transmit type
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:  ********************************************************
groke6@381:  * This is called first by TestMaster_post_SlaveBootup
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: 	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*/
fbeaulier@664: 					CheckSDOAndContinue, /*SDOCallback_t Callback*/
fbeaulier@664:                     0); /* use block mode */
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*/
fbeaulier@664: 					CheckSDOAndContinue, /*SDOCallback_t Callback*/
fbeaulier@664:                     0); /* use block mode */
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: 
etisserant@378: void TestMaster_preOperational(CO_Data* d)
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_preOperational\n");
etisserant@0: }
etisserant@0: 
etisserant@378: void TestMaster_operational(CO_Data* d)
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_operational\n");
etisserant@0: }
etisserant@0: 
etisserant@378: void TestMaster_stopped(CO_Data* d)
etisserant@0: {
etisserant@0: 	eprintf("TestMaster_stopped\n");
etisserant@0: }
etisserant@0: 
etisserant@378: void TestMaster_post_sync(CO_Data* d)
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: 
etisserant@378: void TestMaster_post_emcy(CO_Data* d, 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@378: void TestMaster_post_TPDO(CO_Data* d)
etisserant@0: {
etisserant@236: 	eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
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){
greg@592: 		UNS8 transmitiontype;
etisserant@236: 		eprintf("Master : Change slave's transmit type to 0xFF\n");
greg@592: 		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*/
fbeaulier@664: 					CheckSDO, /*SDOCallback_t Callback*/
fbeaulier@664:                     0); /* use block mode */
fbeaulier@664: 	}   
etisserant@236: 	if(MasterSyncCount % 50 == 25){
greg@592: 		UNS8 transmitiontype = 0x00;
etisserant@236: 		eprintf("Master : Change slave's transmit type to 0x00\n");
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*/
fbeaulier@664: 					CheckSDO, /*SDOCallback_t Callback*/
fbeaulier@664:                     0); /* use block mode */
etisserant@236: 	}
etisserant@236: 	MasterSyncCount++;
etisserant@236: }
etisserant@343: 
etisserant@378: void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
etisserant@343: {
etisserant@343: 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
groke6@362: 	
groke6@381: 	ConfigureSlaveNode(d, nodeid);
groke6@381: }