groke6@381: /*
groke6@381: This file is part of CanFestival, a library implementing CanOpen Stack. 
groke6@381: 
groke6@381: Copyright (C): Edouard TISSERANT , Francis DUPIN and Jorge BERZOSA
groke6@381: 
groke6@381: See COPYING file for copyrights details.
groke6@381: 
groke6@381: This library is free software; you can redistribute it and/or
groke6@381: modify it under the terms of the GNU Lesser General Public
groke6@381: License as published by the Free Software Foundation; either
groke6@381: version 2.1 of the License, or (at your option) any later version.
groke6@381: 
groke6@381: This library is distributed in the hope that it will be useful,
groke6@381: but WITHOUT ANY WARRANTY; without even the implied warranty of
groke6@381: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
groke6@381: Lesser General Public License for more details.
groke6@381: 
groke6@381: You should have received a copy of the GNU Lesser General Public
groke6@381: License along with this library; if not, write to the Free Software
groke6@381: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
groke6@381: */
groke6@381: 
groke6@381: #include "Master.h"
groke6@381: #include "SlaveA.h"
groke6@381: #include "SlaveB.h"
groke6@384: #include "TestMasterSlaveLSS.h" 
groke6@384: 
groke6@384: extern s_BOARD MasterBoard;
groke6@381: /*****************************************************************************/
groke6@381: void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
groke6@381: {
groke6@381: 	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
groke6@381: }
groke6@381: 
groke6@381: /********************************************************
groke6@381:  * TestMaster_initialisation is responsible to
groke6@381:  *  - setup master RPDO 1 to receive TPDO 1 from id 2
groke6@381:  *  - setup master RPDO 2 to receive TPDO 1 from id 3
groke6@381:  ********************************************************/
groke6@381: void TestMaster_initialisation(CO_Data* d)
groke6@381: {
groke6@381: 	UNS32 PDO1_COBID = 0x0182; 
groke6@381: 	UNS32 PDO2_COBID = 0x0183;
Mongo@717: 	UNS32 size = sizeof(UNS32); 
groke6@381: 	
groke6@381: 	eprintf("TestMaster_initialisation\n");
groke6@381: 
groke6@381: 	/*****************************************
groke6@381: 	 * Define RPDO to match slave ID=2 TPDO1*
groke6@381: 	 *****************************************/
groke6@381: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
groke6@381: 			0x1400, /*UNS16 index*/
groke6@381: 			0x01, /*UNS8 subind*/ 
groke6@381: 			&PDO1_COBID, /*void * pSourceData,*/ 
groke6@381: 			&size, /* UNS8 * pExpectedSize*/
groke6@381: 			RW);  /* UNS8 checkAccess */
groke6@381: 			
groke6@381: 	/*****************************************
groke6@381: 	 * Define RPDO to match slave ID=3 TPDO1*
groke6@381: 	 *****************************************/		
groke6@381: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
groke6@381: 			0x1401, /*UNS16 index*/
groke6@381: 			0x01, /*UNS8 subind*/ 
groke6@381: 			&PDO2_COBID, /*void * pSourceData,*/ 
groke6@381: 			&size, /* UNS8 * pExpectedSize*/
groke6@381: 			RW);  /* UNS8 checkAccess */
groke6@381: 
groke6@381: }
groke6@381: 
groke6@381: // Step counts number of times ConfigureSlaveNode is called
groke6@381: // There is one per each slave
groke6@381: static init_step[] ={0,0};
groke6@381: 
groke6@381: /*Forward declaration*/
groke6@381: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
groke6@381: 
groke6@381: static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
groke6@381: {
groke6@381: 	UNS32 abortCode;	
groke6@381: 	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
Mongo@717: 		eprintf("Master : Failed in initializing slave %2.2x, AbortCode :%4.4x \n", nodeId, abortCode);
groke6@381: 
groke6@381: 	/* Finalise last SDO transfer with this node */
groke6@381: 	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
groke6@381: 
groke6@381: 	ConfigureSlaveNode(d, nodeId);
groke6@381: }
groke6@381: 
groke6@381: /********************************************************
groke6@381:  * ConfigureSlaveNode is responsible to
groke6@381:  *  - setup slave 'n' TPDO 1 transmit type
groke6@381:  *  - setup slave 'n' Producer Hertbeat Time
groke6@381:  *  - setup the Consumer Heartbeat Time for slave 'n'
groke6@381:  *  - switch to operational mode
groke6@381:  *  - send NMT to slave
groke6@381:  ********************************************************
groke6@381:  * This an example of :
groke6@381:  * Network Dictionary Access (SDO) with Callback 
groke6@381:  * Slave node state change request (NMT) 
groke6@381:  ********************************************************
groke6@381:  * This is called first by TestMaster_post_SlaveBootup
groke6@381:  * after the LSS configuration has been done
groke6@381:  * then it called again each time a SDO exchange is
groke6@381:  * finished.
groke6@381:  ********************************************************/
groke6@381:  
groke6@381: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
groke6@381: {
groke6@381: 	/* Master configure heartbeat producer time at 0 ms 
groke6@381: 	 * for slaves node-id 0x02 and 0x03 by DCF concise */
groke6@381: 	 
groke6@381: 	UNS8 Transmission_Type = 0x01;
groke6@381: 	UNS16 Slave_Prod_Heartbeat_T=1000;//ms
groke6@381: 	UNS32 Master_Cons_Heartbeat_Base=0x05DC; //1500ms
groke6@381: 	UNS32 abortCode;
groke6@381: 	UNS8 res;
groke6@381: 	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
groke6@381: 
groke6@381: 	switch(++init_step[nodeId-2]){
groke6@381: 		case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
groke6@381: 			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
groke6@381: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
groke6@381: 					nodeId, /*UNS8 nodeId*/
groke6@381: 					0x1800, /*UNS16 index*/
groke6@381: 					0x02, /*UNS8 subindex*/
groke6@381: 					1, /*UNS8 count*/
groke6@381: 					0, /*UNS8 dataType*/
groke6@381: 					&Transmission_Type,/*void *data*/
Mongo@717: 					CheckSDOAndContinue, /*SDOCallback_t Callback*/
Mongo@717:                     0); /*UNS8 useBlockMode*/
groke6@381: 					break;
groke6@381: 		case 2: /* Second step : Set the new heartbeat producer time in the slave */
groke6@381: 		{
groke6@381: 			UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000);
Mongo@718: 			UNS32 size = sizeof(UNS32); 
groke6@381: 			
groke6@381: 			eprintf("Master : set slave %2.2x Producer Heartbeat Time = %d\n", nodeId,Slave_Prod_Heartbeat_T);
groke6@381: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
groke6@381: 					nodeId, /*UNS8 nodeId*/
groke6@381: 					0x1017, /*UNS16 index*/
groke6@381: 					0x00, /*UNS8 subindex*/
groke6@381: 					2, /*UNS8 count*/
groke6@381: 					0, /*UNS8 dataType*/
groke6@381: 					&Slave_Prod_Heartbeat_T,/*void *data*/
Mongo@717: 					CheckSDOAndContinue, /*SDOCallback_t Callback*/
Mongo@717:                     0); /*UNS8 useBlockMode*/
groke6@381: 					break;
groke6@381: 					
groke6@381: 			/* Set the new heartbeat consumer time in the master*/
groke6@381: 			eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T);
groke6@381: 			writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
groke6@381: 				0x1016, /*UNS16 index*/
groke6@381: 				nodeId-1, /*UNS8 subind*/ 
groke6@381: 				&Master_Cons_Heartbeat_T, /*void * pSourceData,*/ 
groke6@381: 				&size, /* UNS8 * pExpectedSize*/
groke6@381: 				RW);  /* UNS8 checkAccess */
groke6@381: 		}		
groke6@381: 		break;
groke6@381: 		case 3: 
groke6@381: 		
groke6@381: 		/****************************** START *******************************/
groke6@381: 		
groke6@381: 			/* Put the master in operational mode */
groke6@381: 			setState(d, Operational);
groke6@381: 		 
groke6@381: 			/* Ask slave node to go in operational mode */
groke6@381: 			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
groke6@381: 	}
groke6@381: }
groke6@381: 
groke6@381: static void ConfigureLSSNode(CO_Data* d);
groke6@381: // Step counts number of times ConfigureLSSNode is called
groke6@381: UNS8 init_step_LSS=1;
groke6@381: 
groke6@381: static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
groke6@381: {
groke6@381: 	UNS32 dat1;
groke6@381: 	UNS8 dat2;
groke6@381: 	
groke6@381: 	printf("CheckLSS->");
groke6@381: 	if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
groke6@381: 			eprintf("Master : Failed in LSS comand %d.  Trying again\n", command);
groke6@381: 	}
groke6@381: 	else
groke6@381: 	{
groke6@381: 		init_step_LSS++;
groke6@381: 	
groke6@381: 		switch(command){
groke6@381: 		case LSS_CONF_NODE_ID:
groke6@381:    			switch(dat1){
groke6@381:    				case 0: printf("Node ID change succesful\n");break;
groke6@381:    				case 1: printf("Node ID change error:out of range\n");break;
groke6@381:    				case 0xFF:printf("Node ID change error:specific error\n");break;
groke6@381:    				default:break;
groke6@381:    			}
groke6@381:    			break;
groke6@381:    		case LSS_CONF_BIT_TIMING:
groke6@381:    			switch(dat1){
groke6@381:    				case 0: printf("Baud rate change succesful\n");break;
groke6@381:    				case 1: printf("Baud rate change error: change baud rate not supported\n");break;
groke6@381:    				case 0xFF:printf("Baud rate change error:specific error\n");break;
groke6@381:    				default:break;
groke6@381:    			}
groke6@381:    			break;
groke6@381:    		case LSS_CONF_STORE:
groke6@381:    			switch(dat1){
groke6@381:    				case 0: printf("Store configuration succesful\n");break;
groke6@381:    				case 1: printf("Store configuration error:not supported\n");break;
groke6@381:    				case 0xFF:printf("Store configuration error:specific error\n");break;
groke6@381:    				default:break;
groke6@381:    			}
groke6@381:    			break;
groke6@381:    		case LSS_CONF_ACT_BIT_TIMING:
groke6@381:    			if(dat1==0){
groke6@381:    				UNS8 LSS_mode=LSS_WAITING_MODE;
groke6@381: 				UNS32 SINC_cicle=50000;// us
Mongo@718: 				UNS32 size = sizeof(UNS32); 
groke6@381: 	
groke6@381: 				/* The slaves are now configured (nodeId and Baudrate) via the LSS services.
groke6@381:    			 	* Switch the LSS state to WAITING and restart the slaves. */
groke6@517: 				
groke6@517: 				/*TODO: change the baud rate of the master!!*/
groke6@384:    			 	MasterBoard.baudrate="250K";
groke6@517:    			 	
groke6@517:    			 	
groke6@381: 	   			printf("Master : Switch Delay period finished. Switching to LSS WAITING state\n");
groke6@384:    				configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
groke6@381: 	   			
groke6@381:    				printf("Master : Restarting all the slaves\n");
groke6@517:    				masterSendNMTstateChange (d, 0x00, NMT_Reset_Comunication);
groke6@381: 	   			
groke6@381:    				printf("Master : Starting the SYNC producer\n");
groke6@384:    				writeLocalDict( d, /*CO_Data* d*/
groke6@381: 					0x1006, /*UNS16 index*/
groke6@381: 					0x00, /*UNS8 subind*/ 
groke6@381: 					&SINC_cicle, /*void * pSourceData,*/ 
groke6@381: 					&size, /* UNS8 * pExpectedSize*/
groke6@381: 					RW);  /* UNS8 checkAccess */
groke6@381: 					
groke6@381: 				return;
groke6@381: 			}
groke6@381:    			else{
groke6@384:    				UNS16 Switch_delay=1;
groke6@384: 				UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
groke6@384: 				
groke6@384: 	   			eprintf("Master : unable to activate bit timing. trying again\n");
groke6@384: 				configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
groke6@384: 				return;
groke6@381:    			}
groke6@381:    			break;	
groke6@381: 		case LSS_SM_SELECTIVE_SERIAL:
groke6@381:    			printf("Slave in LSS CONFIGURATION state\n");
groke6@381:    			break;
groke6@381:    		case LSS_IDENT_REMOTE_SERIAL_HIGH:
groke6@381:    			printf("node identified\n");
groke6@381:    			break;
groke6@381:    		case LSS_IDENT_REMOTE_NON_CONF:
groke6@381:    			if(dat1==0)
groke6@381:    				eprintf("There are no-configured remote slave(s) in the net\n");
groke6@381:    			else
groke6@381:    			{
groke6@381:    				UNS16 Switch_delay=1;
groke6@381: 				UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
groke6@381: 			
groke6@381: 				/*The configuration of the slaves' nodeId ended.
groke6@381: 				 * Start the configuration of the baud rate. */
groke6@381: 				eprintf("Master : There are not no-configured slaves in the net\n", command);
groke6@381: 				eprintf("Switching all the nodes to LSS CONFIGURATION state\n");
groke6@384: 				configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
groke6@381: 				eprintf("LSS=>Activate Bit Timing\n");
groke6@384: 				configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
groke6@381: 				return;
groke6@381:    			}
groke6@381:    			break;
groke6@381:    		case LSS_INQ_VENDOR_ID:
groke6@381:    			printf("Slave VendorID %x\n", dat1);
groke6@381:    			break;
groke6@381:    		case LSS_INQ_PRODUCT_CODE:
groke6@381:    			printf("Slave Product Code %x\n", dat1);
groke6@381:    			break;
groke6@381:    		case LSS_INQ_REV_NUMBER:
groke6@381:    			printf("Slave Revision Number %x\n", dat1);
groke6@381:    			break;
groke6@381:    		case LSS_INQ_SERIAL_NUMBER:
groke6@381:    			printf("Slave Serial Number %x\n", dat1);
groke6@381:    			break;
groke6@381:    		case LSS_INQ_NODE_ID:
groke6@381:    			printf("Slave nodeid %x\n", dat1);
groke6@381:    			break;
groke6@381: #ifdef CO_ENABLE_LSS_FS
groke6@381:    		case LSS_IDENT_FASTSCAN:
groke6@381:    			if(dat1==0)
groke6@381:    				printf("Slave node identified with FastScan\n");
groke6@381:    			else
groke6@381:    			{
groke6@381:    				printf("There is not unconfigured node in the net\n");
groke6@381:    				return;
groke6@381:    			}	
groke6@381:    			init_step_LSS++;
groke6@381:    			break;
groke6@381: #endif	
groke6@381: 	
groke6@381: 		}
groke6@381: 	}
groke6@381: 
groke6@381: 	printf("\n");
groke6@381: 	ConfigureLSSNode(d);
groke6@381: }
groke6@381: 
groke6@381: /* Initial nodeID and VendorID. They are incremented by one for each slave*/
groke6@381: UNS8 NodeID=0x02;
groke6@381: UNS32 Vendor_ID=0x12345678;
groke6@381: 
groke6@381: /* Configuration of the nodeID and baudrate with LSS services:
groke6@381:  * --First ask if there is a node with an invalid nodeID.
groke6@381:  * --If FastScan is activated it is used to put the slave in the state “configuration”.
groke6@381:  * --If FastScan is not activated, identification services are used to identify the slave. Then 
groke6@381:  * 	 switch mode service is used to put it in configuration state.
groke6@381:  * --Next, all the inquire services are used (only for example) and a valid nodeId and a
groke6@381:  * 	 new baudrate are assigned to the slave.
groke6@381:  * --Finally, the slave's LSS state is restored to “waiting” and all the process is repeated 
groke6@381:  * 	 again until there isn't any node with an invalid nodeID.
groke6@381:  * --After the configuration of all the slaves finished the LSS state of all of them is switched 
groke6@381:  * 	 again to "configuration" and the Activate Bit Timing service is requested. On sucessfull, the 
groke6@381:  * 	 LSS state is restored to "waiting" and NMT state is changed to reset (by means of the NMT services).
groke6@381:  * */
groke6@381: static void ConfigureLSSNode(CO_Data* d)
groke6@381: {
groke6@381: 	UNS32 Product_Code=0x90123456;
groke6@381: 	UNS32 Revision_Number=0x78901234;
groke6@381: 	UNS32 Serial_Number=0x56789012;
groke6@381: 	UNS32 Revision_Number_high=0x78901240;
groke6@381: 	UNS32 Revision_Number_low=0x78901230;
groke6@381: 	UNS32 Serial_Number_high=0x56789020;
groke6@381: 	UNS32 Serial_Number_low=0x56789010;
groke6@381: 	UNS8 LSS_mode=LSS_WAITING_MODE;
groke6@381: 	UNS8 Baud_Table=0;
groke6@384: 	//UNS8 Baud_BitTiming=3;
groke6@384: 	char* Baud_BitTiming="250K";
groke6@381: 	UNS8 res;
groke6@381: 	eprintf("ConfigureLSSNode step %d -> ",init_step_LSS);
groke6@381: 
groke6@381: 	switch(init_step_LSS){
groke6@381: 		case 1:	/* LSS=>identify non-configured remote slave */
groke6@381: 			eprintf("LSS=>identify no-configured remote slave(s)\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: #ifdef CO_ENABLE_LSS_FS
groke6@381: 		case 2:	/* LSS=>FastScan */
groke6@517: 		{
groke6@517: 			lss_fs_transfer_t lss_fs;
groke6@381: 			eprintf("LSS=>FastScan\n");
groke6@517: 			/* The VendorID and ProductCode are partialy known, except the last two digits (8 bits). */
groke6@517: 			lss_fs.FS_LSS_ID[0]=Vendor_ID;
groke6@517: 			lss_fs.FS_BitChecked[0]=8;
groke6@517: 			lss_fs.FS_LSS_ID[1]=Product_Code;
groke6@517: 			lss_fs.FS_BitChecked[1]=8;
groke6@517: 			/* serialNumber and RevisionNumber are unknown, i.e. the 8 digits (32bits) are unknown. */
groke6@517: 			lss_fs.FS_BitChecked[2]=32;
groke6@517: 			lss_fs.FS_BitChecked[3]=32;
groke6@517: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_FASTSCAN,&lss_fs,0,CheckLSSAndContinue);
groke6@517: 		}
groke6@517: 		break;
groke6@381: #else
groke6@381: 		case 2:	/* LSS=>identify node */
groke6@381: 			eprintf("LSS=>identify node\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 3: /*LSS=>put in configuration mode*/
groke6@381: 			eprintf("LSS=>put in configuration mode\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0,NULL);
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
groke6@381: 			Vendor_ID++;
groke6@381: 			break;
groke6@381: #endif
groke6@381: 		case 4:	/* LSS=>inquire nodeID */
groke6@381: 			eprintf("LSS=>inquire nodeID\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 5:	/* LSS=>inquire VendorID */
groke6@381: 			eprintf("LSS=>inquire VendorID\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 6:	/* LSS=>inquire Product code */
groke6@381: 			eprintf("LSS=>inquire Product code\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 7:	/* LSS=>inquire Revision Number */
groke6@381: 			eprintf("LSS=>inquire Revision Number\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 8:	/* LSS=>inquire Serial Number */
groke6@381: 			eprintf("LSS=>inquire Serial Number\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 9:	/* LSS=>change the nodeID */
groke6@381: 			eprintf("LSS=>change the nodeId\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
groke6@381: 			NodeID++;
groke6@381: 			break;
groke6@381: 		case 10:	/* LSS=>change the Baud rate */
groke6@381: 			eprintf("LSS=>change the Baud rate\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 11:
groke6@381: 			/*LSS=>store configuration*/
groke6@381: 			eprintf("LSS=>store configuration\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
groke6@381: 			break;
groke6@381: 		case 12: /* LSS=>put in waiting mode */
groke6@381: 			eprintf("LSS=>put in waiting mode\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
groke6@381: 			/* Search again for no-configured slaves*/
groke6@381: 			eprintf("LSS=>identify no-configured remote slave(s)\n");
groke6@381: 			res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
groke6@381: 			init_step_LSS=1;
groke6@381: 			break;
groke6@381: 	}
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_preOperational(CO_Data* d)
groke6@381: {
groke6@381: 	eprintf("TestMaster_preOperational\n");
groke6@381: 
groke6@381: 	/* Ask slaves to go in stop mode */
groke6@381: 	masterSendNMTstateChange (d, 0, NMT_Stop_Node);
groke6@381: 	ConfigureLSSNode(&TestMaster_Data);
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_operational(CO_Data* d)
groke6@381: {
groke6@381: 	eprintf("TestMaster_operational\n");
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_stopped(CO_Data* d)
groke6@381: {
groke6@381: 	eprintf("TestMaster_stopped\n");
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_post_sync(CO_Data* d)
groke6@381: {
groke6@381: 	eprintf("TestMaster_post_sync\n");
groke6@381: 	eprintf("Master: %d %d %d\n",
groke6@381: 		MasterMap1,
groke6@381: 		MasterMap2,
groke6@381: 		MasterMap3);
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
groke6@381: {
groke6@381: 	eprintf("Master received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_post_TPDO(CO_Data* d)
groke6@381: {
groke6@381: 	eprintf("TestMaster_post_TPDO\n");
groke6@381: }
groke6@381: 
groke6@381: void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
groke6@381: {
groke6@381: 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
groke6@381: 	/* Wait until the new baud rate is stored before configure the slaves*/
groke6@381: 	if(MasterBoard.baudrate=="250K")
groke6@381: 		ConfigureSlaveNode(d, nodeid);
groke6@381: }
groke6@381: