etisserant@391: /*
etisserant@391: This file is part of CanFestival, a library implementing CanOpen Stack. 
etisserant@391: 
etisserant@391: Copyright (C): Edouard TISSERANT and Francis DUPIN
etisserant@391: 
etisserant@391: See COPYING file for copyrights details.
etisserant@391: 
etisserant@391: This library is free software; you can redistribute it and/or
etisserant@391: modify it under the terms of the GNU Lesser General Public
etisserant@391: License as published by the Free Software Foundation; either
etisserant@391: version 2.1 of the License, or (at your option) any later version.
etisserant@391: 
etisserant@391: This library is distributed in the hope that it will be useful,
etisserant@391: but WITHOUT ANY WARRANTY; without even the implied warranty of
etisserant@391: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
etisserant@391: Lesser General Public License for more details.
etisserant@391: 
etisserant@391: You should have received a copy of the GNU Lesser General Public
etisserant@391: License along with this library; if not, write to the Free Software
etisserant@391: Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
etisserant@391: */
etisserant@391: 
etisserant@391: #include "Master.h"
etisserant@391: #include "Slave.h"
etisserant@391: #include "TestMasterSlave.h"
etisserant@391: #include "can_driver.h"
etisserant@391: 
etisserant@391: extern s_BOARD MasterBoard;
etisserant@391: /*****************************************************************************/
etisserant@391: void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
etisserant@391: }
etisserant@391: 
etisserant@391: /********************************************************
etisserant@391:  * ConfigureSlaveNode is responsible to
etisserant@391:  *  - setup master RPDO 1 to receive TPDO 1 from id 2
etisserant@391:  *  - setup master RPDO 2 to receive TPDO 2 from id 2
etisserant@391:  ********************************************************/
etisserant@391: void TestMaster_initialisation(CO_Data* d)
etisserant@391: {
etisserant@391: 	UNS32 PDO1_COBID = 0x0182; 
etisserant@391: 	UNS32 PDO2_COBID = 0x0282;
etisserant@391: 	UNS8 size = sizeof(UNS32); 
etisserant@391: //	UNS32 SINC_cicle=0;
etisserant@391: //	UNS8 data_type = 0;
etisserant@391: 	
etisserant@391: 	eprintf("TestMaster_initialisation\n");
etisserant@391: 
etisserant@391: 	/*****************************************
etisserant@391: 	 * Define RPDOs to match slave ID=2 TPDOs*
etisserant@391: 	 *****************************************/
etisserant@391: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@391: 			0x1400, /*UNS16 index*/
etisserant@391: 			0x01, /*UNS8 subind*/ 
etisserant@391: 			&PDO1_COBID, /*void * pSourceData,*/ 
etisserant@391: 			&size, /* UNS8 * pExpectedSize*/
etisserant@391: 			RW);  /* UNS8 checkAccess */
etisserant@391: 			
etisserant@391: 	writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
etisserant@391: 			0x1401, /*UNS16 index*/
etisserant@391: 			0x01, /*UNS8 subind*/ 
etisserant@391: 			&PDO2_COBID, /*void * pSourceData,*/ 
etisserant@391: 			&size, /* UNS8 * pExpectedSize*/
etisserant@391: 			RW);  /* UNS8 checkAccess */
etisserant@391: 					
etisserant@391: }
etisserant@391: 
etisserant@391: // Step counts number of times ConfigureSlaveNode is called
etisserant@391: static int init_step = 0;
etisserant@391: 
etisserant@391: /*Froward declaration*/
etisserant@391: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
etisserant@391: 
etisserant@391: /**/
etisserant@391: static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
etisserant@391: {
etisserant@391: 	UNS32 abortCode;	
etisserant@391: 	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
etisserant@391: 		eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
etisserant@391: 
etisserant@391: 	/* Finalise last SDO transfer with this node */
etisserant@391: 	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
etisserant@391: 
etisserant@391: 	ConfigureSlaveNode(d, nodeId);
etisserant@391: }
etisserant@391: 
etisserant@391: /********************************************************
etisserant@391:  * ConfigureSlaveNode is responsible to
etisserant@391:  *  - setup slave TPDO 1 transmit type
etisserant@391:  *  - setup slave TPDO 2 transmit type
etisserant@391:  *  - switch to operational mode
etisserant@391:  *  - send NMT to slave
etisserant@391:  ********************************************************
etisserant@391:  * This an example of :
etisserant@391:  * Network Dictionary Access (SDO) with Callback 
etisserant@391:  * Slave node state change request (NMT) 
etisserant@391:  ********************************************************
etisserant@391:  * This is called first by TestMaster_post_SlaveBootup
etisserant@391:  * then it called again each time a SDO exchange is
etisserant@391:  * finished.
etisserant@391:  ********************************************************/
etisserant@391:  
etisserant@391: static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
etisserant@391: {
etisserant@391: 	/* Master configure heartbeat producer time at 1000 ms 
etisserant@391: 	 * for slave node-id 0x02 by DCF concise */
etisserant@391: 	 
etisserant@391: 	UNS8 Transmission_Type = 0x01;
etisserant@391: //	UNS32 abortCode;
etisserant@391: 	UNS8 res;
etisserant@391: 	eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
etisserant@391: 
etisserant@391: 	switch(++init_step){
etisserant@391: 		case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
etisserant@391: 			eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
etisserant@391: 			res = writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@391: 					nodeId, /*UNS8 nodeId*/
etisserant@391: 					0x1800, /*UNS16 index*/
etisserant@391: 					0x02, /*UNS8 subindex*/
etisserant@391: 					1, /*UNS8 count*/
etisserant@391: 					0, /*UNS8 dataType*/
etisserant@391: 					&Transmission_Type,/*void *data*/
etisserant@391: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@391: 					break;
etisserant@391: 		
etisserant@391: 		case 2:	/*Second step*/
etisserant@391: 			eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
etisserant@391: 			writeNetworkDictCallBack (d, /*CO_Data* d*/
etisserant@391: 					nodeId, /*UNS8 nodeId*/
etisserant@391: 					0x1801, /*UNS16 index*/
etisserant@391: 					0x02, /*UNS16 index*/
etisserant@391: 					1, /*UNS8 count*/
etisserant@391: 					0, /*UNS8 dataType*/
etisserant@391: 					&Transmission_Type,/*void *data*/
etisserant@391: 					CheckSDOAndContinue); /*SDOCallback_t Callback*/
etisserant@391: 					break;
etisserant@391: 		case 3: 
etisserant@391: 		
etisserant@391: 		/****************************** START *******************************/
etisserant@391: 		
etisserant@391: 			/* Put the master in operational mode */
etisserant@391: 			setState(d, Operational);
etisserant@391: 		 
etisserant@391: 			/* Ask slave node to go in operational mode */
etisserant@391: 			masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
etisserant@391: 			
etisserant@391: 	}
etisserant@391: }
etisserant@391: 
etisserant@391: 
etisserant@391: void TestMaster_preOperational(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_preOperational\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestMaster_operational(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_operational\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestMaster_stopped(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_stopped\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestMaster_post_sync(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_post_sync\n");
etisserant@391: 	eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n",
etisserant@391: 		MasterMap1,
etisserant@391: 		MasterMap2,
etisserant@391: 		MasterMap3, 
etisserant@391: 		MasterMap4,
etisserant@391: 		MasterMap5,
etisserant@391: 		MasterMap6,
etisserant@391: 		MasterMap7,
etisserant@391: 		MasterMap8,
etisserant@391: 		MasterMap9,
etisserant@391: 		MasterMap10,
etisserant@391: 		MasterMap11,
etisserant@391: 		MasterMap12,
etisserant@391: 		MasterMap13);
etisserant@391: }
etisserant@391: 
etisserant@391: void TestMaster_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
etisserant@391: {
etisserant@391: 	eprintf("Master received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
etisserant@391: }
etisserant@391: 
etisserant@391: char query_result = 0;
etisserant@391: char waiting_answer = 0;
etisserant@391: 
etisserant@391: static void CheckSDO(CO_Data* d, UNS8 nodeId)
etisserant@391: {
etisserant@391: 	UNS32 abortCode;	
etisserant@391: 	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
etisserant@391: 		eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode);
etisserant@391: 
etisserant@391: 	/* Finalise last SDO transfer with this node */
etisserant@391: 	closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
etisserant@391: }
etisserant@391: 
etisserant@391: 
etisserant@391: static int MasterSyncCount = 0;
etisserant@391: void TestMaster_post_TPDO(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
etisserant@391: //
etisserant@391: //	{
etisserant@391: //		char zero = 0;
etisserant@391: //		if(MasterMap4 > 0x80){
etisserant@391: //			writeNetworkDict (
etisserant@391: //				&TestMaster_Data,
etisserant@391: //				TestSlave_Data->bDeviceNodeId,
etisserant@391: //				0x2002,
etisserant@391: //				0x00,
etisserant@391: //				1,
etisserant@391: //				0,
etisserant@391: //				&zero); 
etisserant@391: //		}
etisserant@391: //	}
etisserant@391: 
etisserant@391: #if 0
etisserant@391: 	if(waiting_answer){
etisserant@391: 		UNS32 abortCode;			
etisserant@496: 		UNS8 size = 1;			
etisserant@391: 		switch(getReadResultNetworkDict (
etisserant@391: 			&TestMaster_Data, 
etisserant@391: 			0x02,
etisserant@391: 			&query_result,
etisserant@391: 			&size,
etisserant@391: 			&abortCode))
etisserant@391: 		{
etisserant@391: 			case SDO_FINISHED:
etisserant@391: 				/* Do something with result here !!*/
etisserant@391: 				eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
etisserant@391: 			case SDO_ABORTED_RCV:
etisserant@391: 			case SDO_ABORTED_INTERNAL:
etisserant@391: 			case SDO_RESET:
etisserant@391: 				waiting_answer = 0;
etisserant@391: 				closeSDOtransfer(
etisserant@391: 					&TestMaster_Data,
etisserant@391: 					0x02,
etisserant@391: 					SDO_CLIENT);
etisserant@391: 			break;
etisserant@391: 			case SDO_DOWNLOAD_IN_PROGRESS:
etisserant@391: 			case SDO_UPLOAD_IN_PROGRESS:
etisserant@391: 			break;
etisserant@391: 		}
etisserant@391: 	}else if(MasterSyncCount % 10 == 0){
etisserant@391: 		readNetworkDict (
etisserant@391: 			&TestMaster_Data,
etisserant@391: 			0x02,
etisserant@391: 			0x2002,
etisserant@391: 			0x00,
etisserant@391: 			0);
etisserant@391: 		waiting_answer = 1;
etisserant@391: 	}
etisserant@391: #endif	
etisserant@391: 	if(MasterSyncCount % 17 == 0){
etisserant@391: 		eprintf("Master : Ask RTR PDO (0x1402)\n");
etisserant@391: 		sendPDOrequest(&TestMaster_Data, 0x1402 );
etisserant@391: 		sendPDOrequest(&TestMaster_Data, 0x1403 );
etisserant@391: 	}
etisserant@391: 	if(MasterSyncCount % 50 == 0){
etisserant@391: 		eprintf("Master : Change slave's transmit type to 0xFF\n");
etisserant@391: 		UNS8 transmitiontype = 0xFF;
etisserant@391: 		writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
etisserant@391: 					2, /*UNS8 nodeId*/
etisserant@391: 					0x1802, /*UNS16 index*/
etisserant@391: 					0x02, /*UNS16 index*/
etisserant@391: 					1, /*UNS8 count*/
etisserant@391: 					0, /*UNS8 dataType*/
etisserant@391: 					&transmitiontype,/*void *data*/
etisserant@391: 					CheckSDO); /*SDOCallback_t Callback*/
etisserant@391: 	}
etisserant@391: 	if(MasterSyncCount % 50 == 25){
etisserant@391: 		eprintf("Master : Change slave's transmit type to 0x00\n");
etisserant@391: 		UNS8 transmitiontype = 0x00;
etisserant@391: 		writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
etisserant@391: 					2, /*UNS8 nodeId*/
etisserant@391: 					0x1802, /*UNS16 index*/
etisserant@391: 					0x02, /*UNS16 index*/
etisserant@391: 					1, /*UNS8 count*/
etisserant@391: 					0, /*UNS8 dataType*/
etisserant@391: 					&transmitiontype,/*void *data*/
etisserant@391: 					CheckSDO); /*SDOCallback_t Callback*/
etisserant@391: 	}
etisserant@391: 	MasterSyncCount++;
etisserant@391: }
etisserant@391: 
etisserant@391: void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
etisserant@391: {
etisserant@391: 	eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
etisserant@391: 	
etisserant@391: 	ConfigureSlaveNode(d, nodeid);
etisserant@391: }