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 "Slave.h"
etisserant@391: #include "Master.h"
etisserant@391: #include "TestMasterSlave.h"
etisserant@391: #include "can_driver.h"
etisserant@391: 
etisserant@391: extern s_BOARD SlaveBoard;
etisserant@391: /*****************************************************************************/
etisserant@391: void TestSlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)
etisserant@391: {
etisserant@391: 	eprintf("TestSlave_heartbeatError %d\n", heartbeatID);
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_initialisation(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestSlave_initialisation\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_preOperational(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestSlave_preOperational\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_operational(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestSlave_operational\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_stopped(CO_Data* d)
etisserant@391: {
etisserant@391: 	eprintf("TestSlave_stopped\n");
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_post_sync(CO_Data* d)
etisserant@391: {
etisserant@391:       eprintf("TestSlave_post_sync\n");
etisserant@391:       
etisserant@391:       SlaveMap1=1;
etisserant@391:       SlaveMap2=1;
etisserant@391:       SlaveMap3=0;
etisserant@391:       SlaveMap4=0;
etisserant@391:       SlaveMap5=1;
etisserant@391:       SlaveMap6=0;
etisserant@391:       SlaveMap7=1;
etisserant@391:       SlaveMap8=0;
etisserant@391:       SlaveMap9=16;
etisserant@391:       SlaveMap10 = 0xff00ff00;
etisserant@391:       SlaveMap11 = 0xabcd;
etisserant@391:       SlaveMap12 += SlaveMap12 > 0x80 ? 0 : 1;
etisserant@391:       eprintf("Slave: %d %d %d %d %d %d %d %d %d %x %x %d %d \n",
etisserant@391:       	SlaveMap1, 
etisserant@391:       	SlaveMap2, 
etisserant@391:       	SlaveMap3, 
etisserant@391:       	SlaveMap4, 
etisserant@391:       	SlaveMap5, 
etisserant@391:       	SlaveMap6, 
etisserant@391:       	SlaveMap7, 
etisserant@391:       	SlaveMap8, 
etisserant@391:       	SlaveMap9, 
etisserant@391:       	SlaveMap10,
etisserant@391:       	SlaveMap11, 
etisserant@391:       	SlaveMap12,
etisserant@391:       	SlaveMap13);
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_post_TPDO(CO_Data* d)
etisserant@391: {
etisserant@391:         SlaveMap13 += 1;
etisserant@391: 	eprintf("TestSlave_post_TPDO\n");
etisserant@391: 	
etisserant@391: 	/* send an error and recover inmediately every 12 cycles */
etisserant@391: 	if(SlaveMap13 % 12 == 0)
etisserant@391: 	{
etisserant@391: 		EMCY_setError(&TestSlave_Data, 0x4200, 0x08, 0x0000);
etisserant@391: 		EMCY_errorRecovered(&TestSlave_Data, 0x4200);
etisserant@391: 	}
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)
etisserant@391: {
etisserant@391: 	/*TODO : 
etisserant@391: 	 * - call getODEntry for index and subindex, 
etisserant@391: 	 * - save content to file, database, flash, nvram, ...
etisserant@391: 	 * 
etisserant@391: 	 * To ease flash organisation, index of variable to store
etisserant@391: 	 * can be established by scanning d->objdict[d->ObjdictSize]
etisserant@391: 	 * for variables to store.
etisserant@391: 	 * 
etisserant@391: 	 * */
etisserant@391: 	eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex,  bSubindex);
etisserant@391: }
etisserant@391: 
etisserant@391: void TestSlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
etisserant@391: {
etisserant@391: 	eprintf("Slave received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
etisserant@391: }