diff -r f45fd4cd3832 -r 34654679f262 doc/doxygen/html/Master_8c-source.html --- a/doc/doxygen/html/Master_8c-source.html Fri Jul 06 10:53:15 2007 +0200 +++ b/doc/doxygen/html/Master_8c-source.html Mon Jul 16 08:56:03 2007 +0200 @@ -18,7 +18,7 @@
  • Globals
    • -examples » TestMasterSlave
    +examples » TestMasterSlave

    Master.c

    Go to the documentation of this file.
    00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -46,9 +46,9 @@
 00025 #include "TestMasterSlave.h"
 00026 
 00027 /*****************************************************************************/
-00028 void TestMaster_heartbeatError(UNS8 heartbeatID)
+00028 void TestMaster_heartbeatError(UNS8 heartbeatID)
 00029 {
-00030         eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
+00030         eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
 00031 }
 00032 
 00033 /********************************************************
@@ -56,47 +56,47 @@
 00035  *  - setup master RPDO 1 to receive TPDO 1 from id 2
 00036  *  - setup master RPDO 2 to receive TPDO 2 from id 2
 00037  ********************************************************/
-00038 void TestMaster_initialisation()
+00038 void TestMaster_initialisation()
 00039 {
-00040         UNS32 PDO1_COBID = 0x0182; 
-00041         UNS32 PDO2_COBID = 0x0282;
-00042         UNS8 size = sizeof(UNS32); 
+00040         UNS32 PDO1_COBID = 0x0182; 
+00041         UNS32 PDO2_COBID = 0x0282;
+00042         UNS8 size = sizeof(UNS32); 
 00043         
-00044         eprintf("TestMaster_initialisation\n");
+00044         eprintf("TestMaster_initialisation\n");
 00045 
 00046         /*****************************************
 00047          * Define RPDOs to match slave ID=2 TPDOs*
 00048          *****************************************/
-00049         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
+00049         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 00050                         0x1400, /*UNS16 index*/
 00051                         0x01, /*UNS8 subind*/ 
 00052                         &PDO1_COBID, /*void * pSourceData,*/ 
 00053                         &size, /* UNS8 * pExpectedSize*/
-00054                         RW);  /* UNS8 checkAccess */
+00054                         RW);  /* UNS8 checkAccess */
 00055                         
-00056         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
+00056         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 00057                         0x1401, /*UNS16 index*/
 00058                         0x01, /*UNS8 subind*/ 
 00059                         &PDO2_COBID, /*void * pSourceData,*/ 
 00060                         &size, /* UNS8 * pExpectedSize*/
-00061                         RW);  /* UNS8 checkAccess */
+00061                         RW);  /* UNS8 checkAccess */
 00062 }
 00063 
 00064 // Step counts number of times ConfigureSlaveNode is called
 00065 static init_step = 0;
 00066 
 00067 /*Froward declaration*/
-00068 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
+00068 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
 00069 
 00070 
-00071 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+00071 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
 00072 {
-00073         UNS32 abortCode;        
-00074         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-00075                 eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
+00073         UNS32 abortCode;        
+00074         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+00075                 eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
 00076 
 00077         /* Finalise last SDO transfer with this node */
-00078         closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
+00078         closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
 00079 
 00080         ConfigureSlaveNode(d, nodeId);
 00081 }
@@ -117,20 +117,20 @@
 00096  * finished.
 00097  ********************************************************/
 00098  
-00099 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
+00099 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
 00100 {
 00101         /* Master configure heartbeat producer time at 1000 ms 
 00102          * for slave node-id 0x02 by DCF concise */
 00103          
-00104         UNS8 Transmission_Type = 0x01;
-00105         UNS32 abortCode;
-00106         UNS8 res;
-00107         eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
+00104         UNS8 Transmission_Type = 0x01;
+00105         UNS32 abortCode;
+00106         UNS8 res;
+00107         eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
 00108 
 00109         switch(++init_step){
 00110                 case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
-00111                         eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
-00112                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00111                         eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
+00112                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00113                                         nodeId, /*UNS8 nodeId*/
 00114                                         0x1800, /*UNS16 index*/
 00115                                         0x02, /*UNS8 subindex*/
@@ -141,8 +141,8 @@
 00120                                         break;
 00121                 
 00122                 case 2: /*Second step*/
-00123                         eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
-00124                         writeNetworkDictCallBack (d, /*CO_Data* d*/
+00123                         eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
+00124                         writeNetworkDictCallBack (d, /*CO_Data* d*/
 00125                                         nodeId, /*UNS8 nodeId*/
 00126                                         0x1801, /*UNS16 index*/
 00127                                         0x02, /*UNS16 index*/
@@ -156,96 +156,154 @@
 00135                 /****************************** START *******************************/
 00136                 
 00137                         /* Put the master in operational mode */
-00138                         setState(d, Operational);
+00138                         setState(d, Operational);
 00139                  
 00140                         /* Ask slave node to go in operational mode */
-00141                         masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
+00141                         masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
 00142                         
 00143         }
 00144 }
 00145 
-00146 void TestMaster_preOperational()
+00146 void TestMaster_preOperational()
 00147 {
 00148 
-00149         eprintf("TestMaster_preOperational\n");
-00150         ConfigureSlaveNode(&TestMaster_Data, 0x02);
+00149         eprintf("TestMaster_preOperational\n");
+00150         ConfigureSlaveNode(&TestMaster_Data, 0x02);
 00151         
 00152 }
 00153 
-00154 void TestMaster_operational()
+00154 void TestMaster_operational()
 00155 {
-00156         eprintf("TestMaster_operational\n");
+00156         eprintf("TestMaster_operational\n");
 00157 }
 00158 
-00159 void TestMaster_stopped()
+00159 void TestMaster_stopped()
 00160 {
-00161         eprintf("TestMaster_stopped\n");
+00161         eprintf("TestMaster_stopped\n");
 00162 }
 00163 
-00164 void TestMaster_post_sync()
+00164 void TestMaster_post_sync()
 00165 {
-00166         eprintf("TestMaster_post_sync\n");
-00167         eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x\n",MasterMap1,MasterMap2 ,MasterMap3, MasterMap4,MasterMap5,MasterMap6,MasterMap7,MasterMap8,MasterMap9,MasterMap10,MasterMap11);
-00168 }
-00169 
-00170 char query_result = 0;
-00171 char waiting_answer = 0;
-00172 
-00173 void TestMaster_post_TPDO()
-00174 {
-00175         eprintf("TestMaster_post_TPDO\n");
-00176 //
-00177 //      {
-00178 //              char zero = 0;
-00179 //              if(MasterMap4 > 0x80){
-00180 //                      writeNetworkDict (
-00181 //                              &TestMaster_Data,
-00182 //                              TestSlave_Data->bDeviceNodeId,
-00183 //                              0x2002,
-00184 //                              0x00,
-00185 //                              1,
-00186 //                              0,
-00187 //                              &zero); 
-00188 //              }
-00189 //      }
-00190 
-00191         if(waiting_answer){
-00192                 UNS32 abortCode;                        
-00193                 UNS8 size;                      
-00194                 switch(getReadResultNetworkDict (
-00195                         &TestMaster_Data, 
-00196                         0x02,
-00197                         &query_result,
-00198                         &size,
-00199                         &abortCode))
-00200                 {
-00201                         case SDO_FINISHED:
-00202                                 /* Do something with result here !!*/
-00203                                 eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
-00204                         case SDO_ABORTED_RCV:
-00205                         case SDO_ABORTED_INTERNAL:
-00206                         case SDO_RESET:
-00207                                 waiting_answer = 0;
-00208                                 closeSDOtransfer(
-00209                                         &TestMaster_Data,
-00210                                         0x02,
-00211                                         SDO_CLIENT);
-00212                         break;
-00213                         case SDO_DOWNLOAD_IN_PROGRESS:
-00214                         case SDO_UPLOAD_IN_PROGRESS:
-00215                         break;
-00216                 }
-00217         }else if(MasterMap1 % 10 == 0){
-00218                 readNetworkDict (
-00219                         &TestMaster_Data,
-00220                         0x02,
-00221                         0x2002,
-00222                         0x00,
-00223                         0);
-00224                 waiting_answer = 1;
-00225         }
-00226 }
-
    Generated on Fri Jun 8 08:51:39 2007 for CanFestival by  +00166 eprintf("TestMaster_post_sync\n"); +00167 eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n", +00168 MasterMap1, +00169 MasterMap2, +00170 MasterMap3, +00171 MasterMap4, +00172 MasterMap5, +00173 MasterMap6, +00174 MasterMap7, +00175 MasterMap8, +00176 MasterMap9, +00177 MasterMap10, +00178 MasterMap11, +00179 MasterMap12, +00180 MasterMap13); +00181 } +00182 +00183 char query_result = 0; +00184 char waiting_answer = 0; +00185 +00186 +00187 static void CheckSDO(CO_Data* d, UNS8 nodeId) +00188 { +00189 UNS32 abortCode; +00190 if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) +00191 eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode); +00192 +00193 /* Finalise last SDO transfer with this node */ +00194 closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); +00195 } +00196 +00197 +00198 static int MasterSyncCount = 0; +00199 void TestMaster_post_TPDO() +00200 { +00201 eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount); +00202 // +00203 // { +00204 // char zero = 0; +00205 // if(MasterMap4 > 0x80){ +00206 // writeNetworkDict ( +00207 // &TestMaster_Data, +00208 // TestSlave_Data->bDeviceNodeId, +00209 // 0x2002, +00210 // 0x00, +00211 // 1, +00212 // 0, +00213 // &zero); +00214 // } +00215 // } +00216 +00217 #if 0 +00218 if(waiting_answer){ +00219 UNS32 abortCode; +00220 UNS8 size; +00221 switch(getReadResultNetworkDict ( +00222 &TestMaster_Data, +00223 0x02, +00224 &query_result, +00225 &size, +00226 &abortCode)) +00227 { +00228 case SDO_FINISHED: +00229 /* Do something with result here !!*/ +00230 eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size); +00231 case SDO_ABORTED_RCV: +00232 case SDO_ABORTED_INTERNAL: +00233 case SDO_RESET: +00234 waiting_answer = 0; +00235 closeSDOtransfer( +00236 &TestMaster_Data, +00237 0x02, +00238 SDO_CLIENT); +00239 break; +00240 case SDO_DOWNLOAD_IN_PROGRESS: +00241 case SDO_UPLOAD_IN_PROGRESS: +00242 break; +00243 } +00244 }else if(MasterSyncCount % 10 == 0){ +00245 readNetworkDict ( +00246 &TestMaster_Data, +00247 0x02, +00248 0x2002, +00249 0x00, +00250 0); +00251 waiting_answer = 1; +00252 } +00253 #endif +00254 if(MasterSyncCount % 17 == 0){ +00255 eprintf("Master : Ask RTR PDO (0x1402)\n"); +00256 sendPDOrequest(&TestMaster_Data, 0x1402 ); +00257 sendPDOrequest(&TestMaster_Data, 0x1403 ); +00258 } +00259 if(MasterSyncCount % 50 == 0){ +00260 eprintf("Master : Change slave's transmit type to 0xFF\n"); +00261 UNS8 transmitiontype = 0xFF; +00262 writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ +00263 2, /*UNS8 nodeId*/ +00264 0x1802, /*UNS16 index*/ +00265 0x02, /*UNS16 index*/ +00266 1, /*UNS8 count*/ +00267 0, /*UNS8 dataType*/ +00268 &transmitiontype,/*void *data*/ +00269 CheckSDO); /*SDOCallback_t Callback*/ +00270 } +00271 if(MasterSyncCount % 50 == 25){ +00272 eprintf("Master : Change slave's transmit type to 0x00\n"); +00273 UNS8 transmitiontype = 0x00; +00274 writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/ +00275 2, /*UNS8 nodeId*/ +00276 0x1802, /*UNS16 index*/ +00277 0x02, /*UNS16 index*/ +00278 1, /*UNS8 count*/ +00279 0, /*UNS8 dataType*/ +00280 &transmitiontype,/*void *data*/ +00281 CheckSDO); /*SDOCallback_t Callback*/ +00282 } +00283 MasterSyncCount++; +00284 } +
    Generated on Mon Jul 2 19:10:16 2007 for CanFestival by  doxygen 1.5.1