diff -r f45fd4cd3832 -r 34654679f262 doc/doxygen/html/TestMasterMicroMod_8c-source.html --- a/doc/doxygen/html/TestMasterMicroMod_8c-source.html Fri Jul 06 10:53:15 2007 +0200 +++ b/doc/doxygen/html/TestMasterMicroMod_8c-source.html Mon Jul 16 08:56:03 2007 +0200 @@ -18,7 +18,7 @@
  • Globals
    • -examples » TestMasterMicroMod
    +examples » TestMasterMicroMod

    TestMasterMicroMod.c

    Go to the documentation of this file.
    00001 /*
 00002 This file is part of CanFestival, a library implementing CanOpen Stack. 
 00003 
@@ -59,13 +59,13 @@
 00038 #include "canfestival.h"
 00039 #include "TestMasterMicroMod.h"
 00040 #include "TestMaster.h"
-00041 UNS8 slavenodeid;
+00041 UNS8 slavenodeid;
 00042 
 00043 
 00044 /*****************************************************************************/
-00045 void TestMaster_heartbeatError(UNS8 heartbeatID)
+00045 void TestMaster_heartbeatError(UNS8 heartbeatID)
 00046 {
-00047         eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
+00047         eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
 00048 }
 00049 
 00050 /********************************************************
@@ -73,51 +73,51 @@
 00052  *  - setup master RPDO 1 to receive TPDO 1 from id 0x40
 00053  *  - setup master TPDO 1 to send RPDO 1 to id 0x40
 00054  ********************************************************/
-00055 void TestMaster_initialisation()
+00055 void TestMaster_initialisation()
 00056 {
-00057         UNS32 PDO1_COBID = 0x0180 + slavenodeid; 
-00058         UNS32 PDO2_COBID = 0x0200 + slavenodeid;
-00059         UNS8 size = sizeof(UNS32); 
+00057         UNS32 PDO1_COBID = 0x0180 + slavenodeid; 
+00058         UNS32 PDO2_COBID = 0x0200 + slavenodeid;
+00059         UNS8 size = sizeof(UNS32); 
 00060 
-00061         eprintf("TestMaster_initialisation\n");
+00061         eprintf("TestMaster_initialisation\n");
 00062 
 00063         /*****************************************
 00064          * Define RPDOs to match slave ID=0x40 TPDOs*
 00065          *****************************************/
-00066         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
+00066         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 00067                         0x1400, /*UNS16 index*/
 00068                         0x01, /*UNS8 subind*/ 
 00069                         &PDO1_COBID, /*void * pSourceData,*/ 
 00070                         &size, /* UNS8 * pExpectedSize*/
-00071                         RW);  /* UNS8 checkAccess */
+00071                         RW);  /* UNS8 checkAccess */
 00072                         
 00073 
 00074         /*****************************************
 00075          * Define TPDOs to match slave ID=0x40 RPDOs*
 00076          *****************************************/
-00077         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
+00077         writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
 00078                         0x1800, /*UNS16 index*/
 00079                         0x01, /*UNS8 subind*/ 
 00080                         &PDO2_COBID, /*void * pSourceData,*/ 
 00081                         &size, /* UNS8 * pExpectedSize*/
-00082                         RW);  /* UNS8 checkAccess */
+00082                         RW);  /* UNS8 checkAccess */
 00083 }
 00084 
 00085 static init_step = 0;
 00086 
 00087 /*Froward declaration*/
-00088 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
+00088 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
 00089 
 00090 
-00091 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+00091 static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
 00092 {
-00093         UNS32 abortCode;
+00093         UNS32 abortCode;
 00094 
-00095         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-00096                 eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
+00095         if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+00096                 eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
 00097 
 00098         /* Finalise last SDO transfer with this node */
-00099         closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
+00099         closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
 00100 
 00101         ConfigureSlaveNode(d, nodeId);
 00102 }
@@ -138,17 +138,17 @@
 00117  * then it called again each time a SDO exchange is
 00118  * finished.
 00119  ********************************************************/
-00120 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
+00120 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
 00121 {
-00122         UNS8 res;
-00123         eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
+00122         UNS8 res;
+00123         eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
 00124         switch(++init_step){
 00125                 case 1: 
 00126                 {       /*disable Slave's TPDO 1 */
-00127                         UNS32 TPDO_COBId = 0x80000180 + nodeId;
+00127                         UNS32 TPDO_COBId = 0x80000180 + nodeId;
 00128                         
-00129                         eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
-00130                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00129                         eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
+00130                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00132                                         nodeId, /*UNS8 nodeId*/
 00133                                         0x1800, /*UNS16 index*/
 00134                                         0x01, /*UNS8 subindex*/
@@ -161,10 +161,10 @@
 00141 
 00142                 case 2: 
 00143                 {       /*setup Slave's TPDO 1 to be transmitted on SYNC*/
-00144                         UNS8 Transmission_Type = 0x01;
+00144                         UNS8 Transmission_Type = 0x01;
 00145                         
-00146                         eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
-00147                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00146                         eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
+00147                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00149                                         nodeId, /*UNS8 nodeId*/
 00150                                         0x1800, /*UNS16 index*/
 00151                                         0x02, /*UNS8 subindex*/
@@ -177,10 +177,10 @@
 00158 
 00159                 case 3: 
 00160                 {       /*re-enable Slave's TPDO 1 */
-00161                         UNS32 TPDO_COBId = 0x00000180 + nodeId;
+00161                         UNS32 TPDO_COBId = 0x00000180 + nodeId;
 00162                         
-00163                         eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
-00164                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00163                         eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
+00164                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00166                                         nodeId, /*UNS8 nodeId*/
 00167                                         0x1800, /*UNS16 index*/
 00168                                         0x01, /*UNS8 subindex*/
@@ -193,10 +193,10 @@
 00175                                         
 00176                 case 4: 
 00177                 {       /*disable Slave's TPDO 2 */
-00178                         UNS32 TPDO_COBId = 0x80000200 + nodeId;
+00178                         UNS32 TPDO_COBId = 0x80000200 + nodeId;
 00179                         
-00180                         eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
-00181                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00180                         eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
+00181                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00183                                         nodeId, /*UNS8 nodeId*/
 00184                                         0x1400, /*UNS16 index*/
 00185                                         0x01, /*UNS8 subindex*/
@@ -210,10 +210,10 @@
 00193                                         
 00194                 case 5:
 00195                 {       
-00196                         UNS8 Transmission_Type = 0x01;
+00196                         UNS8 Transmission_Type = 0x01;
 00197                         
-00198                         eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
-00199                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00198                         eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
+00199                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00201                                         nodeId, /*UNS8 nodeId*/
 00202                                         0x1400, /*UNS16 index*/
 00203                                         0x02, /*UNS8 subindex*/
@@ -226,10 +226,10 @@
 00210 
 00211                 case 6: 
 00212                 {       /*re-enable Slave's TPDO 1 */
-00213                         UNS32 TPDO_COBId = 0x00000200 + nodeId;
+00213                         UNS32 TPDO_COBId = 0x00000200 + nodeId;
 00214                         
-00215                         eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
-00216                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00215                         eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
+00216                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00218                                         nodeId, /*UNS8 nodeId*/
 00219                                         0x1400, /*UNS16 index*/
 00220                                         0x01, /*UNS8 subindex*/
@@ -242,9 +242,9 @@
 00227                 
 00228                 case 7: 
 00229                 {
-00230                         UNS16 Heartbeat_Producer_Time = 0x03E8; 
-00231                         eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
-00232                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00230                         UNS16 Heartbeat_Producer_Time = 0x03E8; 
+00231                         eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
+00232                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00234                                         nodeId, /*UNS8 nodeId*/
 00235                                         0x1017, /*UNS16 index*/
 00236                                         0x00, /*UNS8 subindex*/
@@ -257,10 +257,10 @@
 00243 
 00244                 case 8: 
 00245                 {       /*disable Slave's TPDO 2 */
-00246                         UNS32 TPDO_COBId = 0x80000280 + nodeId;
+00246                         UNS32 TPDO_COBId = 0x80000280 + nodeId;
 00247                         
-00248                         eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
-00249                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00248                         eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
+00249                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00251                                         nodeId, /*UNS8 nodeId*/
 00252                                         0x1801, /*UNS16 index*/
 00253                                         0x01, /*UNS8 subindex*/
@@ -273,10 +273,10 @@
 00260 
 00261                 case 9: 
 00262                 {       /*disable Slave's TPDO 3 */
-00263                         UNS32 TPDO_COBId = 0x80000380 + nodeId;
+00263                         UNS32 TPDO_COBId = 0x80000380 + nodeId;
 00264                         
-00265                         eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
-00266                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00265                         eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
+00266                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00268                                         nodeId, /*UNS8 nodeId*/
 00269                                         0x1802, /*UNS16 index*/
 00270                                         0x01, /*UNS8 subindex*/
@@ -289,10 +289,10 @@
 00277 
 00278                 case 10: 
 00279                 {       /*disable Slave's TPDO 2 */
-00280                         UNS32 TPDO_COBId = 0x80000480 + nodeId;
+00280                         UNS32 TPDO_COBId = 0x80000480 + nodeId;
 00281                         
-00282                         eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
-00283                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+00282                         eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
+00283                         res = writeNetworkDictCallBack (d, /*CO_Data* d*/
 00285                                         nodeId, /*UNS8 nodeId*/
 00286                                         0x1803, /*UNS16 index*/
 00287                                         0x01, /*UNS8 subindex*/
@@ -305,58 +305,58 @@
 00294                 
 00295                 case 11:
 00296                         /* Put the master in operational mode */
-00297                         setState(d, Operational);
+00297                         setState(d, Operational);
 00298                           
 00299                         /* Ask slave node to go in operational mode */
-00300                         masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
+00300                         masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
 00301         }
 00302                         
 00303 }
 00304 
-00305 void TestMaster_preOperational()
+00305 void TestMaster_preOperational()
 00306 {
 00307 
-00308         eprintf("TestMaster_preOperational\n");
-00309         ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
+00308         eprintf("TestMaster_preOperational\n");
+00309         ConfigureSlaveNode(&TestMaster_Data, slavenodeid);
 00310         
 00311 }
 00312 
-00313 void TestMaster_operational()
+00313 void TestMaster_operational()
 00314 {
-00315         eprintf("TestMaster_operational\n");
+00315         eprintf("TestMaster_operational\n");
 00316 }
 00317 
-00318 void TestMaster_stopped()
+00318 void TestMaster_stopped()
 00319 {
-00320         eprintf("TestMaster_stopped\n");
+00320         eprintf("TestMaster_stopped\n");
 00321 }
 00322 
-00323 void TestMaster_post_sync()
+00323 void TestMaster_post_sync()
 00324 {
-00325         DO++;
-00326         eprintf("MicroMod Digital Out: %2.2x\n",DO);
-00327         eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
+00325         DO++;
+00326         eprintf("MicroMod Digital Out: %2.2x\n",DO);
+00327         eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8);
 00328 }
 00329 
-00330 void TestMaster_post_TPDO()
+00330 void TestMaster_post_TPDO()
 00331 {
 00332 //      eprintf("TestMaster_post_TPDO\n");      
 00333 }
 00334 
 00335 //s_BOARD SlaveBoard = {"0", "500K"};
-00336 s_BOARD MasterBoard = {"32", "125K"};
+00336 s_BOARD MasterBoard = {"32", "125K"};
 00337 
 00338 #if !defined(WIN32) || defined(__CYGWIN__)
-00339 void catch_signal(int sig)
+00339 void catch_signal(int sig)
 00340 {
-00341   signal(SIGTERM, catch_signal);
-00342   signal(SIGINT, catch_signal);
+00341   signal(SIGTERM, catch_signal);
+00342   signal(SIGINT, catch_signal);
 00343   
-00344   eprintf("Got Signal %d\n",sig);
+00344   eprintf("Got Signal %d\n",sig);
 00345 }
 00346 #endif
 00347 
-00348 void help()
+00348 void help()
 00349 {
 00350   printf("**************************************************************\n");
 00351   printf("*  TestMasterMicroMod                                        *\n");
@@ -390,52 +390,52 @@
 00379 }
 00380 
 00381 /***************************  INIT  *****************************************/
-00382 void InitNodes(CO_Data* d, UNS32 id)
+00382 void InitNodes(CO_Data* d, UNS32 id)
 00383 {
 00384         /****************************** INITIALISATION MASTER *******************************/
-00385         if(MasterBoard.baudrate){
+00385         if(MasterBoard.baudrate){
 00386                 /* Defining the node Id */
-00387                 setNodeId(&TestMaster_Data, 0x01);
+00387                 setNodeId(&TestMaster_Data, 0x01);
 00388 
 00389                 /* init */
-00390                 setState(&TestMaster_Data, Initialisation);
+00390                 setState(&TestMaster_Data, Initialisation);
 00391         }
 00392 }
 00393 
 00394 /****************************************************************************/
 00395 /***************************  MAIN  *****************************************/
 00396 /****************************************************************************/
-00397 int main(int argc,char **argv)
+00397 int main(int argc,char **argv)
 00398 {
 00399 
 00400   int c;
-00401   extern char *optarg;
+00401   extern char *optarg;
 00402   char* LibraryPath="libcanfestival_can_virtual.so";
 00403   char *snodeid;
-00404   while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
+00404   while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
 00405   {
 00406     switch(c)
 00407     {
 00408       case 'm' :
 00409         if (optarg[0] == 0)
 00410         {
-00411           help();
+00411           help();
 00412           exit(1);
 00413         }
-00414         MasterBoard.busname = optarg;
+00414         MasterBoard.busname = optarg;
 00415         break;
 00416       case 'M' :
 00417         if (optarg[0] == 0)
 00418         {
-00419           help();
+00419           help();
 00420           exit(1);
 00421         }
-00422         MasterBoard.baudrate = optarg;
+00422         MasterBoard.baudrate = optarg;
 00423         break;
 00424       case 'l' :
 00425         if (optarg[0] == 0)
 00426         {
-00427           help();
+00427           help();
 00428           exit(1);
 00429         }
 00430         LibraryPath = optarg;
@@ -443,65 +443,65 @@
 00432       case 'i' :
 00433         if (optarg[0] == 0)
 00434         {
-00435           help();
+00435           help();
 00436           exit(1);
 00437         }
 00438         snodeid = optarg;
-00439                 sscanf(snodeid,"%x",&slavenodeid);
+00439                 sscanf(snodeid,"%x",&slavenodeid);
 00440         break;
 00441       default:
-00442         help();
+00442         help();
 00443         exit(1);
 00444     }
 00445   }
 00446 
 00447 #if !defined(WIN32) || defined(__CYGWIN__)
 00448   /* install signal handler for manual break */
-00449         signal(SIGTERM, catch_signal);
-00450         signal(SIGINT, catch_signal);
+00449         signal(SIGTERM, catch_signal);
+00450         signal(SIGINT, catch_signal);
 00451 #endif
 00452 
 00453 #ifndef NOT_USE_DYNAMIC_LOADING
-00454         LoadCanDriver(LibraryPath);
+00454         LoadCanDriver(LibraryPath);
 00455 #endif          
 00456 
-00457         TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
-00458         TestMaster_Data.initialisation = TestMaster_initialisation;
-00459         TestMaster_Data.preOperational = TestMaster_preOperational;
-00460         TestMaster_Data.operational = TestMaster_operational;
-00461         TestMaster_Data.stopped = TestMaster_stopped;
-00462         TestMaster_Data.post_sync = TestMaster_post_sync;
-00463         TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
+00457         TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
+00458         TestMaster_Data.initialisation = TestMaster_initialisation;
+00459         TestMaster_Data.preOperational = TestMaster_preOperational;
+00460         TestMaster_Data.operational = TestMaster_operational;
+00461         TestMaster_Data.stopped = TestMaster_stopped;
+00462         TestMaster_Data.post_sync = TestMaster_post_sync;
+00463         TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
 00464         
-00465         if(!canOpen(&MasterBoard,&TestMaster_Data)){
-00466                 eprintf("Cannot open Master Board\n");
+00465         if(!canOpen(&MasterBoard,&TestMaster_Data)){
+00466                 eprintf("Cannot open Master Board\n");
 00467                 goto fail_master;
 00468         }
 00469         
 00470         // Start timer thread
-00471         StartTimerLoop(&InitNodes);
+00471         StartTimerLoop(&InitNodes);
 00472 
 00473         // wait Ctrl-C
 00474         pause();
-00475         eprintf("Finishing.\n");
+00475         eprintf("Finishing.\n");
 00476         
 00477         // Reset the slave node for next use (will stop emitting heartbeat)
-00478         masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
+00478         masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
 00479         
 00480         // Stop master
-00481         setState(&TestMaster_Data, Stopped);
+00481         setState(&TestMaster_Data, Stopped);
 00482         
 00483         // Stop timer thread
-00484         StopTimerLoop();
+00484         StopTimerLoop();
 00485         
 00486 fail_master:
-00487         if(MasterBoard.baudrate) canClose(&TestMaster_Data);    
+00487         if(MasterBoard.baudrate) canClose(&TestMaster_Data);    
 00488 
 00489   return 0;
 00490 }
 00491 
 00492 
-
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    Generated on Mon Jul 2 19:10:16 2007 for CanFestival by  doxygen 1.5.1