diff -r 000000000000 -r 4472ee7c6c3e examples/AppliMaster_Linux/appli.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/AppliMaster_Linux/appli.c Wed May 10 16:59:40 2006 +0200 @@ -0,0 +1,1005 @@ +/* +This file is part of CanFestival, a library implementing CanOpen Stack. + +Copyright (C): Edouard TISSERANT and Francis DUPIN + +See COPYING file for copyrights details. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +*/ + +#include +#include +#include +#include +#include +#include + + +#include +#include +#include + +#include "def.h" +#include "can.h" +#include "objdictdef.h" +#include "objacces.h" +#include "canOpenDriver.h" +#include "sdo.h" +#include "pdo.h" +#include "init.h" +#include "timer.h" +#include "lifegrd.h" +#include "sync.h" + +#include "nmtMaster.h" + + + +// For prototype of exit(); +#define exit _exit + + +// Adlink 7841 or Peak PCI/CAN board +// --------------------------------- + +// Baudrate values for Peak board : +// CAN_BAUD_1M CAN_BAUD_500K CAN_BAUD_250K CAN_BAUD_125K CAN_BAUD_100K CAN_BAUD_50K +// CAN_BAUD_20K CAN_BAUD_10K CAN_BAUD_5K + +#ifdef CAN_BAUD_250K +# define BAUDRATE CAN_BAUD_250K +#else +// Appli have been compiled for Adlink-arbraca. Baudrate not used +# define BAUDRATE 0 +#endif + +s_BOARD board = {"0", BAUDRATE}; + + +// Required definition variables +// ----------------------------- +// The variables that you should define for debugging. +// They are used by the macro MSG_ERR and MSG_WAR in applicfg.h +// if the node is a slave, they can be mapped in the object dictionnary. + +UNS8 printMsgErrToConsole = 1; +UNS8 printMsgWarToConsole = 1; + +// The variables mapped in the object dictionnary +// ---------------------------------------------- +extern UNS32 canopenErrNB_node5; // Mapped at index 0x6000, subindex 0x0 +extern UNS32 canopenErrVAL_node5; // Mapped at index 0x6001, subindex 0x0 +extern UNS8 second; // Mapped at index 0x6002, subindex 0x1 +extern UNS8 minutes; // Mapped at index 0x6002, subindex 0x2 +extern UNS8 hour; // Mapped at index 0x6002, subindex 0x3 +extern UNS8 day; // Mapped at index 0x6002, subindex 0x4 +extern UNS32 canopenErrNB; // Mapped at index 0x6003, subindex 0x1 +extern UNS32 canopenErrVAL; // Mapped at index 0x6003, subindex 0x2 + + +/*************************User's variables declaration**************************/ +pthread_t threadM; +pthread_t threadH; +pthread_t threadS; +UNS8 connectedNode[128]; + +/* The variable to map in a PDO is defined at index and subIndex. Its length is size bytes */ +typedef struct mappedVar +{ + UNS32 index; + UNS8 subIndex; + UNS8 size; // in byte +} s_mappedVar; + +typedef struct heartbeatConsumer +{ + UNS8 nodeProducer; + UNS16 time_ms; +} s_heartbeatConsumer; + +/**************************prototypes*****************************************/ +/* You *must* have these 2 functions in your code*/ +void heartbeatError (UNS8 heartbeatID ); +void SD0timeoutError(UNS8 bus_id, UNS8 line); + +void waitMessage (void ); +void heartBeat (void ); +void transmitSync (void); +e_nodeState stateNode (UNS8 node); +void configure_master_SDO (UNS32 index, UNS8 serverNode); +UNS8 waitingWriteToSlaveDict (UNS8 slaveNode, UNS8 error); +UNS8 waitingReadToSlaveDict (UNS8 slaveNode, void * data, UNS8 * size, UNS8 error); +UNS8 configure_client_SDO (UNS8 slaveNode, UNS8 clientNode); +void masterMappingPDO (UNS32 indexPDO, UNS32 cobId, + s_mappedVar *tabMappedVar, UNS8 nbVar); +void slaveMappingPDO (UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, + s_mappedVar *tabMappedVar, UNS8 nbVar); +void masterHeartbeatConsumer (s_heartbeatConsumer + *tabHeartbeatConsumer, UNS8 nbHeartbeats); +void masterHeartbeatProducer (UNS16 time); +void slaveHeartbeatConsumer (UNS8 slaveNode, s_heartbeatConsumer + *tabHeartbeatConsumer, UNS8 nbHeartbeats); +void slaveHeartbeatProducer (UNS8 slaveNode, UNS16 time); +void masterPDOTransmissionMode (UNS32 indexPDO, UNS8 transType); +void slavePDOTransmissionMode (UNS8 slaveNode, UNS32 indexPDO, UNS8 transType); +void masterSYNCPeriod (UNS32 SYNCPeriod); +int main (int argc,char **argv); + +/*****************************************************************************/ +void heartbeatError(UNS8 heartbeatID) +{ + // MSG_ERR should send the values canopenErrNB and canopenErrVAL on event in a PDO, + // But we do not have mapped the variables in a PDO, so it sends nothing. + // See the note at the end of END CONFIGURING THE NETWORK. + MSG_WAR(0x2F00, "HeartBeat, no response from node : ", heartbeatID); +} + +/*****************************************************************************/ +void SD0timeoutError (UNS8 bus_id, UNS8 line) +{ + // Informations on what occurs are in transfers[bus_id][line].... + // See scanSDOtimeout() in sdo.c +} + +/*********************************** THREADS **********************************/ +//------------------------------------------------------------------------------ +// Wait for a received message +void waitMessage(void) +{ + while (1) { + receiveMsgHandler(0); // blocked until new message + } +} + +//------------------------------------------------------------------------------ +/* Sending SYNC */ +void transmitSync(void) +{ + while (1) { + computeSYNC(); // Use the value in the dictionnary + usleep(1000); // Sleep 1 ms + + } +} + +/************************** FUNCTIONS TO CONFIGURE THE NETWORK******************/ + + + +//------------------------------------------------------------------------------ +/* Node mode result after NodeGuard query */ +e_nodeState stateNode(UNS8 node) +{ + e_nodeState state = getNodeState(0, node); + switch (state) { + case Unknown_state: + MSG_WAR(0x3F05, "Not connected (Does not have sent its status) node :", node); + break; + case Operational: + MSG_WAR(0x3F06, "Ok, in operational mode, node : ", node); + break; + case Pre_operational: + MSG_WAR(0x3F07, "OK in pre-operational mode, node : ", node); + break; + default: + MSG_WAR(0x3F08, "OK connected but in curious mode, node : ", node); + } + return state; +} + +//------------------------------------------------------------------------------ +/* The master is writing in its dictionnary to configure the SDO parameters +to communicate with server_node +*/ +void configure_master_SDO(UNS32 index, UNS8 serverNode) +{ + UNS32 data32; + UNS8 data8; + UNS8 sizeData = 4 ; // in bytes + + /* At subindex 1, the cobId of the Can message from the client. + It is always defined inside the server dictionnary as 0x600 + server_node. + So, we have no choice here ! */ + data32 = 0x600 + serverNode; + setODentry(index, 1, &data32, sizeData, 0); + + { + // Test + UNS32 *pbData; + UNS8 length; + UNS32 returnValue; + UNS8 dataType; + // Relecture + MSG_WAR(0x1000, "Reading index : ", index); + MSG_WAR(0x1000, " subindex : ", 1); + returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); + MSG_WAR(0x1000, " val : ", *pbData); + } + + + /* At subindex 2, the cobId of the Can message from the server to the client. + It is always defined inside the server dictionnary as 0x580 + client_node. + So, we have no choice here ! */ + data32 = 0x580 + serverNode; + setODentry(index, 2, &data32, sizeData, 0); + + /* At subindex 3, the node of the server */ + data8 = serverNode; + sizeData = 1; + setODentry(index, 3, &data8, sizeData, 0); + + { + UNS8 *pbData; + UNS8 length; + UNS32 returnValue; + UNS8 dataType; + // Relecture + MSG_WAR(0x1000, "Reading index : ", index); + MSG_WAR(0x1000, " subindex : ", 3); + returnValue = getODentry(index, 1, (void * *)&pbData, (UNS8 *)&length, &dataType, 0); + MSG_WAR(0x1000, " val : ", *pbData); + } +} + +//------------------------------------------------------------------------------ +/* + */ +UNS8 waitingWriteToSlaveDict(UNS8 slaveNode, UNS8 error) +{ + UNS8 err; + UNS32 abortCode; + MSG_WAR(0x3F21, "Sending SDO to write in dictionnary of node : ", slaveNode); + if (error) { + MSG_ERR(0x1F22, "Unable to send the SDO to node ", slaveNode); + return -1; + } + /* Waiting until the slave has responded */ + while (getWriteResultNetworkDict (0, slaveNode, &abortCode) == SDO_DOWNLOAD_IN_PROGRESS) { + // Check if some SDO response are missing + scanSDOtimeout(); + } + + err = getWriteResultNetworkDict (0, slaveNode, &abortCode); + if (err == SDO_FINISHED) { + MSG_WAR(0x3F22, "SDO download finished to Node : ", slaveNode); + // Release the line. Don't forget !!! + closeSDOtransfer(0, slaveNode, SDO_CLIENT); + return 0; + } + + if (err == SDO_ABORTED_RCV) { + MSG_WAR(0x2F20, "Received SDO abort from node : ", slaveNode); + } + + if (err == SDO_ABORTED_INTERNAL) { + MSG_WAR(0x2F20, "Internal SDO abort for node : ", slaveNode); + } + // Looking for the line transfert number to read the index, subindex and releasing the line. + { + UNS8 line; + err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); + if (err) { + MSG_WAR(0x2F21, "No line found for node : ", slaveNode); + exit(-1); + } + MSG_WAR (0x2F22, "while writing at his index : ", transfers[0][line].index); + MSG_WAR (0x2F23, " subIndex : ", transfers[0][line].subIndex); + //Releasing the line. + closeSDOtransfer(0, slaveNode, SDO_CLIENT); + exit(-1); + } + return 0; +} + +//------------------------------------------------------------------------------ +/* + */ +UNS8 waitingReadToSlaveDict(UNS8 slaveNode, void * data, UNS8 * size, UNS8 error) +{ + UNS8 err; + UNS32 abortCode; + MSG_WAR(0x3F2A, "Sending SDO to read in dictionnary of node : ", slaveNode); + if (error) { + MSG_ERR(0x1F2B, "Unable to send the SDO to node ", slaveNode); + return -1; + } + /* Waiting until the slave has responded */ + while (getReadResultNetworkDict (0, slaveNode, data, size, &abortCode) == SDO_UPLOAD_IN_PROGRESS) { + // Check if some SDO response are missing + scanSDOtimeout(); + } + err = getReadResultNetworkDict (0, slaveNode, data, size, &abortCode); + if (err == SDO_FINISHED) { + MSG_WAR(0x3F2C, "SDO upload finished to Node : ", slaveNode); + // Release the line. Don't forget !!! + closeSDOtransfer(0, slaveNode, SDO_CLIENT); + return 0; + } + if (err == SDO_ABORTED_RCV) { + MSG_WAR(0x2F2D, "Received SDO abort from node : ", slaveNode); + } + + if (err == SDO_ABORTED_INTERNAL) { + MSG_WAR(0x2F2E, "Internal SDO abort for node : ", slaveNode); + } + // Looking for the line transfert number to read the index, subindex and releasing the line. + { + UNS8 line; + err = getSDOlineOnUse(0, slaveNode, SDO_CLIENT, &line); + if (err) { + MSG_WAR(0x2F2F, "No line found for node : ", slaveNode); + exit(-1); + } + MSG_WAR (0x2F30, "while writing at his index : ", transfers[0][line].index); + MSG_WAR (0x2F31, " subIndex : ", transfers[0][line].subIndex); + //Releasing the line. + closeSDOtransfer(0, slaveNode, SDO_CLIENT); + exit(-1); + } + + return 0; +} + + +//------------------------------------------------------------------------------ +/* The master is writing in the slave dictionnary to configure the SDO parameters +Remember that the slave is the server, and the master is the client. + */ +UNS8 configure_client_SDO(UNS8 slaveNode, UNS8 clientNode) +{ + UNS8 data; + UNS8 NbDataToWrite = 1 ; // in bytes + UNS8 err = 0; + MSG_WAR(0x3F20, "Configuring SDO by writing in dictionnary Node", slaveNode); + /* It is only to put at subindex 3 the serverNode. It is optionnal. + In the slave dictionary, only one SDO server is defined, at index + 0x1200 */ + data = clientNode; + err = writeNetworkDict(0, slaveNode, 0x1200, 3, NbDataToWrite, 0, &data); + waitingWriteToSlaveDict(slaveNode, err); + + return 0; +} + +//------------------------------------------------------------------------------ + +void masterMappingPDO(UNS32 indexPDO, UNS32 cobId, + s_mappedVar *tabMappedVar, UNS8 nbVar) +{ + UNS32 *pbData; + UNS32 data32; + UNS8 i; + UNS8 size = 0; + UNS8 dataType; + + if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) + MSG_WAR(0x3F30, "Configuring MASTER for PDO receive, COBID : ", cobId); + + if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) + MSG_WAR(0x3F31, "Configuring MASTER for PDO transmit, COBID : ", cobId); + + /* At indexPDO, subindex 1, defining the cobId of the PDO */ + setODentry(indexPDO, 1, &cobId, 4, 0); + /* The mapping ... */ + /* ----------------*/ + /* At subindex 0, the number of variables in the PDO */ + setODentry(indexPDO + 0x200, 0, &nbVar, 1, 0); + getODentry(indexPDO + 0x200, 0, (void * *)&pbData, &size, &dataType, 0); + /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in + the PDO. The first variable after the COBID is defined at subindex 1, ... + The data to write is the concatenation on 32 bits of (msb ... lsb) : + index(16b),subIndex(8b),sizeVariable(8b) +*/ + for (i = 0 ; i < nbVar ; i++) { + data32 = ((tabMappedVar + i)->index << 16) | + (((tabMappedVar + i)->subIndex & 0xFF) << 8) | + ((tabMappedVar + i)->size & 0xFF); + // Write dictionary + setODentry(indexPDO + 0x200, i + 1, &data32, 4, 0); + +# ifdef MORE_COMMENTS + printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n", + (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size); + // Only to verify. + // Read dictionnary + getODentry(indexPDO + 0x200, i + 1, (void * *)&pbData, &size, &dataType, 0); + printf("Writen à index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", + indexPDO + 0x200, i + 1, 8 * size, *pbData); +# endif + + } +} + +//------------------------------------------------------------------------------ +/* + */ + +void slaveMappingPDO(UNS8 slaveNode, UNS32 indexPDO, UNS32 cobId, + s_mappedVar *tabMappedVar, UNS8 nbVar) +{ + UNS32 data32; + UNS8 i; + UNS8 err; + UNS8 nbBytes = 1; + if ((indexPDO >= 0x1400) && (indexPDO <= 0x15FF)) + MSG_WAR(0x3F32, "Configuring slave for PDO receive, COBID : ", cobId); + + if ((indexPDO >= 0x1800) && (indexPDO <= 0x19FF)) + MSG_WAR(0x3F33, "Configuring slave for PDO transmit, COBID : ", cobId); + + /* At indexPDO, subindex 1, defining the cobId of the PDO */ + err = writeNetworkDict(0, slaveNode, indexPDO, 1, 4, 0, &cobId); + waitingWriteToSlaveDict(slaveNode, err); + + /* The mapping ... */ + /* ----------------*/ + /* At subindex 0, the number of variables in the PDO */ + err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, 0, nbBytes, 0, &nbVar); + waitingWriteToSlaveDict(slaveNode, err); + + /* At each subindex 1 .. nbVar, The index,subindex and size of the variable to map in + the PDO. The first variable after the COBID is defined at subindex 1, ... + The data to write is the concatenation on 32 bits of (msb ... lsb) : + index(16b),subIndex(8b),sizeVariable(8b) +*/ + for (i = 0 ; i < nbVar ; i++) { + data32 = ((tabMappedVar + i)->index << 16) | + (((tabMappedVar + i)->subIndex & 0xFF) << 8) | + ((tabMappedVar + i)->size & 0xFF); + + // Write dictionary + err = writeNetworkDict(0, slaveNode, indexPDO + 0x200, i + 1, 4, 0, &data32); + waitingWriteToSlaveDict(slaveNode, err); + +# ifdef MORE_COMMENTS + printf("Mapped variable defined at index 0x%X, subIndex 0x%X, %d bits\n", + (tabMappedVar + i)->index, (tabMappedVar + i)->subIndex, 8 * (tabMappedVar + i)->size); + + printf("At node 0x%X Writen at index 0x%X, subIndex 0x%X, %d bits : 0x%08X\n", + slaveNode, indexPDO + 0x200, i + 1, 32, data32); +# endif + + } +} + +//------------------------------------------------------------------------------ +/* + */ +void masterHeartbeatConsumer(s_heartbeatConsumer + *tabHeartbeatConsumer, UNS8 nbHeartbeats) +{ + UNS32 data; + UNS8 i; + UNS8 nbHB = nbHeartbeats; + + MSG_WAR(0x3F40, "Configuring heartbeats consumers for master", 0); + /* At index 1016, subindex 0 : the nb of consumers (ie nb of nodes of which are expecting heartbeats) */ + setODentry(0x1016, 0, & nbHB, 1, 0); + + /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb : + 00 - node_consumer (8b) - time_ms (16b) + Put 0 to ignore the entry. + */ + for (i = 0 ; i < nbHeartbeats ; i++) { + data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF); + setODentry(0x1016, i + 1, & data, 4, 0); + } +} + +//------------------------------------------------------------------------------ +/* + */ + +void masterHeartbeatProducer(UNS16 time) +{ + UNS16 hbTime = time; + MSG_WAR(0x3F45, "Configuring heartbeat producer for master", 0); + /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */ + setODentry(0x1017, 0, &hbTime, 2, 0); +} + +//------------------------------------------------------------------------------ +/* + */ +void slaveHeartbeatConsumer(UNS8 slaveNode, s_heartbeatConsumer + *tabHeartbeatConsumer, UNS8 nbHeartbeats) +{ + UNS32 data; + UNS8 err; + UNS8 i; + + MSG_WAR(0x3F46, "Configuring heartbeats consumers for node : ", slaveNode); + + /* At Index 1016, subindex 1, ... : 32 bit values : msb ... lsb : + 00 - node_consumer (8b) - time_ms (16b) + Put 0 to ignore the entry. + */ + for (i = 0 ; i < nbHeartbeats ; i++) { + data = (((tabHeartbeatConsumer + i)->nodeProducer & 0xFF)<< 16) | + ((tabHeartbeatConsumer + i)->time_ms & 0xFFFF); + err = writeNetworkDict(0, slaveNode, 0x1016, i + 1, 4, 0, &data); + waitingWriteToSlaveDict(slaveNode, err); + } +} + +//------------------------------------------------------------------------------ +/* + */ + +void slaveHeartbeatProducer(UNS8 slaveNode, UNS16 time) +{ + UNS8 err; + MSG_WAR(0x3F47, "Configuring heartbeat producer for node : ", slaveNode); + /* At index 1017, subindex 0, defining the time to send the heartbeat. Put 0 to never send heartbeat */ + + err = writeNetworkDict(0, slaveNode, 0x1017, 0, 2, 0, &time); + waitingWriteToSlaveDict(slaveNode, err); +} + +//------------------------------------------------------------------------------ +/* + */ + +void masterPDOTransmissionMode(UNS32 indexPDO, UNS8 transType) +{ + MSG_WAR(0x3F48, "Configuring transmission from master, indexPDO : ", indexPDO); + + /* At subindex 2, the transmission type */ + setODentry(indexPDO, 2, &transType, 1, 0); +} + + +//------------------------------------------------------------------------------ +/* + */ + +void slavePDOTransmissionMode(UNS8 slaveNode, UNS32 indexPDO, UNS8 transType) +{ + UNS8 err; + MSG_WAR(0x3F41, "Configuring transmission mode for node : ", slaveNode); + MSG_WAR(0x3F42, " indexPDO : ", indexPDO); + + err = writeNetworkDict(0, slaveNode, indexPDO, 2, 1, 0, &transType); + waitingWriteToSlaveDict(slaveNode, err); + +} + +//------------------------------------------------------------------------------ +/* + */ + +void masterSYNCPeriod(UNS32 SYNCPeriod) +{ + UNS32 cobId = 0x40000080; + MSG_WAR(0x3F49, "Configuring master to send SYNC every ... micro-seconds :", SYNCPeriod); + /* At index 0x1006, subindex 0 : the period in ms */ + setODentry(0x1006, 0, &SYNCPeriod , 4, 0); + /* At index 0x1005, subindex 0 : Device generate SYNC signal with CobId 0x80 */ + setODentry(0x1005, 0, &cobId, 4, 0); +} + +void help() +{ + printf("**************************************************************\n"); + printf("* AppliMaster *\n"); + printf("* [-b b] *\n"); + printf("* *\n"); + printf("* b : bus [default 0] *\n"); + printf("* *\n"); + printf("* This exemple run AppliMaster on bus 0 *\n"); + printf("* AppliMaster -b 0 *\n"); + printf("* *\n"); + printf("**************************************************************\n"); +} + +/****************************************************************************/ +/*************************** MAIN *****************************************/ +/****************************************************************************/ +int main(int argc,char **argv) +{ + UNS8 second_last; + UNS8 minutes_last; + UNS8 sendingResetError = 0; + int i; + HANDLE ok; + char c; + extern char *optarg; + + while ((c = getopt(argc, argv, "-b:")) != EOF) + { + switch(c) + { + case 'b' : + if (optarg[0] == 0) + { + help(); + exit(1); + } + board.busname = optarg; + break; + default: + help(); + exit(1); + } + } + + /****************************** INITIALISATION *******************************/ + + /* Launch the timer*/ + initTimer( ); + + /* arrays initialisation, etc */ + initCANopenMain(); + + /* arrays initialisation, etc */ + initCANopenMaster(); + + /* Defining the node Id */ + setNodeId(0x01); + MSG_WAR(0x3F50, "My node ID is : ", getNodeId()); + + /* Put the master in operational mode */ + setState(Operational); + + + /* Init the table of connected nodes */ + for (i = 0 ; i < 128 ; i++) + connectedNode[i] = 0; + + + ok = f_can_open(& board); + if (ok == NULL) { + MSG_ERR(0x1F02,"Unable to open the board", 0); + MSG_ERR(0x1F03,"Edit includeMakefileLinux to verify that the application is configured for the good board", 0); + exit (-1); + } + else { + MSG_WAR(0x3F03, "Board 0 opened ", 0); + } + + + /* Launch the thread to receive the messages */ + pthread_create( &threadM, NULL, (void *)&waitMessage, NULL); + + + + + + + + + + + + + + + + /******************** CONFIGURING THE NETWORK **************************/ + + /* Which nodes are connected ? */ + /* Sending a request Node guard to node 5 and 6 */ + MSG_WAR(0x3F04, "Sending a node guard to node : ", 5); + masterReadNodeState(0, 0x05); + /* Sending a message to the node 6, only as example */ + MSG_WAR(0x3F04, "Sending a node guard to node : ", 6); + masterReadNodeState(0, 0x06); + /* Waiting for a second the response */ + sleep(1); + + /* Whose node have answered ? */ + connectedNode[5] = stateNode(5); + connectedNode[6] = stateNode(6); + + /* Configure the SDO master to communicate with node 5 and node 6 */ + configure_master_SDO(0x1280, 0x05); + + + /* Configure the SDO of node 5 */ + /* getNodeId() returns my node Id */ + configure_client_SDO(0x05, getNodeId()); + /* Mapping of the PDO + Chose some COBID in (hexa) 181-1FF, 201-27F, 281-2FF, 301-37F, + 381-3FF, 401-47F, 481-4FF, 501-57F, + without other restriction. + (Of course, you must not define 2 PDO transmit with the same cobId !!) + */ + + /* + *** PDO node 1 <-- node 5 *** + *** cobId 0x181 ************* + MASTER (node 1) + Mapped to variables (node1) [index-subindex-size_bits]: + day [0x6002 - 0x04 - 8] + hour [0x6002 - 0x03 - 8] + second [0x6002 - 0x01 - 8] + + SLAVE (node 5) + Mapped to variables (node5) [index-subindex-size_bits]: + day [0x2000 - 0x04 - 8] + hour [0x2000 - 0x03 - 8] + second [0x2000 - 0x01 - 8] +*/ + + /* Configuring the first PDO receive, defined at index 0x1400 and 0x1600 */ + { + s_mappedVar tabMappedVar[8] = { {0x6002,4,8}, {0x6002,3,8}, {0x6002,1,8}, }; + masterMappingPDO(0x1400, 0x181, tabMappedVar, 3); + } + + /* Configuring the first PDO transmit, defined at index 0x1800 and 0x1A00 */ + { + s_mappedVar tabMappedVar[8] = { {0x2000,4,8}, {0x2000,3,8}, {0x2000,1,8}, }; + slaveMappingPDO(0x05, 0x1800, 0x181, tabMappedVar, 3); + } + /* + *** PDO node 1 <-- node 5 *** + *** cobId 0x182 ************* + MASTER (node 1) + Mapped to variables (node1) [index-subindex-size_bits]: + minute [0x6002 - 0x02 - 8] + + SLAVE (node 5) + Mapped to variables (node5) [index-subindex-size_bits]: + minute [0x2000 - 0x02 - 8] + */ + + /* Configuring PDO receive, defined at index 0x1400 and 0x1600 */ + { + s_mappedVar tabMappedVar[8] = { {0x6002,2,8} }; + masterMappingPDO(0x1401, 0x182, tabMappedVar, 1); + } + + /* Configuring PDO transmit, defined at index 0x1800 and 0x1A00 */ + { + s_mappedVar tabMappedVar[8] = { {0x2000,2,8} }; + slaveMappingPDO(0x05, 0x1801, 0x182, tabMappedVar, 1); + } + + + /* + *** PDO node 1 <-- node 5 *** + *** cobId 0x183 ************* + Error management : By this way, The node can send by PDO an error + MASTER (node 1) + Mapped to variables (node1) [index-subindex-size_bits]: + canopenErrNb_node5 [0x6000 - 0x00 - 32] + canopenErrVal_node5 [0x6001 - 0x00 - 32] + + SLAVE (node 5) + Mapped to variables (node5) [index-subindex-size_bytes]: + canopenErrNb [0x6000 - 0x00 - 32] + canopenErrVal [0x6001 - 0x00 - 32] + */ + + /* Configuring PDO receive, defined at index 0x1402 and 0x1602 */ + { + s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; + masterMappingPDO(0x1402, 0x183, tabMappedVar, 2); + } + + /* Configuring PDO transmit, defined at index 0x1802 and 0x1A02 */ + { + s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; + slaveMappingPDO(0x05, 0x1802, 0x183, tabMappedVar, 2); + } + + /* + *** PDO node 1 --> node 5 *** + *** cobId 0x184 ************* + Error management : To reset the error + MASTER (node 1) + Mapped to variables (node1) [index-subindex-size_bits]: + canopenErrNb_node5 [0x6000 - 0x00 - 32] + canopenErrVal_node5 [0x6001 - 0x00 - 32] + + SLAVE (node 5) + Mapped to variables (node5) [index-subindex-size_bytes]: + canopenErrNb [0x6000 - 0x00 - 32] + canopenErrVal [0x6001 - 0x00 - 32] + */ + + /* Configuring PDO transmit, defined at index 0x1803 and 0x1103 */ + { + s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; + masterMappingPDO(0x1801, 0x184, tabMappedVar, 2); + } + + /* Configuring PDO transmit, defined at index 0x1403 and 0x1603 */ + { + s_mappedVar tabMappedVar[8] = { {0x6000,0,32}, {0x6001, 0, 32}}; + slaveMappingPDO(0x05, 0x1400, 0x184, tabMappedVar, 2); + } + + /* Configuring the node 5 heartbeat */ + /* Check every 3000 ms if it have received a heartbeat from node 1 */ + { + UNS8 nbHeartbeatsToReceive = 1; + s_heartbeatConsumer tabHeartbeatConsumer[10] = {{1, 0xBB8}}; + slaveHeartbeatConsumer(0x05, tabHeartbeatConsumer, nbHeartbeatsToReceive); + } + /* Sending every 1000 ms an heartbeat */ + slaveHeartbeatProducer(0x05, 0x3E8); + + /* Configuring the master heartbeat */ + /* Check every 3000 ms if it have received a heartbeat from node 5 */ + { + UNS8 nbHeartbeatsToReceive = 1; + s_heartbeatConsumer tabHeartbeatConsumer[10] = {{5, 0xBB8}}; + masterHeartbeatConsumer(tabHeartbeatConsumer, nbHeartbeatsToReceive); + } + + /* Sending every 1000 ms an heartbeat */ + masterHeartbeatProducer(0x3E8); + + + + /* Configuring the transmission mode of the PDO */ + slavePDOTransmissionMode(0x05, 0x1800, TRANS_EVERY_N_SYNC (1)); + slavePDOTransmissionMode(0x05, 0x1801, TRANS_EVENT); + slavePDOTransmissionMode(0x05, 0x1802, TRANS_EVENT); + masterPDOTransmissionMode(0x1801, TRANS_EVENT); + + /* Configuring the master to send a SYNC message every 1 s */ + /* Note than any other node can send the SYNC instead of the master */ + masterSYNCPeriod(1000000); + + { + // Reading the period of heartbeat which has been written in node 5 dictionary + UNS8 node = 5; + UNS16 index = 0x1017; + UNS8 subindex = 0; + //UNS8 notused = 0; + UNS16 hb = 0; + UNS8 size_data = 0; + UNS8 error; + MSG_WAR(0x3F50, "Reading dictionary noeud 5, 1017/0", 0); + error = readNetworkDict(0, node, index, subindex, 0); + //error = readNetworkDict(0, node, index, subindex, ¬used); + if (error) { + MSG_ERR(0x1F50, "!!! ERROR reading dictionary noeud 5, 1017/0", 0); + exit (-1); + } + /* Waiting until the server has responded */ + error = waitingReadToSlaveDict(node, (UNS16 *)&hb, &size_data, error); + MSG_WAR(0x1F51, "Read dictionary of node 5, index/subindex 1017/0 value = ", hb); + MSG_WAR(0x1F51, " size of data (bytes) = ", size_data); + } + + + + /* Put the node 5 in operational mode + The mode is changed according to the slave state machine mode : + initialisation ---> pre-operational (Automatic transition) + pre-operational <--> operational + pre-operational <--> stopped + pre-operational, operational, stopped -> initialisation + NMT_Start_Node // Put the node in operational mode + NMT_Stop_Node // Put the node in stopped mode + NMT_Enter_PreOperational // Put the node in pre_operational mode + NMT_Reset_Node // Put the node in initialization mode + NMT_Reset_Comunication // Put the node in initialization mode + */ + masterSendNMTstateChange(0, 0x05, NMT_Start_Node); + + + // Note + //----- + // We do not have mapped the variable canopenErrNB and canopenErrVAL. + // We should have done that ! + // the macro MSG_ERR try to send the PDO(s) which contains these two variables. + // While the PDO will not be found, if you are printing the warnings in file pdo.c, + // it will print "0X393B Unable to send variable on event : not mapped in a PDO to send on event" for + // example when you enter the function heartbeatError. + + /******************** END CONFIGURING THE NETWORK **********************/ + + /* Launch the thread to send the SYNC message */ + pthread_create( &threadS, NULL, (void *)&transmitSync , NULL); + /* Init the errors values that may send the node 5 */ + canopenErrNB_node5 = 0; + canopenErrVAL_node5 = 0; + + /****************************** RUNNING *******************************/ + + /* SDO test with node 5 */ + { + // Reading string + UNS8 dataW[20]; + UNS8 dataR[20]; + UNS8 size; + UNS8 err; + MSG_WAR(0x3F05, "Test SDO", 0); + + MSG_WAR(0x3F10, "Writing string to node 5 index 0x6002, subindex 0 ...", 0); + strcpy(dataW, "Au Revoir"); + MSG_WAR(0x3F10, dataW, 0); + size = 20; + err = writeNetworkDict(0, 5, 0x6002, 0, 10, visible_string, dataW); + err = waitingWriteToSlaveDict(5, err); + + err = readNetworkDict(0, 5, 0x6002, 0, visible_string); + err = waitingReadToSlaveDict(5, dataR, &size, err); + MSG_WAR(0x3F08, "Data read from node 5 index 0x6002, subindex 0 ..." , 0); + MSG_WAR(0x3F08, dataR, 0); + + MSG_WAR(0x3F08, "node 5. Hardware version. (default = compil. date) ...", 0); + err = readNetworkDict(0, 5, 0x1009, 0, visible_string); + err = waitingReadToSlaveDict(5, dataR, &size, err); + MSG_WAR(0x3F08, dataR, 0); + + MSG_WAR(0x3F08, "node 5. Software version. (default = compil. time) ...", 0); + err = readNetworkDict(0, 5, 0x100A, 0, visible_string); + err = waitingReadToSlaveDict(5, dataR, &size, err); + MSG_WAR(0x3F08, dataR, 0); + } + + // Node identity ? + { + UNS8 *data; + UNS8 size; + UNS8 dataType; + // Manufacturer Device name (default = empty string) + getODentry(0x1008, 0x0, (void **)&data, &size, &dataType, 0); + MSG_WAR(0x3F09, data, 0); + // Manufacturer Hardware version. (default = compilation. date) + getODentry(0x1009, 0x0, (void **)&data, &size, &dataType, 0); + MSG_WAR(0x3F09, data, 0); + // Manufacturer Software version. (default = compilation. time) + getODentry(0x100A, 0x0, (void **)&data, &size, &dataType, 0); + MSG_WAR(0x3F09, data, 0); + } + + while (1) { + if (minutes != minutes_last) { + printf("Minutes changed\n"); + minutes_last = minutes; + } + + if (second != second_last) { + printf("Date : %d, %02dH%02d-%02d\n", day, hour, minutes, second); + second_last = second; + + if (canopenErrNB_node5) { + printf("Received an error from node 5, NB : 0x%X, value : 0x%X\n", + canopenErrNB_node5 , canopenErrVAL_node5); + // Resetting the error + canopenErrNB_node5 = 0; + canopenErrVAL_node5 = 0; + sendingResetError = 1; + } + + if ((second < 5) && sendingResetError) { + printf("Sending to node 5 a PDO event to reset the error NB: 0x%X and VAL: 0x%X\n", + canopenErrNB_node5, canopenErrVAL_node5); + + sendPDOevent(0, &canopenErrNB_node5); + sendingResetError = 0; + } + + + } // end if (second != second_last) + + // Testing if heartsbeat have been received, and send a heartbeat if it is time. + // I have put that in a thread, but I don't know why, on HB not received, + // it doesn't returns from heartbeatError() to the thread. + heartbeatMGR(); + + usleep(10000); + + } + return 0; +}