# HG changeset patch
# User etisserant
# Date 1176387622 -7200
# Node ID 1b3165f2d17d812acd444c2cfc268dfc7a6a4912
# Parent 1c1ad874fe8f8419053895ba0b61dad85a8f4f63
Implemented writeNetworkDictCallBack test in TestMasterSlave example. Fixed callback assignement race condition in sdo.c.
diff -r 1c1ad874fe8f -r 1b3165f2d17d examples/TestMasterSlave/Master.c
--- a/examples/TestMasterSlave/Master.c Thu Apr 12 16:17:35 2007 +0200
+++ b/examples/TestMasterSlave/Master.c Thu Apr 12 16:20:22 2007 +0200
@@ -36,15 +36,119 @@
eprintf("TestMaster_SDOtimeoutError %d\n", line);
}
-/*****************************************************************************/
+/********************************************************
+ * ConfigureSlaveNode is responsible to
+ * - setup master RPDO 1 to receive TPDO 1 from id 2
+ * - setup master RPDO 2 to receive TPDO 2 from id 2
+ ********************************************************/
void TestMaster_initialisation()
{
+ UNS32 PDO1_COBID = 0x0182;
+ UNS32 PDO2_COBID = 0x0282;
+ UNS8 size = sizeof(UNS32);
+
eprintf("TestMaster_initialisation\n");
+
+ /*****************************************
+ * Define RPDOs to match slave ID=2 TPDOs*
+ *****************************************/
+ setODentry( &TestMaster_Data, /*CO_Data* d*/
+ 0x1400, /*UNS16 index*/
+ 0x01, /*UNS8 subind*/
+ &PDO1_COBID, /*void * pSourceData,*/
+ &size, /* UNS8 * pExpectedSize*/
+ RW); /* UNS8 checkAccess */
+
+ setODentry( &TestMaster_Data, /*CO_Data* d*/
+ 0x1401, /*UNS16 index*/
+ 0x01, /*UNS8 subind*/
+ &PDO2_COBID, /*void * pSourceData,*/
+ &size, /* UNS8 * pExpectedSize*/
+ RW); /* UNS8 checkAccess */
+}
+
+/********************************************************
+ * ConfigureSlaveNode is responsible to
+ * - setup slave TPDO 1 transmit time
+ * - setup slave TPDO 2 transmit time
+ * - switch to operational mode
+ * - send NMT to slave
+ ********************************************************
+ * This an example of :
+ * Network Dictionary Access (SDO) with Callback
+ * Slave node state change request (NMT)
+ ********************************************************
+ * This is called first by TestMaster_preOperational
+ * then it called again each time a SDO exchange is
+ * finished.
+ ********************************************************/
+static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
+{
+ // Step counts number of times ConfigureSlaveNode is called
+ static step = 1;
+
+ UNS8 Transmission_Type = 0x01;
+ UNS32 abortCode;
+ UNS8 res;
+ eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
+
+ switch(step++){
+ case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
+ eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
+ res = writeNetworkDictCallBack (d, /*CO_Data* d*/
+ *TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
+ 0x1800, /*UNS16 index*/
+ 0x02, /*UNS8 subindex*/
+ 1, /*UNS8 count*/
+ 0, /*UNS8 dataType*/
+ &Transmission_Type,/*void *data*/
+ ConfigureSlaveNode); /*SDOCallback_t Callback*/ break;
+ case 2: /*Second step*/
+ /*check and warn for previous slave OD access error*/
+ if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+ eprintf("Master : Couldn't set slave %2.2x TPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
+
+ /* Finalise last SDO transfer with this node */
+ closeSDOtransfer(&TestMaster_Data,
+ *TestSlave_Data.bDeviceNodeId,
+ SDO_CLIENT);
+
+ /*Setup Slave's TPDO 1 to be transmitted on SYNC*/
+ eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
+ writeNetworkDictCallBack (d, /*CO_Data* d*/
+ *TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
+ 0x1801, /*UNS16 index*/
+ 0x02, /*UNS16 index*/
+ 1, /*UNS8 count*/
+ 0, /*UNS8 dataType*/
+ &Transmission_Type,/*void *data*/
+ ConfigureSlaveNode); /*SDOCallback_t Callback*/
+ break;
+ case 3: /*Last step*/
+ /*check and warn for previous slave OD access error*/
+ if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+ eprintf("Master : Couldn't set slave %2.2x TPDO 2 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
+
+ /* Finalise last SDO transfer with this node */
+ closeSDOtransfer(&TestMaster_Data,
+ *TestSlave_Data.bDeviceNodeId,
+ SDO_CLIENT);
+
+ /* Put the master in operational mode */
+ setState(d, Operational);
+
+ /* Ask slave node to go in operational mode */
+ masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
+ }
+
}
void TestMaster_preOperational()
{
+
eprintf("TestMaster_preOperational\n");
+ ConfigureSlaveNode(&TestMaster_Data, 2);
+
}
void TestMaster_operational()
diff -r 1c1ad874fe8f -r 1b3165f2d17d examples/TestMasterSlave/TestMasterSlave.h
--- a/examples/TestMasterSlave/TestMasterSlave.h Thu Apr 12 16:17:35 2007 +0200
+++ b/examples/TestMasterSlave/TestMasterSlave.h Thu Apr 12 16:20:22 2007 +0200
@@ -20,6 +20,7 @@
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifdef USE_XENO
+//#define eprintf(...) if(0){}
#define eprintf(...)
#else
#define eprintf(...) printf (__VA_ARGS__)
diff -r 1c1ad874fe8f -r 1b3165f2d17d examples/TestMasterSlave/TestSlave.c
--- a/examples/TestMasterSlave/TestSlave.c Thu Apr 12 16:17:35 2007 +0200
+++ b/examples/TestMasterSlave/TestSlave.c Thu Apr 12 16:20:22 2007 +0200
@@ -165,7 +165,7 @@
/* index 0x1800 : Transmit PDO 1 Parameter. */
UNS8 TestSlave_highestSubIndex_obj1800 = 5; /* number of subindex - 1*/
UNS32 TestSlave_obj1800_COB_ID_used_by_PDO = 0x182; /* 386 */
- UNS8 TestSlave_obj1800_Transmission_Type = 0x1; /* 1 */
+ UNS8 TestSlave_obj1800_Transmission_Type = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Inhibit_Time = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1800_Event_Timer = 0x0; /* 0 */
@@ -182,7 +182,7 @@
/* index 0x1801 : Transmit PDO 2 Parameter. */
UNS8 TestSlave_highestSubIndex_obj1801 = 5; /* number of subindex - 1*/
UNS32 TestSlave_obj1801_COB_ID_used_by_PDO = 0x282; /* 642 */
- UNS8 TestSlave_obj1801_Transmission_Type = 0x1; /* 1 */
+ UNS8 TestSlave_obj1801_Transmission_Type = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Inhibit_Time = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Compatibility_Entry = 0x0; /* 0 */
UNS16 TestSlave_obj1801_Event_Timer = 0x0; /* 0 */
diff -r 1c1ad874fe8f -r 1b3165f2d17d examples/TestMasterSlave/TestSlave.od
--- a/examples/TestMasterSlave/TestSlave.od Thu Apr 12 16:17:35 2007 +0200
+++ b/examples/TestMasterSlave/TestSlave.od Thu Apr 12 16:20:22 2007 +0200
@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<!DOCTYPE PyObject SYSTEM "PyObjects.dtd">
-<PyObject module="node" class="Node" id="146839660">
-<attr name="Profile" type="dict" id="146845180" >
+<PyObject module="node" class="Node" id="19120640">
+<attr name="Profile" type="dict" id="19883904" >
</attr>
<attr name="Name" type="string" value="TestSlave" />
-<attr name="Dictionary" type="dict" id="146301924" >
+<attr name="Dictionary" type="dict" id="19884976" >
<entry>
<key type="numeric" value="4096" />
<val type="numeric" value="301" />
@@ -22,14 +22,8 @@
<val type="numeric" value="0" />
</entry>
<entry>
- <key type="numeric" value="6145" />
- <val type="list" id="146840204" >
- <item type="numeric" value="642" />
- <item type="numeric" value="1" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- </val>
+ <key type="numeric" value="8193" />
+ <val type="numeric" value="0" />
</entry>
<entry>
<key type="numeric" value="4101" />
@@ -40,22 +34,22 @@
<val type="numeric" value="0" />
</entry>
<entry>
- <key type="numeric" value="8193" />
- <val type="numeric" value="0" />
- </entry>
- <entry>
- <key type="numeric" value="6144" />
- <val type="list" id="146840492" >
- <item type="numeric" value="386" />
- <item type="numeric" value="1" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- </val>
+ <key type="numeric" value="6145" />
+ <val type="list" id="16937976" >
+ <item type="numeric" value="642" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ </val>
+ </entry>
+ <entry>
+ <key type="numeric" value="4102" />
+ <val type="numeric" value="0" />
</entry>
<entry>
<key type="numeric" value="4112" />
- <val type="list" id="146839916" >
+ <val type="list" id="19124376" >
<item type="numeric" value="0" />
<item type="numeric" value="0" />
<item type="numeric" value="0" />
@@ -64,58 +58,64 @@
</entry>
<entry>
<key type="numeric" value="4113" />
- <val type="list" id="146839788" >
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
+ <val type="list" id="19124304" >
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ </val>
+ </entry>
+ <entry>
+ <key type="numeric" value="6657" />
+ <val type="list" id="16938120" >
+ <item type="numeric" value="537001992" />
+ <item type="numeric" value="537067528" />
+ </val>
+ </entry>
+ <entry>
+ <key type="numeric" value="6656" />
+ <val type="list" id="19119784" >
+ <item type="numeric" value="536870920" />
+ <item type="numeric" value="536936456" />
</val>
</entry>
<entry>
<key type="numeric" value="4608" />
- <val type="list" id="146839884" >
+ <val type="list" id="19124448" >
<item type="numeric" value="1537" />
<item type="numeric" value="1409" />
</val>
</entry>
<entry>
- <key type="numeric" value="6657" />
- <val type="list" id="146839692" >
- <item type="numeric" value="537001992" />
- <item type="numeric" value="537067528" />
- </val>
- </entry>
- <entry>
- <key type="numeric" value="6656" />
- <val type="list" id="146840428" >
- <item type="numeric" value="536870920" />
- <item type="numeric" value="536936456" />
- </val>
- </entry>
- <entry>
<key type="numeric" value="4119" />
<val type="numeric" value="1000" />
</entry>
<entry>
<key type="numeric" value="4120" />
- <val type="list" id="146839980" >
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- <item type="numeric" value="0" />
- </val>
- </entry>
- <entry>
- <key type="numeric" value="4102" />
- <val type="numeric" value="0" />
- </entry>
-</attr>
-<attr name="SpecificMenu" type="list" id="146275244" >
-</attr>
-<attr name="ParamsDictionary" type="dict" id="146844772" >
+ <val type="list" id="19119568" >
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ </val>
+ </entry>
+ <entry>
+ <key type="numeric" value="6144" />
+ <val type="list" id="19118776" >
+ <item type="numeric" value="386" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ <item type="numeric" value="0" />
+ </val>
+ </entry>
+</attr>
+<attr name="SpecificMenu" type="list" id="19118704" >
+</attr>
+<attr name="ParamsDictionary" type="dict" id="19886496" >
<entry>
<key type="numeric" value="8192" />
- <val type="dict" id="146846148" >
+ <val type="dict" id="19886784" >
<entry>
<key type="string" value="callback" />
<val type="False" value="" />
@@ -124,7 +124,7 @@
</entry>
<entry>
<key type="numeric" value="4112" />
- <val type="dict" id="146857740" >
+ <val type="dict" id="19884192" >
<entry>
<key type="string" value="callback" />
<val type="True" value="" />
@@ -133,7 +133,7 @@
</entry>
<entry>
<key type="numeric" value="4113" />
- <val type="dict" id="147802964" >
+ <val type="dict" id="19884480" >
<entry>
<key type="string" value="callback" />
<val type="True" value="" />
@@ -141,18 +141,18 @@
</val>
</entry>
</attr>
-<attr name="UserMapping" type="dict" id="146845876" >
+<attr name="UserMapping" type="dict" id="19890160" >
<entry>
<key type="numeric" value="8192" />
- <val type="dict" id="146844636" >
+ <val type="dict" id="19890448" >
<entry>
<key type="string" value="need" />
<val type="False" value="" />
</entry>
<entry>
<key type="string" value="values" />
- <val type="list" id="146840396" >
- <item type="dict" id="146846420" >
+ <val type="list" id="19119856" >
+ <item type="dict" id="19890736" >
<entry>
<key type="string" value="access" />
<val type="string" value="rw" />
@@ -184,15 +184,15 @@
</entry>
<entry>
<key type="numeric" value="8193" />
- <val type="dict" id="146845316" >
+ <val type="dict" id="19891024" >
<entry>
<key type="string" value="need" />
<val type="False" value="" />
</entry>
<entry>
<key type="string" value="values" />
- <val type="list" id="146840268" >
- <item type="dict" id="146846692" >
+ <val type="list" id="19124664" >
+ <item type="dict" id="19891312" >
<entry>
<key type="string" value="access" />
<val type="string" value="rw" />
@@ -224,15 +224,15 @@
</entry>
<entry>
<key type="numeric" value="8194" />
- <val type="dict" id="146845740" >
+ <val type="dict" id="19891600" >
<entry>
<key type="string" value="need" />
<val type="False" value="" />
</entry>
<entry>
<key type="string" value="values" />
- <val type="list" id="146840908" >
- <item type="dict" id="146846964" >
+ <val type="list" id="19120072" >
+ <item type="dict" id="19891888" >
<entry>
<key type="string" value="access" />
<val type="string" value="rw" />
@@ -264,15 +264,15 @@
</entry>
<entry>
<key type="numeric" value="8195" />
- <val type="dict" id="146845044" >
+ <val type="dict" id="19892224" >
<entry>
<key type="string" value="need" />
<val type="False" value="" />
</entry>
<entry>
<key type="string" value="values" />
- <val type="list" id="146840108" >
- <item type="dict" id="146847236" >
+ <val type="list" id="19124592" >
+ <item type="dict" id="19892512" >
<entry>
<key type="string" value="access" />
<val type="string" value="rw" />
@@ -303,7 +303,7 @@
</val>
</entry>
</attr>
-<attr name="DS302" type="dict" id="146846012" >
+<attr name="DS302" type="dict" id="19893632" >
</attr>
<attr name="ProfileName" type="string" value="DS-301" />
<attr name="Type" type="string" value="slave" />
diff -r 1c1ad874fe8f -r 1b3165f2d17d src/sdo.c
--- a/src/sdo.c Thu Apr 12 16:17:35 2007 +0200
+++ b/src/sdo.c Thu Apr 12 16:20:22 2007 +0200
@@ -978,7 +978,7 @@
failedSDO(d, nodeId, whoami, 0, 0, SDOABT_LOCAL_CTRL_ERROR);
return 0xFF;
}
- /* Reset the wathdog */
+ /* Reset the watchdog */
RestartSDO_TIMER(line)
index = d->transfers[line].index;
subIndex = d->transfers[line].subIndex;
@@ -1154,7 +1154,9 @@
sdo.body.data[1] = index & 0xFF; /* LSB */
sdo.body.data[2] = (index >> 8) & 0xFF; /* MSB */
sdo.body.data[3] = subIndex;
-
+
+ d->transfers[line].Callback = Callback;
+
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AD1, "SDO. Error while sending SDO to node : ", nodeId);
@@ -1162,7 +1164,8 @@
resetSDOline(d, line);
return 0xFF;
}
- d->transfers[line].Callback = Callback;
+
+
return 0;
}
@@ -1255,6 +1258,7 @@
sdo.body.data[3] = subIndex;
for (i = 4 ; i < 8 ; i++)
sdo.body.data[i] = 0;
+ d->transfers[line].Callback = Callback;
err = sendSDO(d, SDO_CLIENT, sdo);
if (err) {
MSG_ERR(0x1AE5, "SDO. Error while sending SDO to node : ", nodeId);
@@ -1262,7 +1266,6 @@
resetSDOline(d, line);
return 0xFF;
}
- d->transfers[line].Callback = Callback;
return 0;
}