--- a/examples/gene_SYNC_HCS12/appli.c Tue Dec 19 16:30:57 2006 +0100
+++ b/examples/gene_SYNC_HCS12/appli.c Tue Dec 19 16:45:39 2006 +0100
@@ -49,18 +49,10 @@
#include "../include/sync.h"
#include "../include/nmtSlave.h"
+
+// File created by the GUI
#include "objdict.h"
-// Variables defined in the object dictionary (See objdict.c)
-extern UNS16 acceptanceFilter1; // Mapped at index 0x2015, subindex 0x00
-extern UNS16 acceptanceFilter2; // Mapped at index 0x2016, subindex 0x00
-extern UNS16 acceptanceFilter3; // Mapped at index 0x2017, subindex 0x00
-extern UNS16 acceptanceFilter4; // Mapped at index 0x2018, subindex 0x00
-extern UNS16 mask1; // Mapped at index 0x2019, subindex 0x00
-extern UNS16 mask2; // Mapped at index 0x2020, subindex 0x00
-extern UNS16 mask3; // Mapped at index 0x2021, subindex 0x00
-extern UNS16 mask4; // Mapped at index 0x2022, subindex 0x00
-extern UNS8 applyDownloadedFilters;
@@ -151,15 +143,6 @@
void initPortB(void);
void initPortH(void);
-// Functions needed by Canfestival
-// Notice that gene_SYNC is the name of the sensor defined in python GUI.
-// Do not change it !.
-void gene_SYNC_initialisation(void);
-void gene_SYNC_preOperational(void);
-void gene_SYNC_operational(void);
-void gene_SYNC_stopped(void);
-void gene_SYNC_post_sync(void);
-
//------------------------------------------------------------------------------
//Initialisation of the port B for the leds.
@@ -288,7 +271,17 @@
//------------------------------------------------------------------------------
void gene_SYNC_SDOtimeoutError (UNS8 line)
{
+ // This function was implemented for the Client's use (client = the one which initiate the dialog),
+ // but we can use it also for the server.
+ // Note : if for an other reason than a timeout, a SDO to read or write
+ // faile, we do not have implemented a warning function at the server side.
+ // Of course, there is one on the client side.
+
MSG_ERR(0x1F01, "SDO timeout for line : ", line);
+ // See the transfer structure in sdo.h to know what informations
+ // you can retreive.
+ MSG_ERR(0x1F02, " to access index ", gene_SYNC_Data.transfers[line].index);
+ MSG_ERR(0x1F03, " subIndex ", gene_SYNC_Data.transfers[line].subIndex);
}
//------------------------------------------------------------------------------
--- a/examples/gene_SYNC_HCS12/objdict.h Tue Dec 19 16:30:57 2006 +0100
+++ b/examples/gene_SYNC_HCS12/objdict.h Tue Dec 19 16:45:39 2006 +0100
@@ -30,13 +30,13 @@
UNS8 gene_SYNC_canSend(Message *);
-void gene_SYNC_initialisation();
-void gene_SYNC_preOperational();
-void gene_SYNC_operational();
-void gene_SYNC_stopped();
+void gene_SYNC_initialisation(void);
+void gene_SYNC_preOperational(void);
+void gene_SYNC_operational(void);
+void gene_SYNC_stopped(void);
-void gene_SYNC_post_sync();
-void gene_SYNC_post_TPDO();
+void gene_SYNC_post_sync(void);
+void gene_SYNC_post_TPDO(void);
// Master node data struct
extern CO_Data gene_SYNC_Data;
--- a/examples/gene_SYNC_HCS12/readme.txt Tue Dec 19 16:30:57 2006 +0100
+++ b/examples/gene_SYNC_HCS12/readme.txt Tue Dec 19 16:45:39 2006 +0100
@@ -51,12 +51,38 @@
To change the period of SYNC,
+-----------------------------
In pre-operational mode, send the SDO message cobid | .... (all in hexa):
0x603 | 23 06 10 00 40 42 0F 00
to have a SYNC generated every 1 second. The change is instantaneous.
(Assume that the nodeId is 3).
+To read the name of the node
+----------------------------
+(Assume that the nodeId is 3).
+You must use the segmented SDO protocole to make an upload from index
+0x1008 subindex 0x00
+
+c : client
+s : server (geneSync)
+
+Here is the dialog you must obtain.
+c: 0x603 | 40 08 10 00 00 00 00 00
+s: 0x583 | 41 08 10 00 0A 00 00 00
+c: 0x603 | 60 00 00 00 00 00 00 00
+s: 0x583 | 00 47 45 4E 45 5F 53 59
+c: 0x603 | 70 00 00 00 00 00 00 00
+s: 0x583 | 19 4E 43 00 00 00 00 00
+
+In the server's frames, you should read GENE_SYNC. (yes ...)
+
+If in the exchange you are not responding too faster (less than 3
+seconds. See in config.h #define SDO_TIMEOUT_MS),
+the nodes send a SDO abort :
+0x583 | 08 08 10 00 00 00 04 05
+
+
@@ -65,3 +91,5 @@
+
+