--- a/examples/TestMasterSlave/Master.c Wed Sep 16 15:19:14 2009 +0200
+++ b/examples/TestMasterSlave/Master.c Wed Sep 16 15:19:58 2009 +0200
@@ -106,7 +106,6 @@
* for slave node-id 0x02 by DCF concise */
UNS8 Transmission_Type = 0x01;
- UNS32 abortCode;
UNS8 res;
eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
@@ -205,66 +204,15 @@
void TestMaster_post_TPDO(CO_Data* d)
{
eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
-//
-// {
-// char zero = 0;
-// if(MasterMap4 > 0x80){
-// writeNetworkDict (
-// &TestMaster_Data,
-// TestSlave_Data->bDeviceNodeId,
-// 0x2002,
-// 0x00,
-// 1,
-// 0,
-// &zero);
-// }
-// }
-
-#if 0
- if(waiting_answer){
- UNS32 abortCode;
- UNS8 size = 1;
- switch(getReadResultNetworkDict (
- &TestMaster_Data,
- 0x02,
- &query_result,
- &size,
- &abortCode))
- {
- case SDO_FINISHED:
- /* Do something with result here !!*/
- eprintf("Got SDO answer (0x2002, 0x00), %d %d\n",query_result,size);
- case SDO_ABORTED_RCV:
- case SDO_ABORTED_INTERNAL:
- case SDO_RESET:
- waiting_answer = 0;
- closeSDOtransfer(
- &TestMaster_Data,
- 0x02,
- SDO_CLIENT);
- break;
- case SDO_DOWNLOAD_IN_PROGRESS:
- case SDO_UPLOAD_IN_PROGRESS:
- break;
- }
- }else if(MasterSyncCount % 10 == 0){
- readNetworkDict (
- &TestMaster_Data,
- 0x02,
- 0x2002,
- 0x00,
- 0);
- waiting_answer = 1;
- }
-#endif
if(MasterSyncCount % 17 == 0){
eprintf("Master : Ask RTR PDO (0x1402)\n");
sendPDOrequest(&TestMaster_Data, 0x1402 );
sendPDOrequest(&TestMaster_Data, 0x1403 );
}
if(MasterSyncCount % 50 == 0){
+ UNS8 transmitiontype;
eprintf("Master : Change slave's transmit type to 0xFF\n");
- UNS8 transmitiontype = 0xFF;
+ transmitiontype = 0xFF;
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
2, /*UNS8 nodeId*/
0x1802, /*UNS16 index*/
@@ -275,8 +223,8 @@
CheckSDO); /*SDOCallback_t Callback*/
}
if(MasterSyncCount % 50 == 25){
+ UNS8 transmitiontype = 0x00;
eprintf("Master : Change slave's transmit type to 0x00\n");
- UNS8 transmitiontype = 0x00;
writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
2, /*UNS8 nodeId*/
0x1802, /*UNS16 index*/