2 Copyright (C): Giuseppe Massimo BERTANI
3 gmbertani@users.sourceforge.net
6 See COPYING file for copyrights details.
8 This library is free software; you can redistribute it and/or
9 modify it under the terms of the GNU Lesser General Public
10 License as published by the Free Software Foundation; either
11 version 2.1 of the License, or (at your option) any later version.
13 This library is distributed in the hope that it will be useful,
14 but WITHOUT ANY WARRANTY; without even the implied warranty of
15 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
16 Lesser General Public License for more details.
18 You should have received a copy of the GNU Lesser General Public
19 License along with this library; if not, write to the Free Software
20 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
28 * This file is part of SillySlave demo for CANfestival
29 * open source CANopen stack.
32 #include "SillySlave.h"
37 static UNS8 slaveNode = 0;
39 void InitNode(CO_Data* d, UNS32 id)
41 /* Defining the node Id */
42 setNodeId(&SillySlave_Data, slaveNode);
44 setState(&SillySlave_Data, Initialisation);
47 INTEGER8 InitCANdevice( UNS8 bus, UNS32 baudrate, UNS8 node )
53 sprintf(busName, "%u", bus);
54 sprintf(baudRate, "%u", baudrate);
55 board.busname = busName;
56 board.baudrate = baudRate;
60 SillySlave_Data.heartbeatError = SillySlave_heartbeatError;
61 SillySlave_Data.initialisation = SillySlave_initialisation;
62 SillySlave_Data.preOperational = SillySlave_preOperational;
63 SillySlave_Data.operational = SillySlave_operational;
64 SillySlave_Data.stopped = SillySlave_stopped;
65 SillySlave_Data.post_sync = SillySlave_post_sync;
66 SillySlave_Data.post_TPDO = SillySlave_post_TPDO;
67 SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex;
68 SillySlave_Data.post_emcy = SillySlave_post_emcy;
70 if(!canOpen(&board, &SillySlave_Data))
72 printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate);
77 printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n");
79 /* Start timer thread */
80 StartTimerLoop(&InitNode);
84 printf("\nFinishing.\n");
87 setState(&SillySlave_Data, Stopped);
89 /* Stop timer thread */
94 void SillySlave_heartbeatError(CO_Data* d, UNS8 heartbeatID)
96 printf("SillySlave_heartbeatError %d\n", heartbeatID);
99 void SillySlave_initialisation(CO_Data* d )
101 UNS32 PDO1_COBID = 0x0180 + NODE_MASTER;
102 UNS8 size = sizeof(PDO1_COBID);
104 printf("SillySlave_initialisation\n");
106 /* sets TXPDO1 COB-ID to match master node ID */
108 &SillySlave_Data, /*CO_Data* d*/
109 0x1800, /*UNS16 index*/
110 0x01, /*UNS8 subind*/
111 &PDO1_COBID, /*void * pSourceData,*/
112 &size, /* UNS8 * pExpectedSize*/
113 RW); /* UNS8 checkAccess */
115 /* value sent to master at each SYNC received */
119 void SillySlave_preOperational(CO_Data* d)
121 printf("SillySlave_preOperational\n");
124 void SillySlave_operational(CO_Data* d)
126 printf("SillySlave_operational\n");
129 void SillySlave_stopped(CO_Data* d)
131 printf("SillySlave_stopped\n");
134 void SillySlave_post_sync(CO_Data* d)
136 printf("SillySlave_post_sync: \n");
140 void SillySlave_post_TPDO(CO_Data* d)
142 printf("SillySlave_post_TPDO: \n");
143 printf("LifeSignal = %u\n", LifeSignal);
146 void SillySlave_storeODSubIndex(CO_Data* d, UNS16 wIndex, UNS8 bSubindex)
149 * - call getODEntry for index and subindex,
150 * - save content to file, database, flash, nvram, ...
152 * To ease flash organisation, index of variable to store
153 * can be established by scanning d->objdict[d->ObjdictSize]
154 * for variables to store.
157 printf("SillySlave_storeODSubIndex : %4.4x %2.2xh\n", wIndex, bSubindex);
160 void SillySlave_post_emcy(CO_Data* d, UNS8 nodeID, UNS16 errCode, UNS8 errReg)
162 printf("Slave received EMCY message. Node: %2.2xh ErrorCode: %4.4x ErrorRegister: %2.2xh\n", nodeID, errCode, errReg);