Implemented EMCY objects.

[CanFestival-3.git] / examples / TestMasterSlave / Master.c

diff --git a/examples/TestMasterSlave/Master.c b/examples/TestMasterSlave/Master.c
index a03a9cbbe9afc1d7e71c6440b4ccc3d4e4ba3a9d..dac02b6362a045be946fe2d12c9704e49c0d0847 100644 (file)
--- a/examples/TestMasterSlave/Master.c
+++ b/examples/TestMasterSlave/Master.c
@@ -180,10 +180,14 @@ void TestMaster_post_sync()
                MasterMap13);
 }
 
+void TestMaster_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg)
+{
+       eprintf("Master received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
+}
+
 char query_result = 0;
 char waiting_answer = 0;
 
-
 static void CheckSDO(CO_Data* d, UNS8 nodeId)
 {
        UNS32 abortCode;