Implemented EMCY objects.

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

diff --git a/examples/TestMasterSlave/Slave.c b/examples/TestMasterSlave/Slave.c
index 88b25bd8825624f278c652c52f93b1f4c71e3bc2..cec97a144f9c5f8d426f8a60f8eeba5894d27555 100644 (file)
--- a/examples/TestMasterSlave/Slave.c
+++ b/examples/TestMasterSlave/Slave.c
@@ -86,6 +86,13 @@ void TestSlave_post_TPDO()
 {
         SlaveMap13 += 1;
        eprintf("TestSlave_post_TPDO\n");
+       
+       /* send an error and recover inmediately every 12 cycles */
+       if(SlaveMap13 % 12 == 0)
+       {
+               EMCY_setError(&TestSlave_Data, 0x4200, 0x08);
+               EMCY_errorRecovered(&TestSlave_Data, 0x4200);
+       }
 }
 
 void TestSlave_storeODSubIndex(UNS16 wIndex, UNS8 bSubindex)
@@ -101,3 +108,8 @@ void TestSlave_storeODSubIndex(UNS16 wIndex, UNS8 bSubindex)
         * */
        eprintf("TestSlave_storeODSubIndex : %4.4x %2.2x\n", wIndex,  bSubindex);
 }
+
+void TestSlave_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg)
+{
+       eprintf("Slave received EMCY message. Node: %2.2x  ErrorCode: %4.4x  ErrorRegister: %2.2x\n", nodeID, errCode, errReg);
+}