Master configure slave's heartbeat producer time by concise DCF.

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

diff --git a/examples/TestMasterSlave/Master.c b/examples/TestMasterSlave/Master.c
index f8483818e191b368c4d05a84b2fc2a80549d0dab..fc5af894e0d9e3aea29dd8d7804509a8eb5945e5 100644 (file)
--- a/examples/TestMasterSlave/Master.c
+++ b/examples/TestMasterSlave/Master.c
@@ -40,7 +40,7 @@ void TestMaster_initialisation()
        UNS32 PDO1_COBID = 0x0182; 
        UNS32 PDO2_COBID = 0x0282;
        UNS8 size = sizeof(UNS32); 
-
+       
        eprintf("TestMaster_initialisation\n");
 
        /*****************************************
@@ -61,6 +61,25 @@ void TestMaster_initialisation()
                        RW);  /* UNS8 checkAccess */
 }
 
+// Step counts number of times ConfigureSlaveNode is called
+static init_step = 0;
+
+/*Froward declaration*/
+static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
+
+/**/
+static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
+{
+       UNS32 abortCode;        
+       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+               eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode);
+
+       /* Finalise last SDO transfer with this node */
+       closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
+
+       ConfigureSlaveNode(d, nodeId);
+}
+
 /********************************************************
  * ConfigureSlaveNode is responsible to
  *  - setup slave TPDO 1 transmit time
@@ -76,72 +95,59 @@ void TestMaster_initialisation()
  * then it called again each time a SDO exchange is
  * finished.
  ********************************************************/
+ 
 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
 {
-       // Step counts number of times ConfigureSlaveNode is called
-       static step = 1;
-       
-       UNS8 Transmission_Type = 0x01; 
+       /* Master configure heartbeat producer time at 1000 ms 
+        * for slave node-id 0x02 by DCF concise */
+        
+       UNS8 Transmission_Type = 0x01;
        UNS32 abortCode;
        UNS8 res;
        eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
 
-       switch(step++){
+       switch(++init_step){
                case 1: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
                        eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
                        res = writeNetworkDictCallBack (d, /*CO_Data* d*/
-                                       *TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
+                                       nodeId, /*UNS8 nodeId*/
                                        0x1800, /*UNS16 index*/
                                        0x02, /*UNS8 subindex*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &Transmission_Type,/*void *data*/
-                                       ConfigureSlaveNode); /*SDOCallback_t Callback*/                 break;
+                                       CheckSDOAndContinue); /*SDOCallback_t Callback*/
+                                       break;
+               
                case 2: /*Second step*/
-                       /*check and warn for previous slave OD access error*/
-                       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-                               eprintf("Master : Couldn't set slave %2.2x TPDO 1 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
-
-                       /* Finalise last SDO transfer with this node */
-                       closeSDOtransfer(&TestMaster_Data,
-                                       *TestSlave_Data.bDeviceNodeId,
-                                       SDO_CLIENT);
-                                       
-                       /*Setup Slave's TPDO 1 to be transmitted on SYNC*/
                        eprintf("Master : set slave %2.2x TPDO 2 transmit type\n", nodeId);
                        writeNetworkDictCallBack (d, /*CO_Data* d*/
-                                       *TestSlave_Data.bDeviceNodeId, /*UNS8 nodeId*/
+                                       nodeId, /*UNS8 nodeId*/
                                        0x1801, /*UNS16 index*/
                                        0x02, /*UNS16 index*/
                                        1, /*UNS8 count*/
                                        0, /*UNS8 dataType*/
                                        &Transmission_Type,/*void *data*/
-                                       ConfigureSlaveNode); /*SDOCallback_t Callback*/
-                       break;
-               case 3: /*Last step*/
-                       /*check and warn for previous slave OD access error*/
-                       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
-                               eprintf("Master : Couldn't set slave %2.2x TPDO 2 transmit type. AbortCode :%4.4x \n", nodeId, abortCode);
-
-                       /* Finalise last SDO transfer with this node */
-                       closeSDOtransfer(&TestMaster_Data,
-                                       *TestSlave_Data.bDeviceNodeId,
-                                       SDO_CLIENT);
-
+                                       CheckSDOAndContinue); /*SDOCallback_t Callback*/
+                                       break;
+               case 3: 
+               
+               /****************************** START *******************************/
+               
                        /* Put the master in operational mode */
                        setState(d, Operational);
-                         
+                
                        /* Ask slave node to go in operational mode */
                        masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
-       }
                        
+       }
 }
 
 void TestMaster_preOperational()
 {
 
        eprintf("TestMaster_preOperational\n");
-       ConfigureSlaveNode(&TestMaster_Data, 2);
+       ConfigureSlaveNode(&TestMaster_Data, 0x02);
        
 }
 
@@ -167,7 +173,7 @@ char waiting_answer = 0;
 void TestMaster_post_TPDO()
 {
        eprintf("TestMaster_post_TPDO\n");
-
+//
 //     {
 //             char zero = 0;
 //             if(MasterMap4 > 0x80){
@@ -217,5 +223,4 @@ void TestMaster_post_TPDO()
                        0);
                waiting_answer = 1;
        }
-               
 }