#else
#include <stdio.h>
#include <string.h>
-//#include <sys/time.h>
-//#include <unistd.h>
+#include <unistd.h>
#include <stdlib.h>
#include <signal.h>
#endif
-#include <applicfg.h>
-#include <can_driver.h>
-#include <timers_driver.h>
+#include "canfestival.h"
+//#include <can_driver.h>
+//#include <timers_driver.h>
#include "Master.h"
#include "Slave.h"
#include "TestMasterSlave.h"
-#define MyCase(fc) case fc: eprintf(#fc);break;
-void print_message(Message *m)
-{
- int i;
- switch(m->cob_id.w >> 7)
- {
- MyCase(SYNC)
- MyCase(TIME_STAMP)
- MyCase(PDO1tx)
- MyCase(PDO1rx)
- MyCase(PDO2tx)
- MyCase(PDO2rx)
- MyCase(PDO3tx)
- MyCase(PDO3rx)
- MyCase(PDO4tx)
- MyCase(PDO4rx)
- MyCase(SDOtx)
- MyCase(SDOrx)
- MyCase(NODE_GUARD)
- MyCase(NMT)
- }
- eprintf(" rtr:%d", m->rtr);
- eprintf(" len:%d", m->len);
- for (i = 0 ; i < m->len ; i++)
- eprintf(" %02x", m->data[i]);
- eprintf("\n");
-}
-
UNS32 OnMasterMap1Update(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
{
eprintf("OnSlaveMap1Update:%d\n", SlaveMap1);
return 0;
}
-CAN_PORT SlaveCanHandle;
-CAN_PORT MasterCanHandle;
-
-s_BOARD SlaveBoard = {"0", "500K"};
-s_BOARD MasterBoard = {"1", "500K"};
+s_BOARD SlaveBoard = {"0", "125K"};
+s_BOARD MasterBoard = {"1", "125K"};
#if !defined(WIN32) || defined(__CYGWIN__)
void catch_signal(int sig)
}
#endif
-void help()
+void help(void)
{
printf("**************************************************************\n");
printf("* TestMasterSlave *\n");
printf("* A simple example for PC. It does implement 2 CanOpen *\n");
printf("* nodes in the same process. A master and a slave. Both *\n");
printf("* communicate together, exchanging periodically NMT, SYNC, *\n");
- printf("* SDO and PDO. *\n");
+ printf("* SDO and PDO. Master configure heartbeat producer time *\n");
+ printf("* at 1000 ms for slave node-id 0x02 by concise DCF. *\n");
printf("* *\n");
printf("* Usage: *\n");
printf("* ./TestMasterSlave [OPTIONS] *\n");
void InitNodes(CO_Data* d, UNS32 id)
{
/****************************** INITIALISATION SLAVE *******************************/
- if(SlaveBoard.baudrate) {
- /* Defining the node Id */
+ if(strcmp(SlaveBoard.baudrate, "none")) {
setNodeId(&TestSlave_Data, 0x02);
+
/* init */
setState(&TestSlave_Data, Initialisation);
}
/****************************** INITIALISATION MASTER *******************************/
- if(MasterBoard.baudrate){
+ if(strcmp(MasterBoard.baudrate, "none")){
RegisterSetODentryCallBack(&TestMaster_Data, 0x2000, 0, &OnMasterMap1Update);
-
+
/* Defining the node Id */
setNodeId(&TestMaster_Data, 0x01);
/* init */
setState(&TestMaster_Data, Initialisation);
-
- /****************************** START *******************************/
- /* Put the master in operational mode */
- setState(&TestMaster_Data, Operational);
-
- /* Ask slave node to go in operational mode */
- masterSendNMTstateChange (&TestMaster_Data, 0x02, NMT_Start_Node);
+
}
}
+/*************************** EXIT *****************************************/
+void Exit(CO_Data* d, UNS32 id)
+{
+ masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
+
+ //Stop master
+ setState(&TestMaster_Data, Stopped);
+}
+
/****************************************************************************/
/*************************** MAIN *****************************************/
/****************************************************************************/
int main(int argc,char **argv)
{
- char c;
+ int c;
extern char *optarg;
- char* LibraryPath="libcanfestival_can_virtual.so";
+ char* LibraryPath="../../drivers/can_virtual/libcanfestival_can_virtual.so";
while ((c = getopt(argc, argv, "-m:s:M:S:l:")) != EOF)
{
/* install signal handler for manual break */
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
+ TimerInit();
#endif
#ifndef NOT_USE_DYNAMIC_LOADING
- LoadCanDriver(LibraryPath);
+ if (LoadCanDriver(LibraryPath) == NULL)
+ printf("Unable to load library: %s\n",LibraryPath);
#endif
// Open CAN devices
- if(SlaveBoard.baudrate){
- SlaveCanHandle = canOpen(&SlaveBoard,&TestSlave_Data);
- if(SlaveCanHandle == NULL){
+
+ if(strcmp(SlaveBoard.baudrate, "none")){
+
+ TestSlave_Data.heartbeatError = TestSlave_heartbeatError;
+ TestSlave_Data.initialisation = TestSlave_initialisation;
+ TestSlave_Data.preOperational = TestSlave_preOperational;
+ TestSlave_Data.operational = TestSlave_operational;
+ TestSlave_Data.stopped = TestSlave_stopped;
+ TestSlave_Data.post_sync = TestSlave_post_sync;
+ TestSlave_Data.post_TPDO = TestSlave_post_TPDO;
+ TestSlave_Data.storeODSubIndex = TestSlave_storeODSubIndex;
+ TestSlave_Data.post_emcy = TestSlave_post_emcy;
+
+ if(!canOpen(&SlaveBoard,&TestSlave_Data)){
eprintf("Cannot open Slave Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
goto fail_slave;
}
}
-
- if(MasterBoard.baudrate){
- MasterCanHandle = canOpen(&MasterBoard,&TestMaster_Data);
- if(MasterCanHandle == NULL){
- eprintf("Cannot open Master Board (%s,%s)\n",SlaveBoard.busname, SlaveBoard.baudrate);
+ if(strcmp(MasterBoard.baudrate, "none")){
+
+ TestMaster_Data.heartbeatError = TestMaster_heartbeatError;
+ TestMaster_Data.initialisation = TestMaster_initialisation;
+ TestMaster_Data.preOperational = TestMaster_preOperational;
+ TestMaster_Data.operational = TestMaster_operational;
+ TestMaster_Data.stopped = TestMaster_stopped;
+ TestMaster_Data.post_sync = TestMaster_post_sync;
+ TestMaster_Data.post_TPDO = TestMaster_post_TPDO;
+ TestMaster_Data.post_emcy = TestMaster_post_emcy;
+ TestMaster_Data.post_SlaveBootup=TestMaster_post_SlaveBootup;
+
+ if(!canOpen(&MasterBoard,&TestMaster_Data)){
+ eprintf("Cannot open Master Board (%s,%s)\n",MasterBoard.busname, MasterBoard.baudrate);
goto fail_master;
}
}
-
+
// Start timer thread
StartTimerLoop(&InitNodes);
// wait Ctrl-C
pause();
- eprintf("Finishing.\n");
-
+
// Stop timer thread
- StopTimerLoop();
+ StopTimerLoop(&Exit);
// Close CAN devices (and can threads)
- if(SlaveBoard.baudrate) canClose(SlaveCanHandle);
+ if(strcmp(MasterBoard.baudrate, "none")) canClose(&TestMaster_Data);
fail_master:
- if(MasterBoard.baudrate) canClose(MasterCanHandle);
+ if(strcmp(SlaveBoard.baudrate, "none")) canClose(&TestSlave_Data);
fail_slave:
-
-
- return 0;
+ TimerCleanup();
+ return 0;
}
projects / CanFestival-3.git / blobdiff