*** empty log message ***

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

diff --git a/examples/TestMasterSlave/Master.c b/examples/TestMasterSlave/Master.c
index 2142a1a449173dd9b0b0f99b8f898f1be1ac336e..6967a622bee2e8514b7c65814b4285143a1b875f 100644 (file)
--- a/examples/TestMasterSlave/Master.c
+++ b/examples/TestMasterSlave/Master.c
@@ -24,8 +24,9 @@ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 #include "Slave.h"
 #include "TestMasterSlave.h"
 
+extern s_BOARD MasterBoard;
 /*****************************************************************************/
-void TestMaster_heartbeatError(UNS8 heartbeatID)
+void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID)
 {
        eprintf("TestMaster_heartbeatError %d\n", heartbeatID);
 }
@@ -35,11 +36,13 @@ void TestMaster_heartbeatError(UNS8 heartbeatID)
  *  - setup master RPDO 1 to receive TPDO 1 from id 2
  *  - setup master RPDO 2 to receive TPDO 2 from id 2
  ********************************************************/
-void TestMaster_initialisation()
+void TestMaster_initialisation(CO_Data* d)
 {
        UNS32 PDO1_COBID = 0x0182; 
        UNS32 PDO2_COBID = 0x0282;
        UNS8 size = sizeof(UNS32); 
+       UNS32 SINC_cicle=0;
+       UNS8 data_type = 0;
        
        eprintf("TestMaster_initialisation\n");
 
@@ -59,10 +62,11 @@ void TestMaster_initialisation()
                        &PDO2_COBID, /*void * pSourceData,*/ 
                        &size, /* UNS8 * pExpectedSize*/
                        RW);  /* UNS8 checkAccess */
+                                       
 }
 
 // Step counts number of times ConfigureSlaveNode is called
-static init_step = 0;
+static int init_step = 0;
 
 /*Froward declaration*/
 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
@@ -82,8 +86,8 @@ static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
 
 /********************************************************
  * ConfigureSlaveNode is responsible to
- *  - setup slave TPDO 1 transmit time
- *  - setup slave TPDO 2 transmit time
+ *  - setup slave TPDO 1 transmit type
+ *  - setup slave TPDO 2 transmit type
  *  - switch to operational mode
  *  - send NMT to slave
  ********************************************************
@@ -91,7 +95,7 @@ static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
  * Network Dictionary Access (SDO) with Callback 
  * Slave node state change request (NMT) 
  ********************************************************
- * This is called first by TestMaster_preOperational
+ * This is called first by TestMaster_post_SlaveBootup
  * then it called again each time a SDO exchange is
  * finished.
  ********************************************************/
@@ -143,36 +147,64 @@ static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
        }
 }
 
-void TestMaster_preOperational()
-{
 
+void TestMaster_preOperational(CO_Data* d)
+{
        eprintf("TestMaster_preOperational\n");
-       ConfigureSlaveNode(&TestMaster_Data, 0x02);
-       
 }
 
-void TestMaster_operational()
+void TestMaster_operational(CO_Data* d)
 {
        eprintf("TestMaster_operational\n");
 }
 
-void TestMaster_stopped()
+void TestMaster_stopped(CO_Data* d)
 {
        eprintf("TestMaster_stopped\n");
 }
 
-void TestMaster_post_sync()
+void TestMaster_post_sync(CO_Data* d)
 {
        eprintf("TestMaster_post_sync\n");
-       eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x\n",MasterMap1,MasterMap2 ,MasterMap3, MasterMap4,MasterMap5,MasterMap6,MasterMap7,MasterMap8,MasterMap9,MasterMap10,MasterMap11);
+       eprintf("Master: %d %d %d %d %d %d %d %d %d %x %x %d %d\n",
+               MasterMap1,
+               MasterMap2,
+               MasterMap3, 
+               MasterMap4,
+               MasterMap5,
+               MasterMap6,
+               MasterMap7,
+               MasterMap8,
+               MasterMap9,
+               MasterMap10,
+               MasterMap11,
+               MasterMap12,
+               MasterMap13);
+}
+
+void TestMaster_post_emcy(CO_Data* d, 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;
 
-void TestMaster_post_TPDO()
+static void CheckSDO(CO_Data* d, UNS8 nodeId)
+{
+       UNS32 abortCode;        
+       if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
+               eprintf("Master : Failed in changing Slave's transmit type AbortCode :%4.4x \n", abortCode);
+
+       /* Finalise last SDO transfer with this node */
+       closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT);
+}
+
+
+static int MasterSyncCount = 0;
+void TestMaster_post_TPDO(CO_Data* d)
 {
-       eprintf("TestMaster_post_TPDO\n");
+       eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
 //
 //     {
 //             char zero = 0;
@@ -188,9 +220,10 @@ void TestMaster_post_TPDO()
 //             }
 //     }
 
+#if 0
        if(waiting_answer){
                UNS32 abortCode;                        
-               UNS8 size;                      
+               UNS8 size = 1;                  
                switch(getReadResultNetworkDict (
                        &TestMaster_Data, 
                        0x02,
@@ -214,7 +247,7 @@ void TestMaster_post_TPDO()
                        case SDO_UPLOAD_IN_PROGRESS:
                        break;
                }
-       }else if(MasterMap1 % 10 == 0){
+       }else if(MasterSyncCount % 10 == 0){
                readNetworkDict (
                        &TestMaster_Data,
                        0x02,
@@ -223,4 +256,42 @@ void TestMaster_post_TPDO()
                        0);
                waiting_answer = 1;
        }
+#endif 
+       if(MasterSyncCount % 17 == 0){
+               eprintf("Master : Ask RTR PDO (0x1402)\n");
+               sendPDOrequest(&TestMaster_Data, 0x1402 );
+               sendPDOrequest(&TestMaster_Data, 0x1403 );
+       }
+       if(MasterSyncCount % 50 == 0){
+               eprintf("Master : Change slave's transmit type to 0xFF\n");
+               UNS8 transmitiontype = 0xFF;
+               writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
+                                       2, /*UNS8 nodeId*/
+                                       0x1802, /*UNS16 index*/
+                                       0x02, /*UNS16 index*/
+                                       1, /*UNS8 count*/
+                                       0, /*UNS8 dataType*/
+                                       &transmitiontype,/*void *data*/
+                                       CheckSDO); /*SDOCallback_t Callback*/
+       }
+       if(MasterSyncCount % 50 == 25){
+               eprintf("Master : Change slave's transmit type to 0x00\n");
+               UNS8 transmitiontype = 0x00;
+               writeNetworkDictCallBack (&TestMaster_Data, /*CO_Data* d*/
+                                       2, /*UNS8 nodeId*/
+                                       0x1802, /*UNS16 index*/
+                                       0x02, /*UNS16 index*/
+                                       1, /*UNS8 count*/
+                                       0, /*UNS8 dataType*/
+                                       &transmitiontype,/*void *data*/
+                                       CheckSDO); /*SDOCallback_t Callback*/
+       }
+       MasterSyncCount++;
+}
+
+void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
+{
+       eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
+       
+       ConfigureSlaveNode(d, nodeid);
 }