- add RTAI support

[CanFestival-3.git] / examples / DS401_Master / TestMasterMicroMod.c

diff --git a/examples/DS401_Master/TestMasterMicroMod.c b/examples/DS401_Master/TestMasterMicroMod.c
index cbeb8621ba93d5157be99ed6e8b3d1abc5d4d4fe..69a27e9b850557bfb8e62e85719ab6edef9deecf 100644 (file)
--- a/examples/DS401_Master/TestMasterMicroMod.c
+++ b/examples/DS401_Master/TestMasterMicroMod.c
@@ -82,7 +82,7 @@ void TestMaster_initialisation(CO_Data* d)
                        RW);  /* UNS8 checkAccess */
 }
 
-static init_step = 0;
+static int init_step = 0;
 
 /*Froward declaration*/
 static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId);
@@ -363,7 +363,7 @@ void catch_signal(int sig)
 }
 #endif
 
-void help()
+void help(void)
 {
   printf("**************************************************************\n");
   printf("*  TestMasterMicroMod                                        *\n");
@@ -409,6 +409,15 @@ void InitNodes(CO_Data* d, UNS32 id)
        }
 }
 
+/***************************  EXIT  *****************************************/
+void Exit(CO_Data* d, UNS32 id)
+{
+       masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node);
+
+    //Stop master
+       setState(&TestMaster_Data, Stopped);
+}
+
 /****************************************************************************/
 /***************************  MAIN  *****************************************/
 /****************************************************************************/
@@ -466,6 +475,7 @@ int main(int argc,char **argv)
   /* install signal handler for manual break */
        signal(SIGTERM, catch_signal);
        signal(SIGINT, catch_signal);
+       TimerInit();
 #endif
 
 #ifndef NOT_USE_DYNAMIC_LOADING
@@ -499,12 +509,13 @@ int main(int argc,char **argv)
        setState(&TestMaster_Data, Stopped);
        
        // Stop timer thread
-       StopTimerLoop();
+       StopTimerLoop(&Exit);
        
 fail_master:
        if(MasterBoard.baudrate) canClose(&TestMaster_Data);    
 
-  return 0;
+       TimerCleanup();
+       return 0;
 }