#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);
}
* - 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 size = sizeof(UNS32);
+ UNS32 SINC_cicle=0;
+ UNS8 data_type = 0;
eprintf("TestMaster_initialisation\n");
&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);
/********************************************************
* 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
********************************************************
* 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.
********************************************************/
}
}
-#ifdef CO_ENABLE_LSS
-static void ConfigureLSSNode(CO_Data* d);
-UNS8 init_step_LSS=1;
-static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
-{
- UNS32 dat1;
- UNS8 dat2;
- printf("CheckLSS->");
- if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
- if(command==LSS_IDENT_NON_CONF_SLAVE){
- eprintf("Master : There are not no-configured slaves in the net\n", command);
- return;
- }
- else{
- eprintf("Master : Failed in LSS comand %d. Trying again\n", command);
- }
- }
- else
- {
- init_step_LSS++;
-
- switch(command){
- case LSS_CONF_NODE_ID:
- switch(dat1){
- case 0: printf("Node ID change succesful\n");break;
- case 1: printf("Node ID change error:out of range\n");break;
- case 0xFF:printf("Node ID change error:specific error\n");break;
- default:break;
- }
- break;
- case LSS_CONF_BIT_TIMING:
- switch(dat1){
- case 0: printf("Baud rate change succesful\n");break;
- case 1: printf("Baud rate change error: change baud rate not supported\n");break;
- case 0xFF:printf("Baud rate change error:specific error\n");break;
- default:break;
- }
- break;
- case LSS_CONF_STORE:
- switch(dat1){
- case 0: printf("Store configuration succesful\n");break;
- case 1: printf("Store configuration error:not supported\n");break;
- case 0xFF:printf("Store configuration error:specific error\n");break;
- default:break;
- }
- break;
- case LSS_SM_SELECTIVE_RESP:
- printf("Slave in CONFIGURATION mode\n");
- break;
- case LSS_IDENT_SLAVE:
- printf("node identified\n");
- break;
- case LSS_IDENT_NON_CONF_SLAVE:
- printf("non-configured remote slave in the net\n");
- break;
- case LSS_INQ_VENDOR_ID:
- printf("Slave VendorID %x\n", dat1);
- break;
- case LSS_INQ_PRODUCT_CODE:
- printf("Slave Product Code %x\n", dat1);
- break;
- case LSS_INQ_REV_NUMBER:
- printf("Slave Revision Number %x\n", dat1);
- break;
- case LSS_INQ_SERIAL_NUMBER:
- printf("Slave Serial Number %x\n", dat1);
- break;
- case LSS_INQ_NODE_ID:
- printf("Slave nodeid %x\n", dat1);
- break;
- }
- }
-
- printf("\n");
- ConfigureLSSNode(d);
-}
-
-
-struct timeval master_prev_time,master_current_time;
-static void ConfigureLSSNode(CO_Data* d)
-{
- UNS32 Vendor_ID=0x12345678;
- UNS32 Product_Code=0x90123456;
- UNS32 Revision_Number=0x78901234;
- UNS32 Serial_Number=0x56789012;
- UNS32 Revision_Number_high=0x78901240;
- UNS32 Revision_Number_low=0x78901230;
- UNS32 Serial_Number_high=0x56789020;
- UNS32 Serial_Number_low=0x56789010;
- UNS8 NodeID=0x02;
- UNS8 Baud_Table=0;
- UNS8 Baud_BitTiming=3;
- UNS16 Switch_delay=1;
- UNS8 LSS_mode=LSS_WAITING_MODE;
- UNS8 res;
- eprintf("ConfigureLSSNode-> ");
-
- switch(init_step_LSS){
- case 1: /* LSS=>identify non-configured remote slave */
- eprintf("LSS=>identify non-configured remote slave\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_NON_CONF,0,0,CheckLSSAndContinue);
- break;
- case 2: /* LSS=>identify node */
- eprintf("LSS=>identify node\n");
- res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_VENDOR,&Vendor_ID,0);
- res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_PRODUCT,&Product_Code,0);
- res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_LOW,&Revision_Number_low,0);
- res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_REV_HIGH,&Revision_Number_high,0);
- res=configNetworkNode(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_LOW,&Serial_Number_low,0);
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_IDENT_REMOTE_SERIAL_HIGH,&Serial_Number_high,0,CheckLSSAndContinue);
- break;
- case 3: /*First step : setup Slave's TPDO 1 to be transmitted on SYNC*/
- eprintf("LSS=>put in configuration mode\n");
- res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_VENDOR,&Vendor_ID,0);
- res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_PRODUCT,&Product_Code,0);
- res=configNetworkNode(&TestMaster_Data,LSS_SM_SELECTIVE_REVISION,&Revision_Number,0);
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_SM_SELECTIVE_SERIAL,&Serial_Number,0,CheckLSSAndContinue);
- break;
- case 4: /* LSS=>inquire nodeID */
- eprintf("LSS=>inquire nodeID\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_NODE_ID,0,0,CheckLSSAndContinue);
- break;
- case 5: /* LSS=>inquire VendorID */
- eprintf("LSS=>inquire VendorID\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_VENDOR_ID,0,0,CheckLSSAndContinue);
- break;
- case 6: /* LSS=>inquire Product code */
- eprintf("LSS=>inquire Product code\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_PRODUCT_CODE,0,0,CheckLSSAndContinue);
- break;
- case 7: /* LSS=>inquire Revision Number */
- eprintf("LSS=>inquire Revision Number\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_REV_NUMBER,0,0,CheckLSSAndContinue);
- break;
- case 8: /* LSS=>inquire Serial Number */
- eprintf("LSS=>inquire Serial Number\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_INQ_SERIAL_NUMBER,0,0,CheckLSSAndContinue);
- break;
- case 9: /* LSS=>change the nodeID */
- eprintf("LSS=>change the nodeId\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_NODE_ID,&NodeID,0,CheckLSSAndContinue);
- break;
- case 10: /* LSS=>change the Baud rate */
- eprintf("LSS=>change the Baud rate\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_BIT_TIMING,&Baud_Table,&Baud_BitTiming,CheckLSSAndContinue);
- break;
- case 11:
- eprintf("LSS=>Activate Bit Timing\n");
- res=configNetworkNode(&TestMaster_Data,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0);
- /*no break;*/
- init_step_LSS++;
- case 12:
- /*LSS=>store configuration*/
- /* It will fail the first time (time out) due to the switch delay */
- /* It will fail the second time because it is not implemented in the slave */
- eprintf("LSS=>store configuration\n");
- res=configNetworkNodeCallBack(&TestMaster_Data,LSS_CONF_STORE,0,0,CheckLSSAndContinue);
- break;
- case 13: /* LSS=>put in operation mod */
- eprintf("LSS=>put in operation mode\n");
- res=configNetworkNode(&TestMaster_Data,LSS_SM_GLOBAL,&LSS_mode,0);
- break;
- }
-}
-#endif
-
-void TestMaster_preOperational()
+void TestMaster_preOperational(CO_Data* d)
{
eprintf("TestMaster_preOperational\n");
-#ifdef CO_ENABLE_LSS
- /* Ask slave node to go in stop mode */
- masterSendNMTstateChange (&TestMaster_Data, 0, NMT_Stop_Node);
- ConfigureLSSNode(&TestMaster_Data);
-#endif
}
-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 %d %d\n",
MasterMap13);
}
-void TestMaster_post_emcy(UNS8 nodeID, UNS16 errCode, UNS8 errReg)
+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);
}
static int MasterSyncCount = 0;
-void TestMaster_post_TPDO()
+void TestMaster_post_TPDO(CO_Data* d)
{
eprintf("TestMaster_post_TPDO MasterSyncCount = %d \n", MasterSyncCount);
//
#if 0
if(waiting_answer){
UNS32 abortCode;
- UNS8 size;
+ UNS8 size = 1;
switch(getReadResultNetworkDict (
&TestMaster_Data,
0x02,
MasterSyncCount++;
}
-void TestMaster_post_SlaveBootup(UNS8 nodeid)
+void TestMaster_post_SlaveBootup(CO_Data* d, UNS8 nodeid)
{
eprintf("TestMaster_post_SlaveBootup %x\n", nodeid);
-
- ConfigureSlaveNode(&TestMaster_Data, nodeid);
-
+
+ ConfigureSlaveNode(d, nodeid);
}
-
projects / CanFestival-3.git / blobdiff