/********************************************************
* TestMaster_initialisation is responsible to
* - setup master RPDO 1 to receive TPDO 1 from id 2
* - setup master RPDO 2 to receive TPDO 1 from id 3
********************************************************/
void TestMaster_initialisation(CO_Data* d)
{
UNS32 PDO1_COBID = 0x0182;
UNS32 PDO2_COBID = 0x0183;
UNS32 size = sizeof(UNS32);
eprintf("TestMaster_initialisation\n");
/*****************************************
* Define RPDO to match slave ID=2 TPDO1*
*****************************************/
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1400, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO1_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
/*****************************************
* Define RPDO to match slave ID=3 TPDO1*
*****************************************/
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1401, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO2_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
}
void CANUi::on_pushButton_guardSet_clicked()
{
if(ui->radiob_heartBeat->isChecked()){
int _nodeNum = ui->spinBox_nodeNum->value();
UNS32 _time = ui->spinBox_guardTime->value();
for(int i = 1; i <= _nodeNum; i++){
{//0x1016 : Consumer Heartbeat Time nodeid(bit 23 : 16) + time(bit 15 : 0) ms
UNS32 _sourceData = _time + (i << 16);
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1016, (UNS8)i, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append(tr("writeLocalDict 0x1016 %1: fail !").arg(i));
}
}
}
}
else {
int _nodeNum = ui->spinBox_nodeNum->value();
UNS32 _time = 0;
for(int i = 1; i <= _nodeNum; i++){
{//0x1016 : Consumer Heartbeat Time nodeid(bit 23 : 16) + time(bit 15 : 0) ms
UNS32 _sourceData = _time + (i << 16);
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1016, (UNS8)i, (UNS32*)&_sourceData, &_dataSize, RW )){
ui->textBrowser->append(tr("writeLocalDict 0x1016 %1: fail !").arg(i));
}
}
}
}
}
void CANUi::on_pushButton_sdoSet_clicked()
{
UNS8 nodeId = ui->spinBox_sdoID->value();
{//0x1280 : SDO1 COB_ID_Client_to_Server bit30:dyn 0x600 + nodeid
UNS32 _sourceData = 0x600 + nodeId;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1280, (UNS8)1, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1280 fail !");
}
}
{//0x1280 : SDO1 COB_ID_Server_to_Client 0x580 + nodeid
UNS32 _sourceData = 0x580 + nodeId;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1280, (UNS8)2, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1280 fail !");
}
}
{//0x1280 : Node_ID_of_the_SDO_Server nodeid
UNS8 _sourceData = nodeId;
UNS32 _dataSize = sizeof(UNS8);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1280, (UNS8)3, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1280 fail !");
}
}
UNS32 _dataSize;
UNS8 _dataType = ui->comboBox_sdoDatatype->currentData().value<UNS8>();
if(_dataType == uint8){
_dataSize = sizeof(UNS8);
}
else if(_dataType == uint16){
_dataSize = sizeof(UNS16);
}
else{
_dataSize = sizeof(UNS32);
}
UNS32 _sourceData = ui->spinBox_sdoData->value();
UNS16 _index = ui->spinBox_sdoIndex->value();
UNS8 _subIndex = ui->spinBox_sdoSubIndex->value();
int res = writeNetworkDictCallBack (&master_Data, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
_index, /*UNS16 index*/
_subIndex, /*UNS8 subindex*/
_dataSize, /*UNS8 count*/
_dataType, /*UNS8 dataType*/
&_sourceData,/*void *data*/
WriteResultNetworkDict, /*SDOCallback_t Callback*/
0); /* use block mode */
}
void CANUi::on_pushButton_sdoRead_clicked()
{
UNS8 nodeId = ui->spinBox_sdoID->value();
{//0x1280 : SDO1 COB_ID_Client_to_Server bit30:dyn 0x600 + nodeid
UNS32 _sourceData = 0x600 + nodeId;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1280, (UNS8)1, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1280 fail !");
}
}
{//0x1280 : SDO1 COB_ID_Server_to_Client 0x580 + nodeid
UNS32 _sourceData = 0x580 + nodeId;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1280, (UNS8)2, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1280 fail !");
}
}
{//0x1280 : Node_ID_of_the_SDO_Server nodeid
UNS8 _sourceData = nodeId;
UNS32 _dataSize = sizeof(UNS8);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1280, (UNS8)3, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1280 fail !");
}
}
UNS16 _index = ui->spinBox_sdoIndex->value();
UNS8 _subIndex = ui->spinBox_sdoSubIndex->value();
UNS32 _dataSize;
UNS8 _dataType = ui->comboBox_sdoDatatype->currentData().value<UNS8>();
if(_dataType == uint8){
_dataSize = sizeof(UNS8);
}
else if(_dataType == uint16){
_dataSize = sizeof(UNS16);
}
else{
_dataSize = sizeof(UNS32);
}
int res = readNetworkDictCallback (&master_Data,
nodeId,
_index,
_subIndex,
_dataType,
ReadResultNetworkDict,
0);
}
void CANUi::on_checkBox_sync_toggled(bool checked)
{
if(checked){
stopSYNC(&master_Data);
{//0x1005 : SYNC COB ID gen(bit 30) COB-ID : 80
UNS32 _sourceData = 0x40000080;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1005, (UNS8)0, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1005 fail !");
}
}
{//0x1006 : SYNC Cycle Period us
UNS32 _sourceData = ui->spinBox_syncTime->value();
ui->textBrowser->append(tr("%1").arg(_sourceData));
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1006, (UNS8)0, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1006 fail !");
}
}
startSYNC(&master_Data);
}
else{
stopSYNC(&master_Data);
{//0x1005 : SYNC COB ID gen(bit 30) COB-ID : 80
UNS32 _sourceData = 0x00000080;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1005, (UNS8)0, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1005 fail !");
}
}
{//0x1006 : SYNC Cycle Period us
UNS32 _sourceData = 0;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1006, (UNS8)0, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1006 fail !");
}
}
}
}
void CANUi::on_checkBox_pdoReceive_toggled(bool checked)
{
if(checked){
{//0x1600 : RPDO1 COB-ID 0x180 + nodeid
UNS32 _sourceData = ui->spinBox_rpdoCOB->value() + ui->spinBox_pdonodeID->value();
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1400, (UNS8)1, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1400 fail !");
}
}
}else{
{//0x1600 : RPDO1 COB-ID 0x180 + nodeid
UNS32 _sourceData = 0;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1400, (UNS8)1, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1400 fail !");
}
}
}
}
static void can_enable_heartbeat(uint16_t time)
{
// checkAccess needs to be set to 1
UNS16 Timer_Data[1] = {time};
UNS32 s = sizeof(UNS16);
writeLocalDict(&Sensor_Board_Data, // CO_Data* for this uC
0x1017, // Index
0x00, // Sub-Index
Timer_Data, // void * SourceData Location
&s, // UNS8 * Size of Data
1); // UNS8 checkAccess
}
void SillySlave_initialisation(CO_Data* d )
{
UNS32 PDO1_COBID = 0x0180 + NODE_MASTER;
UNS8 size = sizeof(PDO1_COBID);
printf("SillySlave_initialisation\n");
/* sets TXPDO1 COB-ID to match master node ID */
writeLocalDict(
&SillySlave_Data, /*CO_Data* d*/
0x1800, /*UNS16 index*/
0x01, /*UNS8 subind*/
&PDO1_COBID, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
/* value sent to master at each SYNC received */
LifeSignal = 0;
}
void CANUi::on_pushButton_dicSet_clicked()
{
UNS32 _dataSize;
UNS8 _dataType = ui->comboBox_datatype->currentData().value<UNS8>();
if(_dataType == uint8){
_dataSize = sizeof(UNS8);
}
else if(_dataType == uint16){
_dataSize = sizeof(UNS16);
}
else{
_dataSize = sizeof(UNS32);
}
UNS32 _sourceData = ui->spinBox_dicData->value();
UNS16 _index = ui->spinBox_index->value();
UNS8 _subIndex = ui->spinBox_subInxdex->value();
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, _index, _subIndex, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict fail !");
}
}
static void CheckLSSAndContinue(CO_Data* d, UNS8 command)
{
UNS32 dat1;
UNS8 dat2;
printf("CheckLSS->");
if(getConfigResultNetworkNode (d, command, &dat1, &dat2) != LSS_FINISHED){
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_CONF_ACT_BIT_TIMING:
if(dat1==0){
UNS8 LSS_mode=LSS_WAITING_MODE;
UNS32 SINC_cicle=50000;// us
UNS32 size = sizeof(UNS32);
/* The slaves are now configured (nodeId and Baudrate) via the LSS services.
* Switch the LSS state to WAITING and restart the slaves. */
/*TODO: change the baud rate of the master!!*/
MasterBoard.baudrate="250K";
printf("Master : Switch Delay period finished. Switching to LSS WAITING state\n");
configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
printf("Master : Restarting all the slaves\n");
masterSendNMTstateChange (d, 0x00, NMT_Reset_Comunication);
printf("Master : Starting the SYNC producer\n");
writeLocalDict( d, /*CO_Data* d*/
0x1006, /*UNS16 index*/
0x00, /*UNS8 subind*/
&SINC_cicle, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
return;
}
else{
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
eprintf("Master : unable to activate bit timing. trying again\n");
configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
return;
}
break;
case LSS_SM_SELECTIVE_SERIAL:
printf("Slave in LSS CONFIGURATION state\n");
break;
case LSS_IDENT_REMOTE_SERIAL_HIGH:
printf("node identified\n");
break;
case LSS_IDENT_REMOTE_NON_CONF:
if(dat1==0)
eprintf("There are no-configured remote slave(s) in the net\n");
else
{
UNS16 Switch_delay=1;
UNS8 LSS_mode=LSS_CONFIGURATION_MODE;
/*The configuration of the slaves' nodeId ended.
* Start the configuration of the baud rate. */
eprintf("Master : There are not no-configured slaves in the net\n");
eprintf("Switching all the nodes to LSS CONFIGURATION state\n");
configNetworkNode(d,LSS_SM_GLOBAL,&LSS_mode,0,NULL);
eprintf("LSS=>Activate Bit Timing\n");
configNetworkNode(d,LSS_CONF_ACT_BIT_TIMING,&Switch_delay,0,CheckLSSAndContinue);
return;
}
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;
#ifdef CO_ENABLE_LSS_FS
case LSS_IDENT_FASTSCAN:
if(dat1==0)
printf("Slave node identified with FastScan\n");
else
{
printf("There is not unconfigured node in the net\n");
return;
}
init_step_LSS++;
break;
#endif
}
}
printf("\n");
ConfigureLSSNode(d);
}
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
{
/* Master configure heartbeat producer time at 0 ms
* for slaves node-id 0x02 and 0x03 by DCF concise */
UNS8 Transmission_Type = 0x01;
UNS16 Slave_Prod_Heartbeat_T=1000;//ms
UNS32 Master_Cons_Heartbeat_Base=0x05DC; //1500ms
UNS32 abortCode;
UNS8 res;
eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
switch(++init_step[nodeId-2]){
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*/
nodeId, /*UNS8 nodeId*/
0x1800, /*UNS16 index*/
0x02, /*UNS8 subindex*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&Transmission_Type,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /*UNS8 useBlockMode*/
break;
case 2: /* Second step : Set the new heartbeat producer time in the slave */
{
UNS32 Master_Cons_Heartbeat_T=Master_Cons_Heartbeat_Base + (nodeId * 0x10000);
UNS32 size = sizeof(UNS32);
eprintf("Master : set slave %2.2x Producer Heartbeat Time = %d\n", nodeId,Slave_Prod_Heartbeat_T);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
nodeId, /*UNS8 nodeId*/
0x1017, /*UNS16 index*/
0x00, /*UNS8 subindex*/
2, /*UNS8 count*/
0, /*UNS8 dataType*/
&Slave_Prod_Heartbeat_T,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /*UNS8 useBlockMode*/
break;
/* Set the new heartbeat consumer time in the master*/
eprintf("Master : set Consumer Heartbeat Time for slave %2.2x = %d\n", nodeId,Master_Cons_Heartbeat_T);
writeLocalDict( &TestMaster_Data, /*CO_Data* d*/
0x1016, /*UNS16 index*/
nodeId-1, /*UNS8 subind*/
&Master_Cons_Heartbeat_T, /*void * pSourceData,*/
&size, /* UNS8 * pExpectedSize*/
RW); /* UNS8 checkAccess */
}
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);
}
}
int main(int argc, char *argv[])
{
UNS8 node_id = 0;
s_BOARD MasterBoard = {"1", "125K"};
char* dll_file_name;
/* process command line arguments */
if (argc < 2)
{
printf("USAGE: win32test <node_id> [can driver dll filename [baud rate]]\n");
return 1;
}
node_id = atoi(argv[1]);
if (node_id < 2 || node_id > 127)
{
printf("ERROR: node_id shoule be >=2 and <= 127\n");
return 1;
}
if (argc > 2)
dll_file_name = argv[2];
else
dll_file_name = "can_uvccm_win32.dll";
if (argc > 3)
MasterBoard.baudrate = argv[3];
// load can driver
if (!LoadCanDriver(dll_file_name))
{
printf("ERROR: could not load diver %s\n", dll_file_name);
return 1;
}
if (canOpen(&MasterBoard,&win32test_Data))
{
/* Defining the node Id */
setNodeId(&win32test_Data, 0x01);
/* init */
setState(&win32test_Data, Initialisation);
/****************************** START *******************************/
/* Put the master in operational mode */
setState(&win32test_Data, Operational);
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (&win32test_Data, 0, NMT_Start_Node);
printf("\nStarting node %d (%xh) ...\n",(int)node_id,(int)node_id);
/* wait untill mode will switch to operational state*/
if (GetChangeStateResults(node_id, Operational, 3000) != 0xFF)
{
/* modify Client SDO 1 Parameter */
UNS32 COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id;
UNS32 COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id;
UNS32 Node_ID_of_the_SDO_Server = node_id;
UNS8 ExpectedSize = sizeof (UNS32);
if (OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW)
&& OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW)
&& OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW))
{
UNS32 dev_type = 0;
char device_name[64]="";
char hw_ver[64]="";
char sw_ver[64]="";
UNS32 vendor_id = 0;
UNS32 prod_code = 0;
UNS32 ser_num = 0;
UNS8 size;
UNS8 res;
printf("\nnode_id: %d (%xh) info\n",(int)node_id,(int)node_id);
printf("********************************************\n");
size = sizeof (dev_type);
res = ReadSDO(node_id, 0x1000, 0, uint32, &dev_type, &size);
printf("device type: %d\n",dev_type & 0xFFFF);
size = sizeof (device_name);
res = ReadSDO(node_id, 0x1008, 0, visible_string, device_name, &size);
printf("device name: %s\n",device_name);
size = sizeof (hw_ver);
res = ReadSDO(node_id, 0x1009, 0, visible_string, hw_ver, &size);
printf("HW version: %s\n",hw_ver);
size = sizeof (sw_ver);
res = ReadSDO(node_id, 0x100A, 0, visible_string, sw_ver, &size);
printf("SW version: %s\n",sw_ver);
size = sizeof (vendor_id);
res = ReadSDO(node_id, 0x1018, 1, uint32, &vendor_id, &size);
printf("vendor id: %d\n",vendor_id);
size = sizeof (prod_code);
res = ReadSDO(node_id, 0x1018, 2, uint32, &prod_code, &size);
printf("product code: %d\n",prod_code);
size = sizeof (ser_num);
res = ReadSDO(node_id, 0x1018, 4, uint32, &ser_num, &size);
printf("serial number: %d\n",ser_num);
printf("********************************************\n");
}
else
{
printf("ERROR: Object dictionary access failed\n");
}
}
else
{
printf("ERROR: node_id %d (%xh) is not responding\n",(int)node_id,(int)node_id);
}
masterSendNMTstateChange (&win32test_Data, 0x02, NMT_Stop_Node);
setState(&win32test_Data, Stopped);
canClose(&win32test_Data);
}
return 0;
}
