/* Ask a slave node to go in operational mode */
void StartNode(UNS8 nodeid)
{
masterSendNMTstateChange(CANOpenShellOD_Data, nodeid, NMT_Start_Node);
}
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);
}
__inline void start_node(CO_Data* d, UNS8 nodeId){
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
d->NMTable[nodeId] = Operational;
}
/*!
**
**
** @param d
** @param newState
**
** @return
**/
UNS8 setState(CO_Data* d, e_nodeState newState)
{
if (newState != d->nodeState) {
switch ( newState ) {
case Initialisation: {
s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0, 0};
d->nodeState = Initialisation;
switchCommunicationState(d, &newCommunicationState);
/* call user app init callback now. */
/* d->initialisation MUST NOT CALL SetState */
(*d->initialisation)(d);
}
/* Automatic transition - No break statement ! */
/* Transition from Initialisation to Pre_operational */
/* is automatic as defined in DS301. */
/* App don't have to call SetState(d, Pre_operational) */
case Pre_operational: {
s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0, 1};
d->nodeState = Pre_operational;
switchCommunicationState(d, &newCommunicationState);
if (!(*(d->iam_a_slave))) {
masterSendNMTstateChange (d, 0, NMT_Reset_Node);
}
(*d->preOperational)(d);
}
break;
case Operational:
if (d->nodeState == Initialisation) return 0xFF;
{
s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1, 0};
d->nodeState = Operational;
newState = Operational;
switchCommunicationState(d, &newCommunicationState);
(*d->operational)(d);
}
break;
case Stopped:
if (d->nodeState == Initialisation) return 0xFF;
{
s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0, 1};
d->nodeState = Stopped;
newState = Stopped;
switchCommunicationState(d, &newCommunicationState);
(*d->stopped)(d);
}
break;
default:
return 0xFF;
}/* end switch case */
}
/* d->nodeState contains the final state */
/* may not be the requested state */
return d->nodeState;
}
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)
{
int c;
extern char *optarg;
char* LibraryPath="libcanfestival_can_virtual.so";
char *snodeid;
while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF)
{
switch(c)
{
case 'm' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.busname = optarg;
break;
case 'M' :
if (optarg[0] == 0)
{
help();
exit(1);
}
MasterBoard.baudrate = optarg;
break;
case 'l' :
if (optarg[0] == 0)
{
help();
exit(1);
}
LibraryPath = optarg;
break;
case 'i' :
if (optarg[0] == 0)
{
help();
exit(1);
}
snodeid = optarg;
sscanf(snodeid,"%x",&slavenodeid);
break;
default:
help();
exit(1);
}
}
#if !defined(WIN32) || defined(__CYGWIN__)
/* install signal handler for manual break */
signal(SIGTERM, catch_signal);
signal(SIGINT, catch_signal);
TimerInit();
#endif
#ifndef NOT_USE_DYNAMIC_LOADING
LoadCanDriver(LibraryPath);
#endif
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;
if(!canOpen(&MasterBoard,&TestMaster_Data)){
eprintf("Cannot open Master Board\n");
goto fail_master;
}
// Start timer thread
StartTimerLoop(&InitNodes);
// wait Ctrl-C
pause();
eprintf("Finishing.\n");
// Reset the slave node for next use (will stop emitting heartbeat)
masterSendNMTstateChange (&TestMaster_Data, slavenodeid, NMT_Reset_Node);
// Stop master
setState(&TestMaster_Data, Stopped);
// Stop timer thread
StopTimerLoop(&Exit);
fail_master:
if(MasterBoard.baudrate) canClose(&TestMaster_Data);
TimerCleanup();
return 0;
}
/********************************************************
* ConfigureSlaveNode is responsible to
* - setup slave TPDO 1 transmit time
* - setup slave TPDO 2 transmit time
* - setup slave Heartbeat Producer time
* - switch to operational mode
* - send NMT to slave
********************************************************
* This an example of :
* Network Dictionary Access (SDO) with Callback
* Slave node state change request (NMT)
********************************************************
* This is called first by TestMaster_preOperational
* then it called again each time a SDO exchange is
* finished.
********************************************************/
static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
{
UNS8 res;
eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId);
printf("nodeid slave=%x\n",nodeId);
switch(++init_step){
case 1:
{ /*disable Slave's TPDO 1 */
UNS32 TPDO_COBId = 0x80000180 + nodeId;
eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1800, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 2:
{ /*setup Slave's TPDO 1 to be transmitted on SYNC*/
UNS8 Transmission_Type = 0x01;
eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1800, /*UNS16 index*/
0x02, /*UNS8 subindex*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&Transmission_Type,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 3:
{ /*re-enable Slave's TPDO 1 */
UNS32 TPDO_COBId = 0x00000180 + nodeId;
eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1800, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 4:
{ /*disable Slave's TPDO 2 */
UNS32 TPDO_COBId = 0x80000200 + nodeId;
eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1400, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 5:
{
UNS8 Transmission_Type = 0x01;
eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1400, /*UNS16 index*/
0x02, /*UNS8 subindex*/
1, /*UNS8 count*/
0, /*UNS8 dataType*/
&Transmission_Type,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 6:
{ /*re-enable Slave's TPDO 1 */
UNS32 TPDO_COBId = 0x00000200 + nodeId;
eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1400, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 7:
{
UNS16 Heartbeat_Producer_Time = 0x03E8;
eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1017, /*UNS16 index*/
0x00, /*UNS8 subindex*/
2, /*UNS8 count*/
0, /*UNS8 dataType*/
&Heartbeat_Producer_Time,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 8:
{ /*disable Slave's TPDO 2 */
UNS32 TPDO_COBId = 0x80000280 + nodeId;
eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1801, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 9:
{ /*disable Slave's TPDO 3 */
UNS32 TPDO_COBId = 0x80000380 + nodeId;
eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1802, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 10:
{ /*disable Slave's TPDO 2 */
UNS32 TPDO_COBId = 0x80000480 + nodeId;
eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId);
res = writeNetworkDictCallBack (d, /*CO_Data* d*/
/**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/
nodeId, /*UNS8 nodeId*/
0x1803, /*UNS16 index*/
0x01, /*UNS8 subindex*/
4, /*UNS8 count*/
0, /*UNS8 dataType*/
&TPDO_COBId,/*void *data*/
CheckSDOAndContinue, /*SDOCallback_t Callback*/
0); /* use block mode */
}
break;
case 11:
/* Put the master in operational mode */
setState(d, Operational);
/* Ask slave node to go in operational mode */
masterSendNMTstateChange (d, nodeId, NMT_Start_Node);
}
}
void CANUi::on_pushButton_setNodeState_clicked()
{
UNS8 id = ui->spinBox_NMTnodeID->value();
UNS8 state = ui->comboBox_nodeState->currentData().value<UNS8>();
masterSendNMTstateChange(&master_Data, id, state);
}
void can_start_node(uint8_t nodeId)
{
masterSendNMTstateChange(&Sensor_Board_Data, 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;
}