return_value_t can_init()
{
can_state.init_return = RET_OK;
if(!canInit(1000))
{
//fail
can_state.init_return = RET_ERROR;
return can_state.init_return;
}
LED_1;
initTimer();
//initialize CanFestival
//reset callback
Sensor_Board_Data.NMT_Slave_Node_Reset_Callback = can_reset;
#ifdef CONF71
setNodeId(&Sensor_Board_Data, 0x71);
#else
setNodeId(&Sensor_Board_Data, 0x01);
#endif
can_state.is_master = 1;
setState(&Sensor_Board_Data, Initialisation); // Init the state
setState(&Sensor_Board_Data, Operational);
#ifdef CONF71
can_enable_slave_heartbeat(0x73,200);
can_enable_slave_heartbeat(0x72,200);
can_enable_heartbeat(200);
#else
can_enable_slave_heartbeat(0x04,200);
can_enable_slave_heartbeat(0x03,200);
can_enable_slave_heartbeat(0x02,200);
can_enable_heartbeat(200);
#endif
PDOInit(&Sensor_Board_Data);
return can_state.init_return;
}
/*!
**
**
** @param d
** @param newCommunicationState
**/
void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
{
#ifdef CO_ENABLE_LSS
StartOrStop(csLSS, startLSS(d), stopLSS(d))
#endif
StartOrStop(csSDO, None, resetSDO(d))
StartOrStop(csSYNC, startSYNC(d), stopSYNC(d))
StartOrStop(csHeartbeat, heartbeatInit(d), heartbeatStop(d))
StartOrStop(csEmergency, emergencyInit(d), emergencyStop(d))
StartOrStop(csPDO, PDOInit(d), PDOStop(d))
StartOrStop(csBoot_Up, None, slaveSendBootUp(d))
}
/*!
**
**
** @param d
** @param newState
**
** @return
**/
UNS8 setState(CO_Data* d, e_nodeState newState)
{
if (newState != d->nodeState) {
switch ( newState ) {
