beremiz

Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs

2007-10-02, etisserant
b6ff896ff58b
Parents c0741cc16c99
Children e9667bec7f00
Enhancements in CanFestival plugin. Now PLC with CanFestival plugin compiles and run, exchanging CanOpen PDOs
3 files changed, 26 insertions(+), 2 deletions(-)
  • +4 -0
    plugins/canfestival/canfestival.py
  • +20 -0
    plugins/canfestival/cf_runtime.c
  • +2 -2
    plugins/canfestival/config_utils.py
    • --- a/plugins/canfestival/canfestival.py Mon Oct 01 21:52:41 2007 +0200
    +++ b/plugins/canfestival/canfestival.py Tue Oct 02 18:02:32 2007 +0200
    @@ -108,6 +108,7 @@
    "candriver" : self.CanFestivalInstance.getCAN_Driver(),
    "nodes_includes" : "",
    "board_decls" : "",
    + "nodes_declare" : "",
    "nodes_init" : "",
    "nodes_open" : "",
    "nodes_close" : "",
    @@ -122,6 +123,9 @@
    nodename,
    child.CanFestivalNode.getCAN_Device(),
    child.CanFestivalNode.getCAN_Baudrate())
    + format_dict["nodes_declare"] += 'NODE_DECLARE(%s, %s)\n '%(
    + nodename,
    + child.CanFestivalNode.getNodeId())
    format_dict["nodes_init"] += 'NODE_INIT(%s, %s)\n '%(
    nodename,
    child.CanFestivalNode.getNodeId())
    --- a/plugins/canfestival/cf_runtime.c Mon Oct 01 21:52:41 2007 +0200
    +++ b/plugins/canfestival/cf_runtime.c Tue Oct 02 18:02:32 2007 +0200
    @@ -11,6 +11,25 @@
    static int init_level=0;
    extern int common_ticktime__;
    +
    +static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId)
    +{
    + /* Put the master in operational mode */
    + setState(d, Operational);
    +
    + /* Ask slave node to go in operational mode */
    + masterSendNMTstateChange (d, 0, NMT_Start_Node);
    +}
    +
    +#define NODE_DECLARE(nodename, nodeid)\
    +void nodename##_preOperational()\
    +{\
    + ConfigureSlaveNode(&nodename##_Data, nodeid);\
    +}\
    +
    +%(nodes_declare)s
    +
    +
    #define NODE_INIT(nodename, nodeid) \
    /* Artificially force sync state to 1 so that it is not started */\
    nodename##_Data.CurrentCommunicationState.csSYNC = -1;\
    @@ -47,6 +66,7 @@
    }
    #define NODE_OPEN(nodename)\
    + nodename##_Data.preOperational = nodename##_preOperational;\
    if(!canOpen(&nodename##Board,&nodename##_Data)){\
    printf("Cannot open " #nodename " Board (%%s,%%s)\n",nodename##Board.busname, nodename##Board.baudrate);\
    return -1;\
    --- a/plugins/canfestival/config_utils.py Mon Oct 01 21:52:41 2007 +0200
    +++ b/plugins/canfestival/config_utils.py Tue Oct 02 18:02:32 2007 +0200
    @@ -493,8 +493,8 @@
    self.MasterNode.SetEntry(current_idx, 0x02, 0xFF)
    # Add some subentries to PDO mapping if there is not enough
    - if len(pdo_infos["mapping"]) > 2:
    - self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 2, self.MasterNode)
    + if len(pdo_infos["mapping"]) > 1:
    + self.Manager.AddSubentriesToCurrent(current_idx + 0x200, len(pdo_infos["mapping"]) - 1, self.MasterNode)
    # Generate MasterNode's PDO mapping
    for subindex, variable in enumerate(pdo_infos["mapping"]):