author | Christian Taedcke |
Thu, 09 Sep 2010 15:56:06 +0200 | |
changeset 636 | 033fe6f1ec3c |
parent 458 | a3906286b09b |
child 641 | 404a51700f40 |
permissions | -rw-r--r-- |
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/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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|
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Copyright (C): Edouard TISSERANT and Francis DUPIN |
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|
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See COPYING file for copyrights details. |
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|
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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|
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This library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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Lesser General Public License for more details. |
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|
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You should have received a copy of the GNU Lesser General Public |
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License along with this library; if not, write to the Free Software |
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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*/ |
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#include <wx/wxprec.h> |
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#include <wx/wx.h> |
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#include <wx/textctrl.h> |
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#include <iostream> |
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#if defined(WIN32) && !defined(__CYGWIN__) |
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#include <windows.h> |
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#else |
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#include <stdio.h> |
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#include <string.h> |
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#include <unistd.h> |
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#include <stdlib.h> |
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#include <signal.h> |
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#endif |
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//#include <can_driver.h> |
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//#include <timers_driver.h> |
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extern "C" |
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{ |
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#include "canfestival.h" |
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} |
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#include "CallBack.h" |
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#include "TestSlaveGui.h" |
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#include "main.h" |
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extern wxTextCtrl *textLog; |
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extern int node_id_ext; |
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//*************************** INIT ***************************************** |
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void |
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InitNodes (CO_Data * d, UNS32 id) |
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{ |
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//****************************** INITIALISATION SLAVE ******************************* |
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/* Defining the node Id */ |
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setNodeId (&ObjDict_Data, node_id_ext); |
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/* init */ |
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setState (&ObjDict_Data, Initialisation); |
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} |
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/*************************** EXIT *****************************************/ |
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void Exit(CO_Data* d, UNS32 id) |
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{ |
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setState (&ObjDict_Data, Stopped); |
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canClose (&ObjDict_Data); |
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} |
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//**************************************************************************** |
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//*************************** MAIN ***************************************** |
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//**************************************************************************** |
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int |
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main_can (s_BOARD SlaveBoard, char *LibraryPath) |
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{ |
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#if !defined(WIN32) && !defined(__CYGWIN__) |
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TimerInit(); |
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#endif |
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printf ("Bus name: %s Freq: %s Driver: %s\n", |
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SlaveBoard.busname, SlaveBoard.baudrate, LibraryPath); |
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#ifndef NOT_USE_DYNAMIC_LOADING |
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if (LoadCanDriver (LibraryPath) == NULL) |
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*textLog << wxT ("Unable to load library\n"); |
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#endif |
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// Open CAN devices |
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ObjDict_Data.heartbeatError = Call_heartbeatError; |
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ObjDict_Data.initialisation = Call_initialisation; |
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ObjDict_Data.preOperational = Call_preOperational; |
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ObjDict_Data.operational = Call_operational; |
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ObjDict_Data.stopped = Call_stopped; |
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ObjDict_Data.post_sync = Call_post_sync; |
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ObjDict_Data.post_TPDO = Call_post_TPDO; |
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ObjDict_Data.storeODSubIndex = Call_storeODSubIndex; |
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if (!canOpen (&SlaveBoard, &ObjDict_Data)) |
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{ |
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printf ("Cannot open Slave Board (%s,%s)\n", SlaveBoard.busname, |
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SlaveBoard.baudrate); |
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return (1); |
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} |
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StartTimerLoop (&InitNodes); |
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return 0; |
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} |
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void |
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stop_slave () |
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{ |
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StopTimerLoop (&Exit); |
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TimerCleanup(); |
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return; |
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} |