author | edouard |
Sat, 13 Nov 2010 22:25:24 +0100 | |
changeset 632 | 0f3dc8bbaaa0 |
parent 256 | 8118f2da6386 |
child 653 | e2d0c5251fbd |
permissions | -rw-r--r-- |
255 | 1 |
/* |
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This file is part of CanFestival, a library implementing CanOpen Stack. |
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CanFestival Copyright (C): Edouard TISSERANT and Francis DUPIN |
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CanFestival Win32 port Copyright (C) 2007 Leonid Tochinski, ChattenAssociates, Inc. |
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See COPYING file for copyrights details. |
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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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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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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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/************************************************************************** |
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CanFestival3 win32 port example |
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This sample demonstrates CanFestival usage with Win32 |
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Program implements master node. It starts CANOpen slave node, modifies OD, |
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performs SDO reads and prints some slave node information. |
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Usage: |
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win32test <node_id> [can driver dll filename [baud rate]] |
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where node_id is node_id in decimal format |
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If driver is not specified, CAN-uVCCM.dll will be used by default. |
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If baudrate is not specified, 125K will be used by default. |
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You should have CanFestival-3.dll can driver dll in the search path to run this sample. |
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Sample can work on other platdorms as well. |
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***************************************************************************/ |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include "win32test.h" |
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#include "canfestival.h" |
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#ifdef WIN32 |
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#define sleep_proc(ms) Sleep(ms) |
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#define uptime_ms_proc() GetTickCount() |
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#else |
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#include <time.h> |
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#define sleep_proc(ms) |
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#define uptime_ms_proc (1000*(time()%86400)) // TOD |
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#endif |
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UNS8 GetChangeStateResults(UNS8 node_id, UNS8 expected_state, unsigned long timeout_ms) |
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{ |
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unsigned long start_time = 0; |
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// reset nodes state |
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win32test_Data.NMTable[node_id] = Unknown_state; |
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// request node state |
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masterRequestNodeState(&win32test_Data, node_id); |
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start_time = uptime_ms_proc(); |
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while(uptime_ms_proc() - start_time < timeout_ms) |
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{ |
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if (getNodeState(&win32test_Data, node_id) == expected_state) |
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return 0; |
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sleep_proc(1); |
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} |
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return 0xFF; |
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} |
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UNS8 ReadSDO(UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, void* data, UNS8* size) |
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{ |
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UNS32 abortCode = 0; |
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UNS8 res = SDO_UPLOAD_IN_PROGRESS; |
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// Read SDO |
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UNS8 err = readNetworkDict (&win32test_Data, nodeId, index, subIndex, dataType); |
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if (err) |
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return 0xFF; |
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for(;;) |
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{ |
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res = getReadResultNetworkDict (&win32test_Data, nodeId, data, size, &abortCode); |
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if (res != SDO_UPLOAD_IN_PROGRESS) |
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break; |
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sleep_proc(1); |
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continue; |
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} |
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closeSDOtransfer(&win32test_Data, nodeId, SDO_CLIENT); |
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if (res == SDO_FINISHED) |
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return 0; |
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return 0xFF; |
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} |
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int main(int argc, char *argv[]) |
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{ |
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UNS8 node_id = 0; |
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s_BOARD MasterBoard = {"1", "125K"}; |
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char* dll_file_name; |
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/* process command line arguments */ |
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if (argc < 2) |
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{ |
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printf("USAGE: win32test <node_id> [can driver dll filename [baud rate]]\n"); |
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return 1; |
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} |
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node_id = atoi(argv[1]); |
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if (node_id < 2 || node_id > 127) |
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{ |
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printf("ERROR: node_id shoule be >=2 and <= 127\n"); |
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return 1; |
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} |
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if (argc > 2) |
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dll_file_name = argv[2]; |
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else |
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dll_file_name = "can_uvccm_win32.dll"; |
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if (argc > 3) |
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MasterBoard.baudrate = argv[3]; |
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// load can driver |
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if (!LoadCanDriver(dll_file_name)) |
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{ |
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printf("ERROR: could not load diver %s\n", dll_file_name); |
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return 1; |
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} |
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if (canOpen(&MasterBoard,&win32test_Data)) |
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{ |
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/* Defining the node Id */ |
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setNodeId(&win32test_Data, 0x01); |
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/* init */ |
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setState(&win32test_Data, Initialisation); |
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/****************************** START *******************************/ |
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/* Put the master in operational mode */ |
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setState(&win32test_Data, Operational); |
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/* Ask slave node to go in operational mode */ |
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149 |
masterSendNMTstateChange (&win32test_Data, 0, NMT_Start_Node); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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151 |
printf("\nStarting node %d (%xh) ...\n",(int)node_id,(int)node_id); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
152 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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153 |
/* wait untill mode will switch to operational state*/ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
154 |
if (GetChangeStateResults(node_id, Operational, 3000) != 0xFF) |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
155 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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156 |
/* modify Client SDO 1 Parameter */ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
157 |
UNS32 COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
158 |
UNS32 COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
159 |
UNS32 Node_ID_of_the_SDO_Server = node_id; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
160 |
UNS8 ExpectedSize = sizeof (UNS32); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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161 |
|
175
e255529b6f7d
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
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162 |
if (OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW) |
e255529b6f7d
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
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163 |
&& OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW) |
e255529b6f7d
Added writeLocalDict and readLocalDict, that have to be called from application instead of getODEntry and setODEntry. Fix potential endianization problem.
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164 |
&& OD_SUCCESSFUL == writeLocalDict(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW)) |
145
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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165 |
{ |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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166 |
UNS32 dev_type = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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167 |
char device_name[64]=""; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
168 |
char hw_ver[64]=""; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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169 |
char sw_ver[64]=""; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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170 |
UNS32 vendor_id = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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171 |
UNS32 prod_code = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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172 |
UNS32 ser_num = 0; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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173 |
UNS8 size; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
174 |
UNS8 res; |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
175 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
176 |
printf("\nnode_id: %d (%xh) info\n",(int)node_id,(int)node_id); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
177 |
printf("********************************************\n"); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
178 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
179 |
size = sizeof (dev_type); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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180 |
res = ReadSDO(node_id, 0x1000, 0, uint32, &dev_type, &size); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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181 |
printf("device type: %d\n",dev_type & 0xFFFF); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
182 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
183 |
size = sizeof (device_name); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
184 |
res = ReadSDO(node_id, 0x1008, 0, visible_string, device_name, &size); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
185 |
printf("device name: %s\n",device_name); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
186 |
|
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
187 |
size = sizeof (hw_ver); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
188 |
res = ReadSDO(node_id, 0x1009, 0, visible_string, hw_ver, &size); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
189 |
printf("HW version: %s\n",hw_ver); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
190 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
191 |
size = sizeof (sw_ver); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
192 |
res = ReadSDO(node_id, 0x100A, 0, visible_string, sw_ver, &size); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
193 |
printf("SW version: %s\n",sw_ver); |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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changeset
|
194 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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diff
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|
195 |
size = sizeof (vendor_id); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
196 |
res = ReadSDO(node_id, 0x1018, 1, uint32, &vendor_id, &size); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
197 |
printf("vendor id: %d\n",vendor_id); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
198 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
changeset
|
199 |
size = sizeof (prod_code); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
200 |
res = ReadSDO(node_id, 0x1018, 2, uint32, &prod_code, &size); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
201 |
printf("product code: %d\n",prod_code); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
202 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
203 |
size = sizeof (ser_num); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
204 |
res = ReadSDO(node_id, 0x1018, 4, uint32, &ser_num, &size); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
205 |
printf("serial number: %d\n",ser_num); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
206 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
207 |
printf("********************************************\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
208 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
209 |
else |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
changeset
|
210 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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changeset
|
211 |
printf("ERROR: Object dictionary access failed\n"); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
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|
212 |
} |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
changeset
|
213 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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changeset
|
214 |
else |
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
215 |
{ |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
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|
216 |
printf("ERROR: node_id %d (%xh) is not responding\n",(int)node_id,(int)node_id); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
changeset
|
217 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
218 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
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|
219 |
masterSendNMTstateChange (&win32test_Data, 0x02, NMT_Stop_Node); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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parents:
diff
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|
220 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
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|
221 |
setState(&win32test_Data, Stopped); |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
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|
222 |
|
149 | 223 |
canClose(&win32test_Data); |
145
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Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
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|
224 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
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|
225 |
return 0; |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
226 |
} |
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
227 |
|
e747d2e26af0
Win32 Native support and dynamicaly loaded CAN drivers for Linux, Cygwin and Win32.
etisserant
parents:
diff
changeset
|
228 |