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3 <title>CanFestival: examples/win32test/main.c Source File</title> |
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21 <a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a> » <a class="el" href="dir_2141e986c2caba396c3501b692c2793f.html">win32test</a></div> |
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22 <h1>main.c</h1><a href="main_8c.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/**************************************************************************</span> |
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23 <a name="l00002"></a>00002 <span class="comment">CanFestival3 win32 port example</span> |
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24 <a name="l00003"></a>00003 <span class="comment"></span> |
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25 <a name="l00004"></a>00004 <span class="comment">This sample demonstrates CanFestival usage with Win32</span> |
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26 <a name="l00005"></a>00005 <span class="comment"></span> |
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27 <a name="l00006"></a>00006 <span class="comment">Program implements master node. It starts CANOpen slave node, modifies OD, </span> |
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28 <a name="l00007"></a>00007 <span class="comment">performs SDO reads and prints some slave node information.</span> |
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29 <a name="l00008"></a>00008 <span class="comment"></span> |
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30 <a name="l00009"></a>00009 <span class="comment">Usage:</span> |
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31 <a name="l00010"></a>00010 <span class="comment"></span> |
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32 <a name="l00011"></a>00011 <span class="comment"> win32test <node_id></span> |
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33 <a name="l00012"></a>00012 <span class="comment"></span> |
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34 <a name="l00013"></a>00013 <span class="comment"> where node_id is node ID in decimal format</span> |
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35 <a name="l00014"></a>00014 <span class="comment"></span> |
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36 <a name="l00015"></a>00015 <span class="comment">You should have CanFestival-3.dll CAN-uVCCM.dll in the search path to run this sample.</span> |
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37 <a name="l00016"></a>00016 <span class="comment">Code will work with non-UNICODE CanFestival-3.dll CAN-uVCCM.dll libraries.</span> |
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38 <a name="l00017"></a>00017 <span class="comment"></span> |
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39 <a name="l00018"></a>00018 <span class="comment">Sample can work on other platdorms as well.</span> |
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40 <a name="l00019"></a>00019 <span class="comment"></span> |
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41 <a name="l00020"></a>00020 <span class="comment">Copyright (C) 2007 Leonid Tochinski (ltochinski AT chattenassociates DOT com)</span> |
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42 <a name="l00021"></a>00021 <span class="comment">***************************************************************************/</span> |
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43 <a name="l00022"></a>00022 |
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44 <a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span> |
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45 <a name="l00024"></a>00024 <span class="preprocessor">#include <stdlib.h></span> |
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46 <a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="win32test_8h.html">win32test.h</a>"</span> |
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47 <a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span> |
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48 <a name="l00027"></a>00027 |
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49 <a name="l00028"></a>00028 <span class="preprocessor">#ifdef WIN32</span> |
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50 <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define sleep_proc(ms) Sleep(ms)</span> |
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51 <a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define uptime_ms_proc() GetTickCount()</span> |
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52 <a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#else</span> |
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53 <a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#include <time.h></span> |
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54 <a name="l00033"></a><a class="code" href="main_8c.html#6383650a87aa7d2a6d496d13afb24d8b">00033</a> <span class="preprocessor">#define sleep_proc(ms)</span> |
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55 <a name="l00034"></a><a class="code" href="main_8c.html#01197732573264a33297a95c9e7ec100">00034</a> <span class="preprocessor"></span><span class="preprocessor">#define uptime_ms_proc (1000*(time()%86400)) // TOD</span> |
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56 <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#endif</span> |
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57 <a name="l00036"></a>00036 <span class="preprocessor"></span> |
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58 <a name="l00037"></a><a class="code" href="main_8c.html#3ed72783d02c7dd8e2527fa95eecf9b7">00037</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="main_8c.html#3ed72783d02c7dd8e2527fa95eecf9b7">GetChangeStateResults</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> node_id, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> expected_state, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> timeout_ms) |
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59 <a name="l00038"></a>00038 { |
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60 <a name="l00039"></a>00039 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> start_time = 0; |
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61 <a name="l00040"></a>00040 |
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62 <a name="l00041"></a>00041 <span class="comment">// reset nodes state</span> |
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63 <a name="l00042"></a>00042 <a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>.<a class="code" href="structstruct__CO__Data.html#9b11cedeb5f46378c752f68a997e0903">NMTable</a>[node_id] = <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538c10f9d2ed7c3268d46023240e3bef9b9">Unknown_state</a>; |
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64 <a name="l00043"></a>00043 |
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65 <a name="l00044"></a>00044 <span class="comment">// request node state</span> |
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66 <a name="l00045"></a>00045 <a class="code" href="nmtMaster_8c.html#ed4b5c5175612deb4d3e9c328a645cfb">masterRequestNodeState</a>(&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>, node_id); |
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67 <a name="l00046"></a>00046 |
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68 <a name="l00047"></a>00047 start_time = <a class="code" href="main_8c.html#01197732573264a33297a95c9e7ec100">uptime_ms_proc</a>(); |
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69 <a name="l00048"></a>00048 <span class="keywordflow">while</span>(<a class="code" href="main_8c.html#01197732573264a33297a95c9e7ec100">uptime_ms_proc</a>() - start_time < timeout_ms) |
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70 <a name="l00049"></a>00049 { |
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71 <a name="l00050"></a>00050 <span class="keywordflow">if</span> (<a class="code" href="lifegrd_8c.html#efc37a2f9a8c56f18d7569bfb0f02554">getNodeState</a>(&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>, node_id) == expected_state) |
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72 <a name="l00051"></a>00051 <span class="keywordflow">return</span> 0; |
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73 <a name="l00052"></a>00052 <a class="code" href="main_8c.html#6383650a87aa7d2a6d496d13afb24d8b">sleep_proc</a>(1); |
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74 <a name="l00053"></a>00053 } |
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75 <a name="l00054"></a>00054 <span class="keywordflow">return</span> 0xFF; |
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76 <a name="l00055"></a>00055 } |
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77 <a name="l00056"></a>00056 |
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78 <a name="l00057"></a><a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">00057</a> <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(<a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> nodeId, <a class="code" href="hcs12_2applicfg_8h.html#14fad477a4a001f547db2731eaaaa1dc">UNS16</a> index, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> subIndex, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> dataType, <span class="keywordtype">void</span>* data, <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a>* size) |
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79 <a name="l00058"></a>00058 { |
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80 <a name="l00059"></a>00059 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode = 0; |
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81 <a name="l00060"></a>00060 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> res = <a class="code" href="def_8h.html#2b7ba4e769b81e1ec7ca14f011ab908f">SDO_UPLOAD_IN_PROGRESS</a>; |
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82 <a name="l00061"></a>00061 <span class="comment">// Read SDO</span> |
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83 <a name="l00062"></a>00062 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> err = <a class="code" href="sdo_8c.html#dbc2fd49f1f126684922973871e337aa">readNetworkDict</a> (&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>, nodeId, index, subIndex, dataType); |
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84 <a name="l00063"></a>00063 <span class="keywordflow">if</span> (err) |
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85 <a name="l00064"></a>00064 <span class="keywordflow">return</span> 0xFF; |
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86 <a name="l00065"></a>00065 <span class="keywordflow">for</span>(;;) |
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87 <a name="l00066"></a>00066 { |
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88 <a name="l00067"></a>00067 res = <a class="code" href="sdo_8c.html#bec7a9f46a1ddda9fed0c0e7c61558fc">getReadResultNetworkDict</a> (&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>, nodeId, data, size, &abortCode); |
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89 <a name="l00068"></a>00068 <span class="keywordflow">if</span> (res != <a class="code" href="def_8h.html#2b7ba4e769b81e1ec7ca14f011ab908f">SDO_UPLOAD_IN_PROGRESS</a>) |
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90 <a name="l00069"></a>00069 <span class="keywordflow">break</span>; |
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91 <a name="l00070"></a>00070 <a class="code" href="main_8c.html#6383650a87aa7d2a6d496d13afb24d8b">sleep_proc</a>(1); |
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92 <a name="l00071"></a>00071 <span class="keywordflow">continue</span>; |
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93 <a name="l00072"></a>00072 } |
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94 <a name="l00073"></a>00073 <a class="code" href="sdo_8c.html#df77b984822a5cec9782ebd6bc64e700">closeSDOtransfer</a>(&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>, nodeId, <a class="code" href="def_8h.html#9643ba6f5821c05629c3d60f1f911e88">SDO_CLIENT</a>); |
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95 <a name="l00074"></a>00074 <span class="keywordflow">if</span> (res == <a class="code" href="def_8h.html#12966f6991bcd2a375fafc8c7c877c04">SDO_FINISHED</a>) |
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96 <a name="l00075"></a>00075 <span class="keywordflow">return</span> 0; |
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97 <a name="l00076"></a>00076 <span class="keywordflow">return</span> 0xFF; |
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98 <a name="l00077"></a>00077 } |
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99 <a name="l00078"></a>00078 |
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100 <a name="l00079"></a><a class="code" href="main_8c.html#28052c36c3b61c6c0eaa18f5d226118f">00079</a> <span class="keywordtype">int</span> <a class="code" href="appli_8c.html#35d180f652ecf52603a5e9d7e891665f">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[]) |
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101 <a name="l00080"></a>00080 { |
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102 <a name="l00081"></a>00081 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> node_id = 0; |
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103 <a name="l00082"></a>00082 <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a> = {<span class="stringliteral">"1"</span>, <span class="stringliteral">"125K"</span>}; |
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104 <a name="l00083"></a>00083 <span class="keywordtype">char</span>* dll_file_name; |
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105 <a name="l00084"></a>00084 |
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106 <a name="l00085"></a>00085 <span class="comment">/* process command line arguments */</span> |
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107 <a name="l00086"></a>00086 <span class="keywordflow">if</span> (argc < 2) |
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108 <a name="l00087"></a>00087 { |
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109 <a name="l00088"></a>00088 printf(<span class="stringliteral">"USAGE: win32test node_id [dll_file_name]\n"</span>); |
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110 <a name="l00089"></a>00089 <span class="keywordflow">return</span> 1; |
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111 <a name="l00090"></a>00090 } |
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112 <a name="l00091"></a>00091 |
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113 <a name="l00092"></a>00092 node_id = atoi(argv[1]); |
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114 <a name="l00093"></a>00093 <span class="keywordflow">if</span> (node_id < 2 || node_id > 127) |
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115 <a name="l00094"></a>00094 { |
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116 <a name="l00095"></a>00095 printf(<span class="stringliteral">"ERROR: node_id shoule be >=2 and <= 127\n"</span>); |
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117 <a name="l00096"></a>00096 <span class="keywordflow">return</span> 1; |
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118 <a name="l00097"></a>00097 } |
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119 <a name="l00098"></a>00098 |
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120 <a name="l00099"></a>00099 <span class="keywordflow">if</span> (argc > 2) |
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121 <a name="l00100"></a>00100 dll_file_name = argv[2]; |
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122 <a name="l00101"></a>00101 <span class="keywordflow">else</span> |
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123 <a name="l00102"></a>00102 dll_file_name = <span class="stringliteral">"can_uvccm_win32.dll"</span>; |
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124 <a name="l00103"></a>00103 |
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125 <a name="l00104"></a>00104 <span class="comment">// load can driver</span> |
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126 <a name="l00105"></a>00105 <span class="keywordflow">if</span> (!<a class="code" href="unix_8c.html#0012a2aa42ef694bd275c6b5be5c89c7">LoadCanDriver</a>(dll_file_name)) |
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127 <a name="l00106"></a>00106 { |
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128 <a name="l00107"></a>00107 printf(<span class="stringliteral">"ERROR: could not load diver %s\n"</span>, dll_file_name); |
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129 <a name="l00108"></a>00108 <span class="keywordflow">return</span> 1; |
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130 <a name="l00109"></a>00109 } |
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131 <a name="l00110"></a>00110 |
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132 <a name="l00111"></a>00111 <span class="keywordflow">if</span> (<a class="code" href="unix_8c.html#c32083e9caa1b02f7726a8b87d10ce33">canOpen</a>(&<a class="code" href="TestMasterSlave_8c.html#217fe3316775036170f547ceafe4bfca">MasterBoard</a>,&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>)) |
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133 <a name="l00112"></a>00112 { |
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134 <a name="l00113"></a>00113 <span class="comment">/* Defining the node Id */</span> |
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135 <a name="l00114"></a>00114 <a class="code" href="states_8c.html#191c0cad67e093ea44285c9acd187513">setNodeId</a>(&<a class="code" href="win32test_8c.html#3d4a5690ea87cdfa730cc6acb933c068">win32test_Data</a>, 0x01); |
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136 <a name="l00115"></a>00115 |
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137 <a name="l00116"></a>00116 <span class="comment">/* init */</span> |
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138 <a name="l00117"></a>00117 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&win32test_Data, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf630538de69e6bdd47a9d7dae023237acdaad5e">Initialisation</a>); |
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139 <a name="l00118"></a>00118 |
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140 <a name="l00119"></a>00119 <span class="comment">/****************************** START *******************************/</span> |
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141 <a name="l00120"></a>00120 <span class="comment">/* Put the master in operational mode */</span> |
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142 <a name="l00121"></a>00121 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&win32test_Data, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a>); |
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143 <a name="l00122"></a>00122 |
|
144 <a name="l00123"></a>00123 <span class="comment">/* Ask slave node to go in operational mode */</span> |
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145 <a name="l00124"></a>00124 <a class="code" href="nmtMaster_8c.html#c1ba0feb792adfae21a4adb96593ab3b">masterSendNMTstateChange</a> (&win32test_Data, 0, <a class="code" href="def_8h.html#4467d5b0f948367d4ecf26aa2a98c221">NMT_Start_Node</a>); |
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146 <a name="l00125"></a>00125 |
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147 <a name="l00126"></a>00126 printf(<span class="stringliteral">"\nStarting node %d (%xh) ...\n"</span>,(<span class="keywordtype">int</span>)node_id,(<span class="keywordtype">int</span>)node_id); |
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148 <a name="l00127"></a>00127 |
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149 <a name="l00128"></a>00128 <span class="comment">/* wait untill mode will switch to operational state*/</span> |
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150 <a name="l00129"></a>00129 <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#3ed72783d02c7dd8e2527fa95eecf9b7">GetChangeStateResults</a>(node_id, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053824952153680b2c826995af50d0b16aea">Operational</a>, 3000) != 0xFF) |
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151 <a name="l00130"></a>00130 { |
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152 <a name="l00131"></a>00131 <span class="comment">/* modify Client SDO 1 Parameter */</span> |
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153 <a name="l00132"></a>00132 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id; |
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154 <a name="l00133"></a>00133 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id; |
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155 <a name="l00134"></a>00134 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> Node_ID_of_the_SDO_Server = node_id; |
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156 <a name="l00135"></a>00135 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> ExpectedSize = <span class="keyword">sizeof</span> (<a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a>); |
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157 <a name="l00136"></a>00136 |
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158 <a name="l00137"></a>00137 <span class="keywordflow">if</span> (<a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> == <a class="code" href="objacces_8c.html#205ea90bcc1c528d291fb60102f19451">writeLocalDict</a>(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, <a class="code" href="objdictdef_8h.html#ad0aec3e0810593c9047b44d01209927">RW</a>) |
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159 <a name="l00138"></a>00138 && <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> == <a class="code" href="objacces_8c.html#205ea90bcc1c528d291fb60102f19451">writeLocalDict</a>(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, <a class="code" href="objdictdef_8h.html#ad0aec3e0810593c9047b44d01209927">RW</a>) |
|
160 <a name="l00139"></a>00139 && <a class="code" href="def_8h.html#a07aae3570321186b5b2233f4f8a9bbe">OD_SUCCESSFUL</a> == <a class="code" href="objacces_8c.html#205ea90bcc1c528d291fb60102f19451">writeLocalDict</a>(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, <a class="code" href="objdictdef_8h.html#ad0aec3e0810593c9047b44d01209927">RW</a>)) |
|
161 <a name="l00140"></a>00140 { |
|
162 <a name="l00141"></a>00141 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> dev_type = 0; |
|
163 <a name="l00142"></a>00142 <span class="keywordtype">char</span> device_name[64]=<span class="stringliteral">""</span>; |
|
164 <a name="l00143"></a>00143 <span class="keywordtype">char</span> hw_ver[64]=<span class="stringliteral">""</span>; |
|
165 <a name="l00144"></a>00144 <span class="keywordtype">char</span> sw_ver[64]=<span class="stringliteral">""</span>; |
|
166 <a name="l00145"></a>00145 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> vendor_id = 0; |
|
167 <a name="l00146"></a>00146 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> prod_code = 0; |
|
168 <a name="l00147"></a>00147 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> ser_num = 0; |
|
169 <a name="l00148"></a>00148 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> size; |
|
170 <a name="l00149"></a>00149 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> res; |
|
171 <a name="l00150"></a>00150 |
|
172 <a name="l00151"></a>00151 printf(<span class="stringliteral">"\nnode_id: %d (%xh) info\n"</span>,(<span class="keywordtype">int</span>)node_id,(<span class="keywordtype">int</span>)node_id); |
|
173 <a name="l00152"></a>00152 printf(<span class="stringliteral">"********************************************\n"</span>); |
|
174 <a name="l00153"></a>00153 |
|
175 <a name="l00154"></a>00154 size = <span class="keyword">sizeof</span> (dev_type); |
|
176 <a name="l00155"></a>00155 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x1000, 0, <a class="code" href="objdictdef_8h.html#c94de30d6b6063024e06de2cdabc7674">uint32</a>, &dev_type, &size); |
|
177 <a name="l00156"></a>00156 printf(<span class="stringliteral">"device type: %d\n"</span>,dev_type & 0xFFFF); |
|
178 <a name="l00157"></a>00157 |
|
179 <a name="l00158"></a>00158 size = <span class="keyword">sizeof</span> (device_name); |
|
180 <a name="l00159"></a>00159 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x1008, 0, <a class="code" href="objdictdef_8h.html#851e2f30538bfdede632203997bf1b39">visible_string</a>, device_name, &size); |
|
181 <a name="l00160"></a>00160 printf(<span class="stringliteral">"device name: %s\n"</span>,device_name); |
|
182 <a name="l00161"></a>00161 |
|
183 <a name="l00162"></a>00162 size = <span class="keyword">sizeof</span> (hw_ver); |
|
184 <a name="l00163"></a>00163 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x1009, 0, <a class="code" href="objdictdef_8h.html#851e2f30538bfdede632203997bf1b39">visible_string</a>, hw_ver, &size); |
|
185 <a name="l00164"></a>00164 printf(<span class="stringliteral">"HW version: %s\n"</span>,hw_ver); |
|
186 <a name="l00165"></a>00165 |
|
187 <a name="l00166"></a>00166 size = <span class="keyword">sizeof</span> (sw_ver); |
|
188 <a name="l00167"></a>00167 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x100A, 0, <a class="code" href="objdictdef_8h.html#851e2f30538bfdede632203997bf1b39">visible_string</a>, sw_ver, &size); |
|
189 <a name="l00168"></a>00168 printf(<span class="stringliteral">"SW version: %s\n"</span>,sw_ver); |
|
190 <a name="l00169"></a>00169 |
|
191 <a name="l00170"></a>00170 size = <span class="keyword">sizeof</span> (vendor_id); |
|
192 <a name="l00171"></a>00171 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x1018, 1, <a class="code" href="objdictdef_8h.html#c94de30d6b6063024e06de2cdabc7674">uint32</a>, &vendor_id, &size); |
|
193 <a name="l00172"></a>00172 printf(<span class="stringliteral">"vendor id: %d\n"</span>,vendor_id); |
|
194 <a name="l00173"></a>00173 |
|
195 <a name="l00174"></a>00174 size = <span class="keyword">sizeof</span> (prod_code); |
|
196 <a name="l00175"></a>00175 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x1018, 2, <a class="code" href="objdictdef_8h.html#c94de30d6b6063024e06de2cdabc7674">uint32</a>, &prod_code, &size); |
|
197 <a name="l00176"></a>00176 printf(<span class="stringliteral">"product code: %d\n"</span>,prod_code); |
|
198 <a name="l00177"></a>00177 |
|
199 <a name="l00178"></a>00178 size = <span class="keyword">sizeof</span> (ser_num); |
|
200 <a name="l00179"></a>00179 res = <a class="code" href="main_8c.html#595acfd379e20a2f1c112860f9371ce3">ReadSDO</a>(node_id, 0x1018, 4, <a class="code" href="objdictdef_8h.html#c94de30d6b6063024e06de2cdabc7674">uint32</a>, &ser_num, &size); |
|
201 <a name="l00180"></a>00180 printf(<span class="stringliteral">"serial number: %d\n"</span>,ser_num); |
|
202 <a name="l00181"></a>00181 |
|
203 <a name="l00182"></a>00182 printf(<span class="stringliteral">"********************************************\n"</span>); |
|
204 <a name="l00183"></a>00183 } |
|
205 <a name="l00184"></a>00184 <span class="keywordflow">else</span> |
|
206 <a name="l00185"></a>00185 { |
|
207 <a name="l00186"></a>00186 printf(<span class="stringliteral">"ERROR: Object dictionary access failed\n"</span>); |
|
208 <a name="l00187"></a>00187 } |
|
209 <a name="l00188"></a>00188 } |
|
210 <a name="l00189"></a>00189 <span class="keywordflow">else</span> |
|
211 <a name="l00190"></a>00190 { |
|
212 <a name="l00191"></a>00191 printf(<span class="stringliteral">"ERROR: node_id %d (%xh) is not responding\n"</span>,(<span class="keywordtype">int</span>)node_id,(<span class="keywordtype">int</span>)node_id); |
|
213 <a name="l00192"></a>00192 } |
|
214 <a name="l00193"></a>00193 |
|
215 <a name="l00194"></a>00194 <a class="code" href="nmtMaster_8c.html#c1ba0feb792adfae21a4adb96593ab3b">masterSendNMTstateChange</a> (&win32test_Data, 0x02, <a class="code" href="def_8h.html#0d1997bb9a500ca3e400bf4ca6428044">NMT_Stop_Node</a>); |
|
216 <a name="l00195"></a>00195 |
|
217 <a name="l00196"></a>00196 <a class="code" href="states_8c.html#cfb53d66c2360cd55b1d968f0e5c270f">setState</a>(&win32test_Data, <a class="code" href="states_8h.html#80401a8f6d29787e07427b2baf63053853c74ac440bbf6af2cb67759d3cd8f0a">Stopped</a>); |
|
218 <a name="l00197"></a>00197 |
|
219 <a name="l00198"></a>00198 <a class="code" href="unix_8c.html#6d6b692e726dee0a5726e6d3db1b1693">canClose</a>(&win32test_Data); |
|
220 <a name="l00199"></a>00199 } |
|
221 <a name="l00200"></a>00200 <span class="keywordflow">return</span> 0; |
|
222 <a name="l00201"></a>00201 } |
|
223 <a name="l00202"></a>00202 |
|
224 <a name="l00203"></a>00203 |
|
225 </pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by |
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226 <a href="http://www.doxygen.org/index.html"> |
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227 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
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228 </body> |
|
229 </html> |
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