134 { |
134 { |
135 case 1: /* Get device type */ |
135 case 1: /* Get device type */ |
136 printf("##################################\n"); |
136 printf("##################################\n"); |
137 printf("#### Informations for node %x ####\n", nodeid); |
137 printf("#### Informations for node %x ####\n", nodeid); |
138 printf("##################################\n"); |
138 printf("##################################\n"); |
139 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1000, 0x00, 0, CheckReadInfoSDO); |
139 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1000, 0x00, 0, CheckReadInfoSDO, 0); |
140 break; |
140 break; |
141 |
141 |
142 case 2: /* Get Vendor ID */ |
142 case 2: /* Get Vendor ID */ |
143 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1018, 0x01, 0, CheckReadInfoSDO); |
143 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1018, 0x01, 0, CheckReadInfoSDO, 0); |
144 break; |
144 break; |
145 |
145 |
146 case 3: /* Get Product Code */ |
146 case 3: /* Get Product Code */ |
147 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1018, 0x02, 0, CheckReadInfoSDO); |
147 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1018, 0x02, 0, CheckReadInfoSDO, 0); |
148 break; |
148 break; |
149 |
149 |
150 case 4: /* Get Revision Number */ |
150 case 4: /* Get Revision Number */ |
151 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1018, 0x03, 0, CheckReadInfoSDO); |
151 readNetworkDictCallback(CANOpenShellOD_Data, nodeid, 0x1018, 0x03, 0, CheckReadInfoSDO, 0); |
152 break; |
152 break; |
153 |
153 |
154 case 5: /* Print node info */ |
154 case 5: /* Print node info */ |
155 get_info_step = 0; |
155 get_info_step = 0; |
156 } |
156 } |
190 printf("##################################\n"); |
190 printf("##################################\n"); |
191 printf("NodeId : %2.2x\n", nodeid); |
191 printf("NodeId : %2.2x\n", nodeid); |
192 printf("Index : %4.4x\n", index); |
192 printf("Index : %4.4x\n", index); |
193 printf("SubIndex : %2.2x\n", subindex); |
193 printf("SubIndex : %2.2x\n", subindex); |
194 |
194 |
195 readNetworkDictCallback(CANOpenShellOD_Data, (UNS8)nodeid, (UNS16)index, (UNS8)subindex, (UNS8)datatype, CheckReadSDO); |
195 readNetworkDictCallback(CANOpenShellOD_Data, (UNS8)nodeid, (UNS16)index, (UNS8)subindex, (UNS8)datatype, CheckReadSDO, 0); |
196 } |
196 } |
197 else |
197 else |
198 printf("Wrong command : %s\n", sdo); |
198 printf("Wrong command : %s\n", sdo); |
199 } |
199 } |
200 |
200 |
232 printf("Index : %4.4x\n", index); |
232 printf("Index : %4.4x\n", index); |
233 printf("SubIndex : %2.2x\n", subindex); |
233 printf("SubIndex : %2.2x\n", subindex); |
234 printf("Size : %2.2x\n", size); |
234 printf("Size : %2.2x\n", size); |
235 printf("Data : %x\n", data); |
235 printf("Data : %x\n", data); |
236 |
236 |
237 writeNetworkDictCallBack(CANOpenShellOD_Data, nodeid, index, subindex, size, 0, &data, CheckWriteSDO); |
237 writeNetworkDictCallBack(CANOpenShellOD_Data, nodeid, index, subindex, size, 0, &data, CheckWriteSDO, 0); |
238 } |
238 } |
239 else |
239 else |
240 printf("Wrong command : %s\n", sdo); |
240 printf("Wrong command : %s\n", sdo); |
241 } |
241 } |
242 |
242 |