|
1 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> |
|
2 <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> |
|
3 <title>CanFestival: examples/win32test/main.c Source File</title> |
|
4 <link href="doxygen.css" rel="stylesheet" type="text/css"> |
|
5 <link href="tabs.css" rel="stylesheet" type="text/css"> |
|
6 </head><body> |
|
7 <!-- Generated by Doxygen 1.5.1 --> |
|
8 <div class="tabs"> |
|
9 <ul> |
|
10 <li><a href="main.html"><span>Main Page</span></a></li> |
|
11 <li><a href="annotated.html"><span>Data Structures</span></a></li> |
|
12 <li id="current"><a href="files.html"><span>Files</span></a></li> |
|
13 <li><a href="dirs.html"><span>Directories</span></a></li> |
|
14 </ul></div> |
|
15 <div class="tabs"> |
|
16 <ul> |
|
17 <li><a href="files.html"><span>File List</span></a></li> |
|
18 <li><a href="globals.html"><span>Globals</span></a></li> |
|
19 </ul></div> |
|
20 <div class="nav"> |
|
21 <a class="el" href="dir_fc8d77725c328f9de5a130dceab5a508.html">examples</a> » <a class="el" href="dir_9da286b31cfbba48738c6a19280b9fcf.html">win32test</a></div> |
|
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> |
|
23 <a name="l00002"></a>00002 <span class="comment">CanFestival3 win32 port example</span> |
|
24 <a name="l00003"></a>00003 <span class="comment"></span> |
|
25 <a name="l00004"></a>00004 <span class="comment">This sample demonstrates CanFestival usage with Win32</span> |
|
26 <a name="l00005"></a>00005 <span class="comment"></span> |
|
27 <a name="l00006"></a>00006 <span class="comment">Program implements master node. It starts CANOpen slave node, modifies OD, </span> |
|
28 <a name="l00007"></a>00007 <span class="comment">performs SDO reads and prints some slave node information.</span> |
|
29 <a name="l00008"></a>00008 <span class="comment"></span> |
|
30 <a name="l00009"></a>00009 <span class="comment">Usage:</span> |
|
31 <a name="l00010"></a>00010 <span class="comment"></span> |
|
32 <a name="l00011"></a>00011 <span class="comment"> win32test <node_id></span> |
|
33 <a name="l00012"></a>00012 <span class="comment"></span> |
|
34 <a name="l00013"></a>00013 <span class="comment"> where node_id is node ID in decimal format</span> |
|
35 <a name="l00014"></a>00014 <span class="comment"></span> |
|
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> |
|
37 <a name="l00016"></a>00016 <span class="comment">Code will work with non-UNICODE CanFestival-3.dll CAN-uVCCM.dll libraries.</span> |
|
38 <a name="l00017"></a>00017 <span class="comment"></span> |
|
39 <a name="l00018"></a>00018 <span class="comment">Sample can work on other platdorms as well.</span> |
|
40 <a name="l00019"></a>00019 <span class="comment"></span> |
|
41 <a name="l00020"></a>00020 <span class="comment">Copyright (C) 2007 Leonid Tochinski (ltochinski AT chattenassociates DOT com)</span> |
|
42 <a name="l00021"></a>00021 <span class="comment">***************************************************************************/</span> |
|
43 <a name="l00022"></a>00022 |
|
44 <a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span> |
|
45 <a name="l00024"></a>00024 <span class="preprocessor">#include <stdlib.h></span> |
|
46 <a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="win32test_8h.html">win32test.h</a>"</span> |
|
47 <a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span> |
|
48 <a name="l00027"></a>00027 |
|
49 <a name="l00028"></a>00028 <span class="preprocessor">#ifdef WIN32</span> |
|
50 <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define sleep_proc(ms) Sleep(ms)</span> |
|
51 <a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define uptime_ms_proc() GetTickCount()</span> |
|
52 <a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#else</span> |
|
53 <a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#include <time.h></span> |
|
54 <a name="l00033"></a><a class="code" href="main_8c.html#912c62bad87e954cee4b1733111a420b">00033</a> <span class="preprocessor">#define sleep_proc(ms)</span> |
|
55 <a name="l00034"></a><a class="code" href="main_8c.html#6faddd33869dd1ccf360315b1f11b554">00034</a> <span class="preprocessor"></span><span class="preprocessor">#define uptime_ms_proc (1000*(time()%86400)) // TOD</span> |
|
56 <a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#endif</span> |
|
57 <a name="l00036"></a>00036 <span class="preprocessor"></span> |
|
58 <a name="l00037"></a><a class="code" href="main_8c.html#b324a2fad227690e3da744b69f7a8119">00037</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="main_8c.html#b324a2fad227690e3da744b69f7a8119">GetChangeStateResults</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> node_id, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> expected_state, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> timeout_ms) |
|
59 <a name="l00038"></a>00038 { |
|
60 <a name="l00039"></a>00039 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> start_time = 0; |
|
61 <a name="l00040"></a>00040 |
|
62 <a name="l00041"></a>00041 <span class="comment">// reset nodes state</span> |
|
63 <a name="l00042"></a>00042 <a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>.<a class="code" href="structstruct__CO__Data.html#40414cf320a3c3d6236790bd10b4301a">NMTable</a>[node_id] = <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646cb4b5cb64be091d76f846380eb0afe59">Unknown_state</a>; |
|
64 <a name="l00043"></a>00043 |
|
65 <a name="l00044"></a>00044 <span class="comment">// request node state</span> |
|
66 <a name="l00045"></a>00045 <a class="code" href="nmtMaster_8c.html#98bee3f402438056dbd653e752054796">masterRequestNodeState</a>(&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>, node_id); |
|
67 <a name="l00046"></a>00046 |
|
68 <a name="l00047"></a>00047 start_time = <a class="code" href="main_8c.html#6faddd33869dd1ccf360315b1f11b554">uptime_ms_proc</a>(); |
|
69 <a name="l00048"></a>00048 <span class="keywordflow">while</span>(<a class="code" href="main_8c.html#6faddd33869dd1ccf360315b1f11b554">uptime_ms_proc</a>() - start_time < timeout_ms) |
|
70 <a name="l00049"></a>00049 { |
|
71 <a name="l00050"></a>00050 <span class="keywordflow">if</span> (<a class="code" href="lifegrd_8c.html#627254070e45c23f1776e12c524492ff">getNodeState</a>(&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>, node_id) == expected_state) |
|
72 <a name="l00051"></a>00051 <span class="keywordflow">return</span> 0; |
|
73 <a name="l00052"></a>00052 <a class="code" href="main_8c.html#912c62bad87e954cee4b1733111a420b">sleep_proc</a>(1); |
|
74 <a name="l00053"></a>00053 } |
|
75 <a name="l00054"></a>00054 <span class="keywordflow">return</span> 0xFF; |
|
76 <a name="l00055"></a>00055 } |
|
77 <a name="l00056"></a>00056 |
|
78 <a name="l00057"></a><a class="code" href="main_8c.html#d4427585d0ce571277ff22b72adce526">00057</a> <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> <a class="code" href="main_8c.html#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(<a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> nodeId, <a class="code" href="hcs12_2applicfg_8h.html#5528eeccf214bfe021532622d78c6a96">UNS16</a> index, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> subIndex, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> dataType, <span class="keywordtype">void</span>* data, <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a>* size) |
|
79 <a name="l00058"></a>00058 { |
|
80 <a name="l00059"></a>00059 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> abortCode = 0; |
|
81 <a name="l00060"></a>00060 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> res = <a class="code" href="def_8h.html#f05e95a564b579b94d14a218264d13e1">SDO_UPLOAD_IN_PROGRESS</a>; |
|
82 <a name="l00061"></a>00061 <span class="comment">// Read SDO</span> |
|
83 <a name="l00062"></a>00062 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> err = <a class="code" href="sdo_8c.html#0e102a0835e4115920cd406e80a8d135">readNetworkDict</a> (&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>, nodeId, index, subIndex, dataType); |
|
84 <a name="l00063"></a>00063 <span class="keywordflow">if</span> (err) |
|
85 <a name="l00064"></a>00064 <span class="keywordflow">return</span> 0xFF; |
|
86 <a name="l00065"></a>00065 <span class="keywordflow">for</span>(;;) |
|
87 <a name="l00066"></a>00066 { |
|
88 <a name="l00067"></a>00067 res = <a class="code" href="sdo_8c.html#05b0c8eee1faee3c7a2f6e2ba3a16533">getReadResultNetworkDict</a> (&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>, nodeId, data, size, &abortCode); |
|
89 <a name="l00068"></a>00068 <span class="keywordflow">if</span> (res != <a class="code" href="def_8h.html#f05e95a564b579b94d14a218264d13e1">SDO_UPLOAD_IN_PROGRESS</a>) |
|
90 <a name="l00069"></a>00069 <span class="keywordflow">break</span>; |
|
91 <a name="l00070"></a>00070 <a class="code" href="main_8c.html#912c62bad87e954cee4b1733111a420b">sleep_proc</a>(1); |
|
92 <a name="l00071"></a>00071 <span class="keywordflow">continue</span>; |
|
93 <a name="l00072"></a>00072 } |
|
94 <a name="l00073"></a>00073 <a class="code" href="sdo_8c.html#555a772d3a88a29c495f33513f8b2d58">closeSDOtransfer</a>(&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>, nodeId, <a class="code" href="def_8h.html#b1dccfddc653c2a7c4eaf3e1cc8d8e57">SDO_CLIENT</a>); |
|
95 <a name="l00074"></a>00074 <span class="keywordflow">if</span> (res == <a class="code" href="def_8h.html#7d9dad1485ed532424092d21b1e22ad2">SDO_FINISHED</a>) |
|
96 <a name="l00075"></a>00075 <span class="keywordflow">return</span> 0; |
|
97 <a name="l00076"></a>00076 <span class="keywordflow">return</span> 0xFF; |
|
98 <a name="l00077"></a>00077 } |
|
99 <a name="l00078"></a>00078 |
|
100 <a name="l00079"></a><a class="code" href="main_8c.html#0ddf1224851353fc92bfbff6f499fa97">00079</a> <span class="keywordtype">int</span> <a class="code" href="appli_8c.html#ef83014be811ae964a5ef7f0af7b46a2">main</a>(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> *argv[]) |
|
101 <a name="l00080"></a>00080 { |
|
102 <a name="l00081"></a>00081 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> node_id = 0; |
|
103 <a name="l00082"></a>00082 <a class="code" href="structstruct__s__BOARD.html">s_BOARD</a> <a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a> = {<span class="stringliteral">"1"</span>, <span class="stringliteral">"125K"</span>}; |
|
104 <a name="l00083"></a>00083 <span class="keywordtype">char</span>* dll_file_name; |
|
105 <a name="l00084"></a>00084 |
|
106 <a name="l00085"></a>00085 <span class="comment">/* process command line arguments */</span> |
|
107 <a name="l00086"></a>00086 <span class="keywordflow">if</span> (argc < 2) |
|
108 <a name="l00087"></a>00087 { |
|
109 <a name="l00088"></a>00088 printf(<span class="stringliteral">"USAGE: win32test node_id [dll_file_name]\n"</span>); |
|
110 <a name="l00089"></a>00089 <span class="keywordflow">return</span> 1; |
|
111 <a name="l00090"></a>00090 } |
|
112 <a name="l00091"></a>00091 |
|
113 <a name="l00092"></a>00092 node_id = atoi(argv[1]); |
|
114 <a name="l00093"></a>00093 <span class="keywordflow">if</span> (node_id < 2 || node_id > 127) |
|
115 <a name="l00094"></a>00094 { |
|
116 <a name="l00095"></a>00095 printf(<span class="stringliteral">"ERROR: node_id shoule be >=2 and <= 127\n"</span>); |
|
117 <a name="l00096"></a>00096 <span class="keywordflow">return</span> 1; |
|
118 <a name="l00097"></a>00097 } |
|
119 <a name="l00098"></a>00098 |
|
120 <a name="l00099"></a>00099 <span class="keywordflow">if</span> (argc > 2) |
|
121 <a name="l00100"></a>00100 dll_file_name = argv[2]; |
|
122 <a name="l00101"></a>00101 <span class="keywordflow">else</span> |
|
123 <a name="l00102"></a>00102 dll_file_name = <span class="stringliteral">"can_uvccm_win32.dll"</span>; |
|
124 <a name="l00103"></a>00103 |
|
125 <a name="l00104"></a>00104 <span class="comment">// load can driver</span> |
|
126 <a name="l00105"></a>00105 <span class="keywordflow">if</span> (!<a class="code" href="unix_8c.html#a6eed61fc15f41f772d4645d7a5edeb5">LoadCanDriver</a>(dll_file_name)) |
|
127 <a name="l00106"></a>00106 { |
|
128 <a name="l00107"></a>00107 printf(<span class="stringliteral">"ERROR: could not load diver %s\n"</span>, dll_file_name); |
|
129 <a name="l00108"></a>00108 <span class="keywordflow">return</span> 1; |
|
130 <a name="l00109"></a>00109 } |
|
131 <a name="l00110"></a>00110 |
|
132 <a name="l00111"></a>00111 <span class="keywordflow">if</span> (<a class="code" href="unix_8c.html#7476146ad15948a22e7f80a00c89c40a">canOpen</a>(&<a class="code" href="TestMasterSlave_8c.html#460b5e3b15bb47df23119998ea0fbd31">MasterBoard</a>,&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>)) |
|
133 <a name="l00112"></a>00112 { |
|
134 <a name="l00113"></a>00113 <span class="comment">/* Defining the node Id */</span> |
|
135 <a name="l00114"></a>00114 <a class="code" href="states_8c.html#d47a53979b9311a374d029f7923abbe1">setNodeId</a>(&<a class="code" href="win32test_8c.html#b45e9f10c9200481b97d9c2c0c3396b0">win32test_Data</a>, 0x01); |
|
136 <a name="l00115"></a>00115 |
|
137 <a name="l00116"></a>00116 <span class="comment">/* init */</span> |
|
138 <a name="l00117"></a>00117 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&win32test_Data, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646eb3ae26d7a1629aa0fc6c83f46306cf5">Initialisation</a>); |
|
139 <a name="l00118"></a>00118 |
|
140 <a name="l00119"></a>00119 <span class="comment">/****************************** START *******************************/</span> |
|
141 <a name="l00120"></a>00120 <span class="comment">/* Put the master in operational mode */</span> |
|
142 <a name="l00121"></a>00121 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&win32test_Data, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>); |
|
143 <a name="l00122"></a>00122 |
|
144 <a name="l00123"></a>00123 <span class="comment">/* Ask slave node to go in operational mode */</span> |
|
145 <a name="l00124"></a>00124 <a class="code" href="nmtMaster_8c.html#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a> (&win32test_Data, 0, <a class="code" href="def_8h.html#9654207fdc32413aa792c8a2dc9d414f">NMT_Start_Node</a>); |
|
146 <a name="l00125"></a>00125 |
|
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); |
|
148 <a name="l00127"></a>00127 |
|
149 <a name="l00128"></a>00128 <span class="comment">/* wait untill mode will switch to operational state*/</span> |
|
150 <a name="l00129"></a>00129 <span class="keywordflow">if</span> (<a class="code" href="main_8c.html#b324a2fad227690e3da744b69f7a8119">GetChangeStateResults</a>(node_id, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec68646a80594b1522cb686b981f56bbec45124">Operational</a>, 3000) != 0xFF) |
|
151 <a name="l00130"></a>00130 { |
|
152 <a name="l00131"></a>00131 <span class="comment">/* modify Client SDO 1 Parameter */</span> |
|
153 <a name="l00132"></a>00132 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id; |
|
154 <a name="l00133"></a>00133 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> COB_ID_Server_to_Client_Receive_SDO = 0x580 + node_id; |
|
155 <a name="l00134"></a>00134 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> Node_ID_of_the_SDO_Server = node_id; |
|
156 <a name="l00135"></a>00135 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> ExpectedSize = <span class="keyword">sizeof</span> (<a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a>); |
|
157 <a name="l00136"></a>00136 |
|
158 <a name="l00137"></a>00137 <span class="keywordflow">if</span> (<a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a> == <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>) |
|
159 <a name="l00138"></a>00138 && <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a> == <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>) |
|
160 <a name="l00139"></a>00139 && <a class="code" href="def_8h.html#cb82b94eb8e368e8c347b2273b6e514e">OD_SUCCESSFUL</a> == <a class="code" href="objacces_8c.html#7cc58d6e7711bd0d9fd75e8ff721ce36">writeLocalDict</a>(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, <a class="code" href="objdictdef_8h.html#fc4ded33ac0ca43defcce639e965748a">RW</a>)) |
|
161 <a name="l00140"></a>00140 { |
|
162 <a name="l00141"></a>00141 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">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#889a782714194ae2f780002d25d6e0be">UNS32</a> vendor_id = 0; |
|
167 <a name="l00146"></a>00146 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> prod_code = 0; |
|
168 <a name="l00147"></a>00147 <a class="code" href="hcs12_2applicfg_8h.html#889a782714194ae2f780002d25d6e0be">UNS32</a> ser_num = 0; |
|
169 <a name="l00148"></a>00148 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">UNS8</a> size; |
|
170 <a name="l00149"></a>00149 <a class="code" href="hcs12_2applicfg_8h.html#539234687760592d01a8b0d3357bc00e">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x1000, 0, <a class="code" href="objdictdef_8h.html#9695cf1104606879c5d3f0221635a069">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x1008, 0, <a class="code" href="objdictdef_8h.html#6a4b5f93c378207aee7ea8f8397d1fc9">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x1009, 0, <a class="code" href="objdictdef_8h.html#6a4b5f93c378207aee7ea8f8397d1fc9">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x100A, 0, <a class="code" href="objdictdef_8h.html#6a4b5f93c378207aee7ea8f8397d1fc9">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x1018, 1, <a class="code" href="objdictdef_8h.html#9695cf1104606879c5d3f0221635a069">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x1018, 2, <a class="code" href="objdictdef_8h.html#9695cf1104606879c5d3f0221635a069">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#d4427585d0ce571277ff22b72adce526">ReadSDO</a>(node_id, 0x1018, 4, <a class="code" href="objdictdef_8h.html#9695cf1104606879c5d3f0221635a069">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#6170d95d9900ef756921a934c5fb37d2">masterSendNMTstateChange</a> (&win32test_Data, 0x02, <a class="code" href="def_8h.html#7aae99c67e9ebd9491a246baf92570fa">NMT_Stop_Node</a>); |
|
216 <a name="l00195"></a>00195 |
|
217 <a name="l00196"></a>00196 <a class="code" href="states_8c.html#0a5004efd1dedbee82a4f21ec5c44fb5">setState</a>(&win32test_Data, <a class="code" href="states_8h.html#3136d2815abe9d284f985e0a7ec686464d049c6d45e08a294523df186ad77a75">Stopped</a>); |
|
218 <a name="l00197"></a>00197 |
|
219 <a name="l00198"></a>00198 <a class="code" href="unix_8c.html#02957f72a9b951603adb98a142bd447b">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 Fri Jun 8 08:51:39 2007 for CanFestival by |
|
226 <a href="http://www.doxygen.org/index.html"> |
|
227 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address> |
|
228 </body> |
|
229 </html> |