55 char busName[2];

    55 char busName[2];

    56 char baudRate[7];

    56 char baudRate[7];

    57 s_BOARD board;

    57 s_BOARD board;

    58 

    58 

    59     sprintf(busName, "%u", bus);

    59     sprintf(busName, "%u", bus);

    61     board.busname = busName;

    61     board.busname = busName;

    62     board.baudrate = baudRate;

    62     board.baudrate = baudRate;

    63 

    63 

    64     slaveNode = node;

    64     slaveNode = node;

    65 

    65 

    71     SillySlave_Data.post_sync = SillySlave_post_sync;

    71     SillySlave_Data.post_sync = SillySlave_post_sync;

    72     SillySlave_Data.post_TPDO = SillySlave_post_TPDO;

    72     SillySlave_Data.post_TPDO = SillySlave_post_TPDO;

    73     SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex;

    73     SillySlave_Data.storeODSubIndex = SillySlave_storeODSubIndex;

    74     SillySlave_Data.post_emcy = SillySlave_post_emcy;

    74     SillySlave_Data.post_emcy = SillySlave_post_emcy;

    75     

    75     

    76     if(!canOpen(&board, &SillySlave_Data))

    78     if(!canOpen(&board, &SillySlave_Data))

    77     {

    79     {

    78         printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate);

    80         printf("\n\aInitCANdevice() CAN bus %s opening error, baudrate=%s\n",board.busname, board.baudrate);

    79         return -1;

    81         return -1;

    80     }

    82     }

    81 

    83 

    82 

    84 

    83     printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n");

    85     printf("\nInitCANdevice(), canOpen() OK, starting timer loop...\n");

    84 

    86 

    86     StartTimerLoop(&InitNode); 

    88     StartTimerLoop(&InitNode); 

    87     

    89     

    88 	/* wait Ctrl-C */

    90 	/* wait Ctrl-C */

    89 	pause();

    91 	pause();

    90 	printf("\nFinishing.\n");

    92 	printf("\nFinishing.\n");