Fixed timer problem on late Heartbeat. Thanks to Jorge.
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<a class="el" href="dir_aa575cee5acc3b84cc5b4489187a1fd3.html">examples</a> » <a class="el" href="dir_2141e986c2caba396c3501b692c2793f.html">win32test</a></div>
<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>
<a name="l00002"></a>00002 <span class="comment">CanFestival3 win32 port example</span>
<a name="l00003"></a>00003 <span class="comment"></span>
<a name="l00004"></a>00004 <span class="comment">This sample demonstrates CanFestival usage with Win32</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment">Program implements master node. It starts CANOpen slave node, modifies OD, </span>
<a name="l00007"></a>00007 <span class="comment">performs SDO reads and prints some slave node information.</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment">Usage:</span>
<a name="l00010"></a>00010 <span class="comment"></span>
<a name="l00011"></a>00011 <span class="comment"> win32test <node_id></span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment"> where node_id is node ID in decimal format</span>
<a name="l00014"></a>00014 <span class="comment"></span>
<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>
<a name="l00016"></a>00016 <span class="comment">Code will work with non-UNICODE CanFestival-3.dll CAN-uVCCM.dll libraries.</span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment">Sample can work on other platdorms as well.</span>
<a name="l00019"></a>00019 <span class="comment"></span>
<a name="l00020"></a>00020 <span class="comment">Copyright (C) 2007 Leonid Tochinski (ltochinski AT chattenassociates DOT com)</span>
<a name="l00021"></a>00021 <span class="comment">***************************************************************************/</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023 <span class="preprocessor">#include <stdio.h></span>
<a name="l00024"></a>00024 <span class="preprocessor">#include <stdlib.h></span>
<a name="l00025"></a>00025 <span class="preprocessor">#include "<a class="code" href="win32test_8h.html">win32test.h</a>"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "<a class="code" href="win32_2canfestival_8h.html">canfestival.h</a>"</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#ifdef WIN32</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define sleep_proc(ms) Sleep(ms)</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define uptime_ms_proc() GetTickCount()</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#include <time.h></span>
<a name="l00033"></a><a class="code" href="main_8c.html#6383650a87aa7d2a6d496d13afb24d8b">00033</a> <span class="preprocessor">#define sleep_proc(ms)</span>
<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>
<a name="l00035"></a>00035 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00036"></a>00036 <span class="preprocessor"></span>
<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)
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> start_time = 0;
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="comment">// reset nodes state</span>
<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>;
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">// request node state</span>
<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);
<a name="l00046"></a>00046
<a name="l00047"></a>00047 start_time = <a class="code" href="main_8c.html#01197732573264a33297a95c9e7ec100">uptime_ms_proc</a>();
<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)
<a name="l00049"></a>00049 {
<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)
<a name="l00051"></a>00051 <span class="keywordflow">return</span> 0;
<a name="l00052"></a>00052 <a class="code" href="main_8c.html#6383650a87aa7d2a6d496d13afb24d8b">sleep_proc</a>(1);
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054 <span class="keywordflow">return</span> 0xFF;
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056
<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)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> abortCode = 0;
<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>;
<a name="l00061"></a>00061 <span class="comment">// Read SDO</span>
<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);
<a name="l00063"></a>00063 <span class="keywordflow">if</span> (err)
<a name="l00064"></a>00064 <span class="keywordflow">return</span> 0xFF;
<a name="l00065"></a>00065 <span class="keywordflow">for</span>(;;)
<a name="l00066"></a>00066 {
<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);
<a name="l00068"></a>00068 <span class="keywordflow">if</span> (res != <a class="code" href="def_8h.html#2b7ba4e769b81e1ec7ca14f011ab908f">SDO_UPLOAD_IN_PROGRESS</a>)
<a name="l00069"></a>00069 <span class="keywordflow">break</span>;
<a name="l00070"></a>00070 <a class="code" href="main_8c.html#6383650a87aa7d2a6d496d13afb24d8b">sleep_proc</a>(1);
<a name="l00071"></a>00071 <span class="keywordflow">continue</span>;
<a name="l00072"></a>00072 }
<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>);
<a name="l00074"></a>00074 <span class="keywordflow">if</span> (res == <a class="code" href="def_8h.html#12966f6991bcd2a375fafc8c7c877c04">SDO_FINISHED</a>)
<a name="l00075"></a>00075 <span class="keywordflow">return</span> 0;
<a name="l00076"></a>00076 <span class="keywordflow">return</span> 0xFF;
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<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[])
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> node_id = 0;
<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>};
<a name="l00083"></a>00083 <span class="keywordtype">char</span>* dll_file_name;
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="comment">/* process command line arguments */</span>
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (argc < 2)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 printf(<span class="stringliteral">"USAGE: win32test node_id [dll_file_name]\n"</span>);
<a name="l00089"></a>00089 <span class="keywordflow">return</span> 1;
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091
<a name="l00092"></a>00092 node_id = atoi(argv[1]);
<a name="l00093"></a>00093 <span class="keywordflow">if</span> (node_id < 2 || node_id > 127)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 printf(<span class="stringliteral">"ERROR: node_id shoule be >=2 and <= 127\n"</span>);
<a name="l00096"></a>00096 <span class="keywordflow">return</span> 1;
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keywordflow">if</span> (argc > 2)
<a name="l00100"></a>00100 dll_file_name = argv[2];
<a name="l00101"></a>00101 <span class="keywordflow">else</span>
<a name="l00102"></a>00102 dll_file_name = <span class="stringliteral">"can_uvccm_win32.dll"</span>;
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment">// load can driver</span>
<a name="l00105"></a>00105 <span class="keywordflow">if</span> (!<a class="code" href="unix_8c.html#0012a2aa42ef694bd275c6b5be5c89c7">LoadCanDriver</a>(dll_file_name))
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 printf(<span class="stringliteral">"ERROR: could not load diver %s\n"</span>, dll_file_name);
<a name="l00108"></a>00108 <span class="keywordflow">return</span> 1;
<a name="l00109"></a>00109 }
<a name="l00110"></a>00110
<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>))
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 <span class="comment">/* Defining the node Id */</span>
<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);
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="comment">/* init */</span>
<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>);
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">/****************************** START *******************************/</span>
<a name="l00120"></a>00120 <span class="comment">/* Put the master in operational mode */</span>
<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>);
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">/* Ask slave node to go in operational mode */</span>
<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>);
<a name="l00125"></a>00125
<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);
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="comment">/* wait untill mode will switch to operational state*/</span>
<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)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 <span class="comment">/* modify Client SDO 1 Parameter */</span>
<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;
<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;
<a name="l00134"></a>00134 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> Node_ID_of_the_SDO_Server = node_id;
<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>);
<a name="l00136"></a>00136
<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>)
<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>)
<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>))
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> dev_type = 0;
<a name="l00142"></a>00142 <span class="keywordtype">char</span> device_name[64]=<span class="stringliteral">""</span>;
<a name="l00143"></a>00143 <span class="keywordtype">char</span> hw_ver[64]=<span class="stringliteral">""</span>;
<a name="l00144"></a>00144 <span class="keywordtype">char</span> sw_ver[64]=<span class="stringliteral">""</span>;
<a name="l00145"></a>00145 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> vendor_id = 0;
<a name="l00146"></a>00146 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> prod_code = 0;
<a name="l00147"></a>00147 <a class="code" href="hcs12_2applicfg_8h.html#a6a1b7af83d4106c1d1621bdb28d9c48">UNS32</a> ser_num = 0;
<a name="l00148"></a>00148 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> size;
<a name="l00149"></a>00149 <a class="code" href="hcs12_2applicfg_8h.html#c2e754635928189b98cf3f5b7e6dbffb">UNS8</a> res;
<a name="l00150"></a>00150
<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);
<a name="l00152"></a>00152 printf(<span class="stringliteral">"********************************************\n"</span>);
<a name="l00153"></a>00153
<a name="l00154"></a>00154 size = <span class="keyword">sizeof</span> (dev_type);
<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);
<a name="l00156"></a>00156 printf(<span class="stringliteral">"device type: %d\n"</span>,dev_type & 0xFFFF);
<a name="l00157"></a>00157
<a name="l00158"></a>00158 size = <span class="keyword">sizeof</span> (device_name);
<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);
<a name="l00160"></a>00160 printf(<span class="stringliteral">"device name: %s\n"</span>,device_name);
<a name="l00161"></a>00161
<a name="l00162"></a>00162 size = <span class="keyword">sizeof</span> (hw_ver);
<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);
<a name="l00164"></a>00164 printf(<span class="stringliteral">"HW version: %s\n"</span>,hw_ver);
<a name="l00165"></a>00165
<a name="l00166"></a>00166 size = <span class="keyword">sizeof</span> (sw_ver);
<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);
<a name="l00168"></a>00168 printf(<span class="stringliteral">"SW version: %s\n"</span>,sw_ver);
<a name="l00169"></a>00169
<a name="l00170"></a>00170 size = <span class="keyword">sizeof</span> (vendor_id);
<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);
<a name="l00172"></a>00172 printf(<span class="stringliteral">"vendor id: %d\n"</span>,vendor_id);
<a name="l00173"></a>00173
<a name="l00174"></a>00174 size = <span class="keyword">sizeof</span> (prod_code);
<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);
<a name="l00176"></a>00176 printf(<span class="stringliteral">"product code: %d\n"</span>,prod_code);
<a name="l00177"></a>00177
<a name="l00178"></a>00178 size = <span class="keyword">sizeof</span> (ser_num);
<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);
<a name="l00180"></a>00180 printf(<span class="stringliteral">"serial number: %d\n"</span>,ser_num);
<a name="l00181"></a>00181
<a name="l00182"></a>00182 printf(<span class="stringliteral">"********************************************\n"</span>);
<a name="l00183"></a>00183 }
<a name="l00184"></a>00184 <span class="keywordflow">else</span>
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186 printf(<span class="stringliteral">"ERROR: Object dictionary access failed\n"</span>);
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 <span class="keywordflow">else</span>
<a name="l00190"></a>00190 {
<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);
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193
<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>);
<a name="l00195"></a>00195
<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>);
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <a class="code" href="unix_8c.html#6d6b692e726dee0a5726e6d3db1b1693">canClose</a>(&win32test_Data);
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200 <span class="keywordflow">return</span> 0;
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202
<a name="l00203"></a>00203
</pre></div><hr size="1"><address style="align: right;"><small>Generated on Mon Jul 2 19:10:16 2007 for CanFestival by
<a href="http://www.doxygen.org/index.html">
<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.1 </small></address>
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