CanFestival: examples/win32test/main.c Source File

00001 /**************************************************************************
nico@215: 00002 CanFestival3 win32 port example
nico@215: 00003 
nico@215: 00004 This sample demonstrates CanFestival usage with Win32
nico@215: 00005 
nico@215: 00006 Program implements master node. It starts CANOpen slave node, modifies OD, 
nico@215: 00007 performs SDO reads and prints some slave node information.
nico@215: 00008 
nico@215: 00009 Usage:
nico@215: 00010 
nico@215: 00011     win32test <node_id>
nico@215: 00012 
nico@215: 00013   where node_id is node ID in decimal format
nico@215: 00014 
nico@215: 00015 You should have CanFestival-3.dll CAN-uVCCM.dll in the search path to run this sample.
nico@215: 00016 Code will work with non-UNICODE CanFestival-3.dll CAN-uVCCM.dll libraries.
nico@215: 00017 
nico@215: 00018 Sample can work on other platdorms as well.
nico@215: 00019 
nico@215: 00020 Copyright (C) 2007  Leonid Tochinski (ltochinski AT chattenassociates DOT com)
nico@215: 00021 ***************************************************************************/
nico@215: 00022 
nico@215: 00023 #include <stdio.h>
nico@215: 00024 #include <stdlib.h> 
nico@215: 00025 #include "win32test.h"
nico@215: 00026 #include "canfestival.h"
nico@215: 00027 
nico@215: 00028 #ifdef WIN32
nico@215: 00029 #define sleep_proc(ms) Sleep(ms)
nico@215: 00030 #define uptime_ms_proc() GetTickCount()
nico@215: 00031 #else
nico@215: 00032 #include <time.h> 
etisserant@240: 00033 #define sleep_proc(ms)
etisserant@240: 00034 #define uptime_ms_proc (1000*(time()%86400))  // TOD
nico@215: 00035 #endif
nico@215: 00036 
etisserant@240: 00037 UNS8 GetChangeStateResults(UNS8 node_id, UNS8 expected_state, unsigned long timeout_ms)
nico@215: 00038    {
nico@215: 00039    unsigned long start_time = 0;
nico@215: 00040    
nico@215: 00041    // reset nodes state
etisserant@240: 00042    win32test_Data.NMTable[node_id] = Unknown_state;
nico@215: 00043 
nico@215: 00044    // request node state
etisserant@240: 00045    masterRequestNodeState(&win32test_Data, node_id);
nico@215: 00046    
etisserant@240: 00047    start_time = uptime_ms_proc();
etisserant@240: 00048    while(uptime_ms_proc() - start_time < timeout_ms)
nico@215: 00049       {
etisserant@240: 00050       if (getNodeState(&win32test_Data, node_id) == expected_state)
nico@215: 00051          return 0;
etisserant@240: 00052       sleep_proc(1);   
nico@215: 00053       }
nico@215: 00054    return 0xFF;
nico@215: 00055    }
nico@215: 00056 
etisserant@240: 00057 UNS8 ReadSDO(UNS8 nodeId, UNS16 index, UNS8 subIndex, UNS8 dataType, void* data, UNS8* size)
nico@215: 00058    {
etisserant@240: 00059    UNS32 abortCode = 0;
etisserant@240: 00060    UNS8 res = SDO_UPLOAD_IN_PROGRESS;
nico@215: 00061    // Read SDO
etisserant@240: 00062    UNS8 err = readNetworkDict (&win32test_Data, nodeId, index, subIndex, dataType);
nico@215: 00063    if (err)
nico@215: 00064       return 0xFF;
nico@215: 00065    for(;;)
nico@215: 00066       {
etisserant@240: 00067       res = getReadResultNetworkDict (&win32test_Data, nodeId, data, size, &abortCode);
etisserant@240: 00068       if (res != SDO_UPLOAD_IN_PROGRESS)
nico@215: 00069          break;   
etisserant@240: 00070       sleep_proc(1);
nico@215: 00071       continue;
nico@215: 00072       }
etisserant@240: 00073    closeSDOtransfer(&win32test_Data, nodeId, SDO_CLIENT);
etisserant@240: 00074    if (res == SDO_FINISHED)
nico@215: 00075       return 0;
nico@215: 00076    return 0xFF;   
nico@215: 00077    }
nico@215: 00078 
etisserant@240: 00079 int main(int argc, char *argv[])
nico@215: 00080   {
etisserant@240: 00081    UNS8 node_id = 0;
etisserant@240: 00082    s_BOARD MasterBoard = {"1", "125K"};
nico@215: 00083    char* dll_file_name;
nico@215: 00084 
nico@215: 00085    /* process command line arguments */
nico@215: 00086    if (argc < 2)
nico@215: 00087       {
nico@215: 00088       printf("USAGE: win32test node_id [dll_file_name]\n");
nico@215: 00089       return 1;
nico@215: 00090       }
nico@215: 00091 
nico@215: 00092    node_id = atoi(argv[1]);
nico@215: 00093    if (node_id < 2 || node_id > 127)
nico@215: 00094       {
nico@215: 00095       printf("ERROR: node_id shoule be >=2 and <= 127\n");
nico@215: 00096       return 1;
nico@215: 00097       }
nico@215: 00098 
nico@215: 00099       if (argc > 2)
nico@215: 00100                 dll_file_name = argv[2];
nico@215: 00101           else
nico@215: 00102                 dll_file_name = "can_uvccm_win32.dll";
nico@215: 00103 
nico@215: 00104    // load can driver
etisserant@240: 00105    if (!LoadCanDriver(dll_file_name))
nico@215: 00106       {
nico@215: 00107       printf("ERROR: could not load diver %s\n", dll_file_name);
nico@215: 00108       return 1;
nico@215: 00109       }
nico@215: 00110    
etisserant@240: 00111    if (canOpen(&MasterBoard,&win32test_Data))
nico@215: 00112       {
nico@215: 00113       /* Defining the node Id */
etisserant@240: 00114       setNodeId(&win32test_Data, 0x01);
nico@215: 00115 
nico@215: 00116       /* init */
etisserant@240: 00117       setState(&win32test_Data, Initialisation);
nico@215: 00118 
nico@215: 00119       /****************************** START *******************************/
nico@215: 00120       /* Put the master in operational mode */
etisserant@240: 00121       setState(&win32test_Data, Operational);
nico@215: 00122 
nico@215: 00123       /* Ask slave node to go in operational mode */
etisserant@240: 00124       masterSendNMTstateChange (&win32test_Data, 0, NMT_Start_Node);
nico@215: 00125 
nico@215: 00126       printf("\nStarting node %d (%xh) ...\n",(int)node_id,(int)node_id);
nico@215: 00127       
nico@215: 00128       /* wait untill mode will switch to operational state*/
etisserant@240: 00129       if (GetChangeStateResults(node_id, Operational, 3000) != 0xFF)
nico@215: 00130          {
nico@215: 00131          /* modify Client SDO 1 Parameter */
etisserant@240: 00132          UNS32 COB_ID_Client_to_Server_Transmit_SDO = 0x600 + node_id;
etisserant@240: 00133          UNS32 COB_ID_Server_to_Client_Receive_SDO  = 0x580 + node_id;
etisserant@240: 00134          UNS32 Node_ID_of_the_SDO_Server = node_id;
etisserant@240: 00135          UNS8 ExpectedSize = sizeof (UNS32);
nico@215: 00136 
etisserant@240: 00137          if (OD_SUCCESSFUL ==  writeLocalDict(&win32test_Data, 0x1280, 1, &COB_ID_Client_to_Server_Transmit_SDO, &ExpectedSize, RW) 
etisserant@240: 00138               && OD_SUCCESSFUL ==  writeLocalDict(&win32test_Data, 0x1280, 2, &COB_ID_Server_to_Client_Receive_SDO, &ExpectedSize, RW) 
etisserant@240: 00139               && OD_SUCCESSFUL ==  writeLocalDict(&win32test_Data, 0x1280, 3, &Node_ID_of_the_SDO_Server, &ExpectedSize, RW))
nico@215: 00140             {
etisserant@240: 00141             UNS32 dev_type = 0;
nico@215: 00142             char device_name[64]="";
nico@215: 00143             char hw_ver[64]="";
nico@215: 00144             char sw_ver[64]="";   
etisserant@240: 00145             UNS32 vendor_id = 0;            
etisserant@240: 00146             UNS32 prod_code = 0;
etisserant@240: 00147             UNS32 ser_num = 0;
etisserant@240: 00148             UNS8 size;
etisserant@240: 00149             UNS8 res;
nico@215: 00150 
nico@215: 00151             printf("\nnode_id: %d (%xh) info\n",(int)node_id,(int)node_id);
nico@215: 00152             printf("********************************************\n");
nico@215: 00153 
nico@215: 00154             size = sizeof (dev_type);
etisserant@240: 00155             res = ReadSDO(node_id, 0x1000, 0, uint32, &dev_type, &size);
nico@215: 00156             printf("device type: %d\n",dev_type & 0xFFFF);
nico@215: 00157            
nico@215: 00158             size = sizeof (device_name);
etisserant@240: 00159             res = ReadSDO(node_id, 0x1008, 0, visible_string, device_name, &size);
nico@215: 00160             printf("device name: %s\n",device_name);
nico@215: 00161 
nico@215: 00162             size = sizeof (hw_ver);
etisserant@240: 00163             res = ReadSDO(node_id, 0x1009, 0, visible_string, hw_ver, &size);
nico@215: 00164             printf("HW version: %s\n",hw_ver);
nico@215: 00165 
nico@215: 00166             size = sizeof (sw_ver);
etisserant@240: 00167             res = ReadSDO(node_id, 0x100A, 0, visible_string, sw_ver, &size);
nico@215: 00168             printf("SW version: %s\n",sw_ver);            
nico@215: 00169             
nico@215: 00170             size = sizeof (vendor_id);
etisserant@240: 00171             res = ReadSDO(node_id, 0x1018, 1, uint32, &vendor_id, &size);
nico@215: 00172             printf("vendor id: %d\n",vendor_id);
nico@215: 00173 
nico@215: 00174             size = sizeof (prod_code);
etisserant@240: 00175             res = ReadSDO(node_id, 0x1018, 2, uint32, &prod_code, &size);
nico@215: 00176             printf("product code: %d\n",prod_code);
nico@215: 00177 
nico@215: 00178             size = sizeof (ser_num);
etisserant@240: 00179             res = ReadSDO(node_id, 0x1018, 4, uint32, &ser_num, &size);
nico@215: 00180             printf("serial number: %d\n",ser_num);
nico@215: 00181             
nico@215: 00182             printf("********************************************\n");
nico@215: 00183             } 
nico@215: 00184          else
nico@215: 00185             {
nico@215: 00186             printf("ERROR: Object dictionary access failed\n");
nico@215: 00187             }
nico@215: 00188          }
nico@215: 00189       else
nico@215: 00190          {
nico@215: 00191          printf("ERROR: node_id %d (%xh) is not responding\n",(int)node_id,(int)node_id);
nico@215: 00192          }
nico@215: 00193          
etisserant@240: 00194       masterSendNMTstateChange (&win32test_Data, 0x02, NMT_Stop_Node);
nico@215: 00195 
etisserant@240: 00196       setState(&win32test_Data, Stopped);
nico@215: 00197       
etisserant@240: 00198       canClose(&win32test_Data);
nico@215: 00199       }
nico@215: 00200    return 0;
nico@215: 00201   }
nico@215: 00202   
nico@215: 00203   
etisserant@240: