CanFestival: examples/win32test/main.c Source File

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