00001 /**************************************************************************
 00002 CanFestival3 win32 port example
 00003 
@@ -51,56 +51,56 @@
 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
+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)
+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;
+00042    win32test_Data.NMTable[node_id] = Unknown_state;
 00043 
 00044    // request node state
-00045    masterRequestNodeState(&win32test_Data, node_id);
+00045    masterRequestNodeState(&win32test_Data, node_id);
 00046    
-00047    start_time = uptime_ms_proc();
-00048    while(uptime_ms_proc() - start_time < timeout_ms)
+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)
+00050       if (getNodeState(&win32test_Data, node_id) == expected_state)
 00051          return 0;
-00052       sleep_proc(1);   
+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)
+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;
+00059    UNS32 abortCode = 0;
+00060    UNS8 res = SDO_UPLOAD_IN_PROGRESS;
 00061    // Read SDO
-00062    UNS8 err = readNetworkDict (&win32test_Data, nodeId, index, subIndex, dataType);
+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)
+00067       res = getReadResultNetworkDict (&win32test_Data, nodeId, data, size, &abortCode);
+00068       if (res != SDO_UPLOAD_IN_PROGRESS)
 00069          break;   
-00070       sleep_proc(1);
+00070       sleep_proc(1);
 00071       continue;
 00072       }
-00073    closeSDOtransfer(&win32test_Data, nodeId, SDO_CLIENT);
-00074    if (res == SDO_FINISHED)
+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[])
+00079 int main(int argc, char *argv[])
 00080   {
-00081    UNS8 node_id = 0;
-00082    s_BOARD MasterBoard = {"1", "125K"};
+00081    UNS8 node_id = 0;
+00082    s_BOARD MasterBoard = {"1", "125K"};
 00083    char* dll_file_name;
 00084 
 00085    /* process command line arguments */
@@ -123,81 +123,81 @@
 00102                 dll_file_name = "can_uvccm_win32.dll";
 00103 
 00104    // load can driver
-00105    if (!LoadCanDriver(dll_file_name))
+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))
+00111    if (canOpen(&MasterBoard,&win32test_Data))
 00112       {
 00113       /* Defining the node Id */
-00114       setNodeId(&win32test_Data, 0x01);
+00114       setNodeId(&win32test_Data, 0x01);
 00115 
 00116       /* init */
-00117       setState(&win32test_Data, Initialisation);
+00117       setState(&win32test_Data, Initialisation);
 00118 
 00119       /****************************** START *******************************/
 00120       /* Put the master in operational mode */
-00121       setState(&win32test_Data, Operational);
+00121       setState(&win32test_Data, Operational);
 00122 
 00123       /* Ask slave node to go in operational mode */
-00124       masterSendNMTstateChange (&win32test_Data, 0, NMT_Start_Node);
+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)
+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);
+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))
+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;
+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;
+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);
+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);
+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);
+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);
+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);
+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);
+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);
+00179             res = ReadSDO(node_id, 0x1018, 4, uint32, &ser_num, &size);
 00180             printf("serial number: %d\n",ser_num);
 00181             
 00182             printf("********************************************\n");
@@ -212,17 +212,17 @@
 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);
+00194       masterSendNMTstateChange (&win32test_Data, 0x02, NMT_Stop_Node);
 00195 
-00196       setState(&win32test_Data, Stopped);
+00196       setState(&win32test_Data, Stopped);
 00197       
-00198       canClose(&win32test_Data);
+00198       canClose(&win32test_Data);
 00199       }
 00200    return 0;
 00201   }
 00202   
 00203   
-
main.c
