//------------------------------------------------------------------------------
static tOplkError loopMain(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
// start processing
if ((ret = oplk_execNmtCommand(kNmtEventSwReset)) != kErrorOk)
return ret;
while (1)
{
// do background tasks
if ((ret = oplk_process()) != kErrorOk)
break;
if (oplk_checkKernelStack() == FALSE)
{
PRINTF("Kernel stack has gone! Exiting...\n");
instance_l.fShutdown = TRUE;
}
// trigger switch off
if (pInstance_p->fShutdown != FALSE)
{
oplk_execNmtCommand(kNmtEventSwitchOff);
// reset shutdown flag to generate only one switch off command
pInstance_p->fShutdown = FALSE;
}
// exit loop if NMT is in off state
if (pInstance_p->fGsOff != FALSE)
break;
switch (gpio_getAppInput())
{
case 0x01:
PRINTF("KEY0: SwReset\n");
lcd_printText("KEY0: SwReset", 2);
ret = oplk_execNmtCommand(kNmtEventSwReset);
break;
case 0x02:
PRINTF("KEY1: SwitchOff\n");
lcd_printText("KEY1: SwitchOff", 2);
ret = oplk_execNmtCommand(kNmtEventSwitchOff);
break;
default:
break;
}
while (gpio_getAppInput() != 0);
}
return ret;
}
//------------------------------------------------------------------------------
static tOplkError loopMain(tInstance* pInstance_p)
{
tOplkError ret = kErrorOk;
UINT checkStack = 0;
// start processing
if ((ret = oplk_execNmtCommand(kNmtEventSwReset)) != kErrorOk)
return ret;
while (1)
{
// do background tasks
if ((ret = oplk_process()) != kErrorOk)
break;
// check the kernel part from time to time
if (checkStack++ >= CHECK_KERNEL_TIMEOUT)
{
checkStack = 0;
if (oplk_checkKernelStack() == FALSE)
{
PRINTF("Kernel stack has gone! Exiting...\n");
instance_l.fShutdown = TRUE;
}
}
// trigger switch off
if (pInstance_p->fShutdown != FALSE)
{
oplk_execNmtCommand(kNmtEventSwitchOff);
// reset shutdown flag to generate only one switch off command
pInstance_p->fShutdown = FALSE;
}
// exit loop if NMT is in off state
if (pInstance_p->fGsOff != FALSE)
break;
}
return ret;
}
//------------------------------------------------------------------------------
static void loopMain(void)
{
tOplkError ret = kErrorOk;
char cKey = 0;
BOOL fExit = FALSE;
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
#if defined(CONFIG_USE_SYNCTHREAD)
system_startSyncThread(processSync);
#endif
#endif
// start stack processing by sending a NMT reset command
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
return;
}
printf("\n-------------------------------\n");
printf("Press Esc to leave the program\n");
printf("Press r to reset the node\n");
printf("-------------------------------\n\n");
while (!fExit)
{
if (console_kbhit())
{
cKey = (char)console_getch();
switch (cKey)
{
case 'r':
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
fExit = TRUE;
}
break;
case 'c':
ret = oplk_execNmtCommand(kNmtEventNmtCycleError);
if (ret != kErrorOk)
{
fExit = TRUE;
}
break;
case 0x1B:
fExit = TRUE;
break;
default:
break;
}
}
if (system_getTermSignalState() == TRUE)
{
fExit = TRUE;
printf("Received termination signal, exiting...\n");
}
if (oplk_checkKernelStack() == FALSE)
{
fExit = TRUE;
fprintf(stderr, "Kernel stack has gone! Exiting...\n");
}
#if defined(CONFIG_USE_SYNCTHREAD) || defined(CONFIG_KERNELSTACK_DIRECTLINK)
system_msleep(100);
#else
processSync();
#endif
}
#if (TARGET_SYSTEM == _WIN32_)
printf("Press Enter to quit!\n");
console_getch();
#endif
}
//------------------------------------------------------------------------------
static void loopMain(void)
{
tOplkError ret = kErrorOk;
char cKey = 0;
BOOL fExit = FALSE;
#if !defined(CONFIG_KERNELSTACK_DIRECTLINK)
#if defined(CONFIG_USE_SYNCTHREAD)
system_startSyncThread(processSync);
#endif
#endif
// start processing
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
return;
}
printf("start POWERLINK Stack... ok\n");
printf("Digital I/O interface with openPOWERLINK is ready!\n");
printf("\n-------------------------------\n");
printf("Press Esc to leave the programm\n");
printf("Press r to reset the node\n");
printf("Press i to increase digital input\n");
printf("Press d to decrease digital input\n");
printf("Press p to print digital outputs\n");
printf("-------------------------------\n\n");
setupInputs();
// wait for key hit
while (!fExit)
{
if (console_kbhit())
{
cKey = (BYTE)console_getch();
switch (cKey)
{
case 'r':
ret = oplk_execNmtCommand(kNmtEventSwReset);
if (ret != kErrorOk)
{
fExit = TRUE;
}
break;
case 'i':
increaseInputs();
break;
case 'd':
decreaseInputs();
break;
case 'p':
printOutputs();
break;
case 0x1B:
fExit = TRUE;
break;
default:
break;
}
}
if (system_getTermSignalState() == TRUE)
{
fExit = TRUE;
printf("Received termination signal, exiting...\n");
}
if (oplk_checkKernelStack() == FALSE)
{
fExit = TRUE;
fprintf(stderr, "Kernel stack has gone! Exiting...\n");
}
#if defined(CONFIG_USE_SYNCTHREAD) || defined(CONFIG_KERNELSTACK_DIRECTLINK)
system_msleep(100);
#else
processSync();
#endif
}
#if (TARGET_SYSTEM == _WIN32_)
printf("Press Enter to quit!\n");
console_getch();
#endif
return;
}
