void CANUi::on_checkBox_sync_toggled(bool checked)
{
if(checked){
stopSYNC(&master_Data);
{//0x1005 : SYNC COB ID gen(bit 30) COB-ID : 80
UNS32 _sourceData = 0x40000080;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1005, (UNS8)0, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1005 fail !");
}
}
{//0x1006 : SYNC Cycle Period us
UNS32 _sourceData = ui->spinBox_syncTime->value();
ui->textBrowser->append(tr("%1").arg(_sourceData));
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1006, (UNS8)0, &_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1006 fail !");
}
}
startSYNC(&master_Data);
}
else{
stopSYNC(&master_Data);
{//0x1005 : SYNC COB ID gen(bit 30) COB-ID : 80
UNS32 _sourceData = 0x00000080;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1005, (UNS8)0, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1005 fail !");
}
}
{//0x1006 : SYNC Cycle Period us
UNS32 _sourceData = 0;
UNS32 _dataSize = sizeof(UNS32);
if(OD_SUCCESSFUL != writeLocalDict(&master_Data, (UNS16)0x1006, (UNS8)0, (UNS32*)&_sourceData, &_dataSize, 1 )){
ui->textBrowser->append("writeLocalDict 0x1006 fail !");
}
}
}
}
}
#define None
/*!
**
**
** @param d
** @param newCommunicationState
**/
void switchCommunicationState(CO_Data* d, s_state_communication *newCommunicationState)
{
#ifdef CO_ENABLE_LSS
StartOrStop(csLSS, startLSS(d), stopLSS(d))
#endif
StartOrStop(csSDO, None, resetSDO(d))
StartOrStop(csSYNC, startSYNC(d), stopSYNC(d))
StartOrStop(csHeartbeat, heartbeatInit(d), heartbeatStop(d))
StartOrStop(csEmergency, emergencyInit(d), emergencyStop(d))
StartOrStop(csPDO, PDOInit(d), PDOStop(d))
StartOrStop(csBoot_Up, None, slaveSendBootUp(d))
}
/*!
**
**
** @param d
** @param newState
**
** @return
**/
UNS8 setState(CO_Data* d, e_nodeState newState)
/*!
** This is called when Index 0x1005 is updated.
**
** @param d
** @param unsused_indextable
** @param unsused_bSubindex
**
** @return
**/
UNS32 OnCOB_ID_SyncUpdate(CO_Data* d, const indextable * unsused_indextable, UNS8 unsused_bSubindex)
{
startSYNC(d);
return 0;
}
int ProcessCommand(char* command)
{
int ret = 0;
int sec = 0;
int NodeID;
int NodeType;
UNS32 data = 0;
char buf[50];
EnterMutex();
switch(cst_str4(command[0], command[1], command[2], command[3]))
{
case cst_str4('h', 'e', 'l', 'p') : /* Display Help*/
help_menu();
break;
case cst_str4('c', 'l', 'e', 'a') : /* Display Help*/
system(CLEARSCREEN);
break;
case cst_str4('s', 's', 't', 'a') : /* Slave Start*/
StartNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 's', 't', 'o') : /* Slave Stop */
StopNode(ExtractNodeId(command + 5));
break;
case cst_str4('s', 'r', 's', 't') : /* Slave Reset */
ResetNode(ExtractNodeId(command + 5));
break;
case cst_str4('i', 'n', 'f', 'o') : /* Retrieve node informations */
GetSlaveNodeInfo(ExtractNodeId(command + 5));
break;
case cst_str4('r', 's', 'd', 'o') : /* Read device entry */
ReadDeviceEntry(command);
break;
case cst_str4('w', 's', 'd', 'o') : /* Write device entry */
WriteDeviceEntry(command);
break;
case cst_str4('n', 'o', 'd', 'e') : /* Write device entry */
ret = sscanf(command, "node %2x", &NodeID);
data = 0;
SDO_write(CANOpenShellOD_Data,NodeID,0x1024,0x00,1, 0, &data, 0);
CurrentNode = NodeID;
break;
case cst_str4('c', 'm', 'd', ' ') : /* Write device entry */
ret = sscanf(command, "cmd %2x,%s", &NodeID, buf );
SDO_write(CANOpenShellOD_Data,NodeID,0x1023,0x01,strlen(buf),visible_string, buf, 0);
SDO_read(CANOpenShellOD_Data,NodeID,0x1023,0x03,visible_string,0);
return 0;
break;
case cst_str4('s', 'y', 'n', '0') : /* Display master node state */
stopSYNC(CANOpenShellOD_Data);
break;
case cst_str4('s', 'y', 'n', '1') : /* Display master node state */
startSYNC(CANOpenShellOD_Data);
break;
case cst_str4('s', 't', 'a', 't') : /* Display master node state */
printf("Status3: %x\n",Status3);
Status3 = 0;
break;
case cst_str4('s', 'c', 'a', 'n') : /* Display master node state */
DiscoverNodes();
break;
case cst_str4('w', 'a', 'i', 't') : /* Display master node state */
ret = sscanf(command, "wait#%d", &sec);
if(ret == 1) {
LeaveMutex();
SleepFunction(sec);
return 0;
}
break;
case cst_str4('g', 'o', 'o', 'o') : /* Quit application */
setState(CANOpenShellOD_Data, Operational);
break;
case cst_str4('q', 'u', 'i', 't') : /* Quit application */
LeaveMutex();
return QUIT;
case cst_str4('l', 'o', 'a', 'd') : /* Library Interface*/
ret = sscanf(command, "load#%100[^,],%30[^,],%4[^,],%d,%d",
LibraryPath,
BoardBusName,
BoardBaudRate,
&NodeID,
&NodeType);
if(ret == 5)
{
LeaveMutex();
ret = NodeInit(NodeID, NodeType);
return ret;
}
else
{
printf("Invalid load parameters\n");
}
break;
default :
help_menu();
}
LeaveMutex();
return 0;
}
