nikon/CANopenNode
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Remove duplicated CANopenConfiguredOK from main functions. Use CO->nodeIdUnconfigured instead.

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This commit is contained in:
Janez 2020-09-23 09:06:57 +02:00
parent d4b78771b3
commit ac4ca2893a
2 changed files with 9 additions and 19 deletions
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9
example/main_blank.c
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@ -38,7 +38,6 @@
/* Global variables and objects */
volatile static bool_t CANopenConfiguredOK = false; /* Indication if CANopen modules are configured */
volatile uint16_t CO_timer1ms = 0U; /* variable increments each millisecond */
uint8_t LED_red, LED_green;
@ -83,7 +82,6 @@ int main (void){
log_printf("CANopenNode - Reset communication...\n");
/* disable CAN and CAN interrupts */
CANopenConfiguredOK = false;
/* initialize CANopen */
err = CO_CANinit(CANmoduleAddress, pendingBitRate);
@ -98,10 +96,7 @@ int main (void){
}
activeNodeId = pendingNodeId;
err = CO_CANopenInit(activeNodeId);
if(err == CO_ERROR_NO) {
CANopenConfiguredOK = true;
}
else if(err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
if(err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
log_printf("Error: CANopen initialization failed: %d\n", err);
return 0;
}
@ -113,7 +108,7 @@ int main (void){
/* Configure CANopen callbacks, etc */
if(CANopenConfiguredOK) {
if(!CO->nodeIdUnconfigured) {
}

19
socketCAN/CO_main_basic.c
View file

@ -71,7 +71,6 @@
/* Other variables and objects */
volatile static bool_t CANopenConfiguredOK = false; /* Indication if CANopen modules are configured */
static int rtPriority = -1; /* Real time priority, configurable by arguments. (-1=RT disabled) */
static uint8_t CO_pendingNodeId = 0xFF;/* Use value from Object Dictionary or by arguments (set to 1..127
* or unconfigured=0xFF). Can be changed by LSS slave. */
@ -382,7 +381,6 @@ int main (int argc, char *argv[]) {
/* Enter CAN configuration. */
CANopenConfiguredOK = false;
CO_CANsetConfigurationMode((void *)&CANptr);
@ -402,19 +400,16 @@ int main (int argc, char *argv[]) {
CO_activeNodeId = CO_pendingNodeId;
err = CO_CANopenInit(CO_activeNodeId);
if(err == CO_ERROR_NO) {
CANopenConfiguredOK = true;
}
else if(err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
if(err != CO_ERROR_NO && err != CO_ERROR_NODE_ID_UNCONFIGURED_LSS) {
log_printf(LOG_CRIT, DBG_CAN_OPEN, "CO_CANopenInit()", err);
exit(EXIT_FAILURE);
}
/* initialize part of threadMain and callbacks */
threadMainWait_init(CANopenConfiguredOK);
threadMainWait_init(!CO->nodeIdUnconfigured);
CO_LSSslave_initCfgStoreCallback(CO->LSSslave, NULL,
LSScfgStoreCallback);
if(CANopenConfiguredOK) {
if(!CO->nodeIdUnconfigured) {
CO_EM_initCallbackRx(CO->em, EmergencyRxCallback);
CO_NMT_initCallbackChanged(CO->NMT, NmtChangedCallback);
CO_HBconsumer_initCallbackNmtChanged(CO->HBcons, NULL,
@ -468,14 +463,14 @@ int main (int argc, char *argv[]) {
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_programStart(CANopenConfiguredOK);
app_programStart(!CO->nodeIdUnconfigured);
#endif
} /* if(firstRun) */
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_communicationReset(CANopenConfiguredOK);
app_communicationReset(!CO->nodeIdUnconfigured);
#endif
@ -492,7 +487,7 @@ int main (int argc, char *argv[]) {
uint32_t timer1usDiff = threadMainWait_process(&reset);
#ifdef CO_USE_APPLICATION
app_programAsync(CANopenConfiguredOK, timer1usDiff);
app_programAsync(!CO->nodeIdUnconfigured, thrEpTm.timeDifference_us);
#endif
CO_OD_storage_autoSave(&odStorAuto, timer1usDiff, 60000000);
@ -558,7 +553,7 @@ static void* rt_thread(void* arg) {
#ifdef CO_USE_APPLICATION
/* Execute optional additional application code */
app_program1ms(CANopenConfiguredOK);
app_program1ms(!CO->nodeIdUnconfigured);
#endif
}