public CanOpenStatus canHardwareConnect(int can_port, int can_bitrate)
{
CanOpenStatus ret = CanOpenStatus.CANOPEN_ERROR;
ret = client_sdo.canHardwareConnect(can_port, can_bitrate);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = receive_pdo.canHardwareConnect(can_port, can_bitrate);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = transmit_pdo.canHardwareConnect(can_port, can_bitrate);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = nmt_mlaster.canHardwareConnect(can_port, can_bitrate);
return(ret);
}
public CanOpenStatus canHardwareDisconnect()
{
CanOpenStatus ret = CanOpenStatus.CANOPEN_ERROR;
ret = client_sdo.canHardwareDisconnect();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = receive_pdo.canHardwareDisconnect();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = transmit_pdo.canHardwareDisconnect();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = nmt_mlaster.canHardwareDisconnect();
return(ret);
}
public CanOpenStatus startupNode(byte nodeId)
{
CanOpenStatus ret = CanOpenStatus.CANOPEN_ERROR;
this.node_id = nodeId;
ret = client_sdo.connect(nodeId);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
nmt_mlaster.nodeGuardPollStart(nodeId, 3000);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = receive_pdo.setCobid((uint)0x180 + this.node_id);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = transmit_pdo.setup((uint)0x200 + this.node_id, this.output_mirror_values, 1);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = transmit_pdo.periodicTransmission(true);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = nmt_mlaster.nodeReset(node_id);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
Thread.Sleep(4000);
ret = configureIoInputs();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = configureIoOutputs();
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
uint canopenErrorCode;
ret = client_sdo.objectWrite(0x100c, 0, (ushort)1000, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
ret = client_sdo.objectWrite(0x100d, 0, (byte)3, out canopenErrorCode);
if (ret != CanOpenStatus.CANOPEN_OK)
{
return(ret);
}
return(ret);
}
