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MPI Application Template
template.c
 

can1.c -- Toggle digital outputs on a CAN node
/* can1.c */

/* Copyright(c) 1991-2006 by Motion Engineering, Inc.  All rights reserved.
 *
 * This software  contains proprietary and  confidential information  of
 * Motion Engineering Inc., and its suppliers.  Except as may be set forth
 * in the license agreement under which  this software is supplied, use,
 * disclosure, or  reproduction is prohibited without the prior express
 * written consent of Motion Engineering, Inc.
 */

/*

:Toggle digital outputs on a CAN node

This sample application describes how to access a CAN node and toggle its
 digital outputs.

Warning!  This is a sample program to assist in the integration of an
 MEI motion controller with your application.  It may not contain all
 of the logic and safety features that your application requires.

The msgCHECK(...) macros used in the following sample code are intended
 to convey our strong belief that ALL error return codes should be checked.
 Actual application code should use specific error handling techniques (other
 than msgCHECKs) best suited to your internal error recovery methods.

*/

#include <stdlib.h>

#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"

/* Modify this macro to specify a node with digital outputs. */
#define OUTPUT_NODE_NUMBER  (11)

/* Modify this to specify the number of digital output channels. */
#define CHANNEL_COUNT       (16)

/* Modify this to specify the CAN network number */
#define CAN_NETWORK_NUMBER  (0) /* Currently, only one CAN network is supported */


/* Perform basic command line parsing. (-control -server -port -trace) */
void basicParsing(int                    argc,
                  char                  *argv[],
                  MPIControlType        *controlType,
                  MPIControlAddress     *controlAddress)
{
    long argIndex;

    /* Parse command line for Control type and address */
    argIndex = argControl(argc, argv, controlType, controlAddress);

    /* Check for unknown/invalid command line arguments */
    if (argIndex < argc) {
        fprintf(stderr,"usage: %s %s\n", argv[0], ArgUSAGE);
        exit(MPIMessageARG_INVALID);
    }
}


/* Create and initialize MPI objects */
void programInit(MPIControl         *control,
                 MPIControlType      controlType,
                 MPIControlAddress  *controlAddress,
                 MEICan             *can,
                 long                canNumber)
{
    long returnValue;

    /* Obtain a control handle */
    *control =
        mpiControlCreate(controlType, controlAddress);
    msgCHECK(mpiControlValidate(*control));

    /* Initialize the controller */
    returnValue =
        mpiControlInit(*control);
    msgCHECK(returnValue);

    /* Create and validate a handle to the CAN object. */
    *can =
        meiCanCreate(*control, canNumber);
    msgCHECK(meiCanValidate(*can));
}


/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
                    MEICan     *can)
{
    long    returnValue;

    /* Delete CAN handle */
    returnValue =
        meiCanDelete(*can);
    msgCHECK(returnValue);

    *can = MPIHandleVOID;

    /* Delete control handle */
    returnValue =
        mpiControlDelete(*control);
    msgCHECK(returnValue);

    *control = MPIHandleVOID;
}


/* Toggle CAN Outputs */
void toggleCanOutputs(MEICan can, long nodeNumber, long channelCount)
{
    long            returnValue;
    long            channel;
   MEICanNodeInfo canNodeInfo;

    /* Find out how many digital outputs this node supports. */
    returnValue =
        meiCanNodeInfo(can, nodeNumber, &canNodeInfo);
    msgCHECK(returnValue);

    /* Turn off all the digital outputs. */
   if( canNodeInfo.digitalOutputCount < 32 ) {
       meiCanNodeDigitalOutSet(can, nodeNumber, 0, canNodeInfo.digitalOutputCount, 0, 1 );
   } else {
      meiCanNodeDigitalOutSet(can, nodeNumber, 0, 32, 0, 1 );
      meiCanNodeDigitalOutSet(can, nodeNumber, 32, canNodeInfo.digitalOutputCount - 32, 0, 1 );
   }

    /* Set each output bit in turn. */
    for(channel = 0; channel<CHANNEL_COUNT; channel++) {
        /* Turn digital output "on" */
        returnValue =
          meiCanNodeDigitalOutSet(can, nodeNumber, channel, 1, 1, 1 );
        msgCHECK(returnValue);

        /* Pause for one half second */
        meiPlatformSleep(500);

        /* Turn digital output "off" */
        returnValue =
          meiCanNodeDigitalOutSet(can, nodeNumber, channel, 1, 0, 1 );
        msgCHECK(returnValue);
    }
}

int main(int     argc,
         char   *argv[])
{
    MPIControl          control;
    MPIControlType      controlType;
    MPIControlAddress   controlAddress;
    MEICan              can;
    long                canNumber    = CAN_NETWORK_NUMBER;
    long                channelCount = CHANNEL_COUNT;

    /* Perform basic command line parsing. (-control -server -port -trace) */
    basicParsing(argc,
                 argv,
                 &controlType,
                 &controlAddress);

    /* Create and initialize MPI objects */
    programInit(&control,
                controlType,
                &controlAddress,
                &can,
                canNumber);

   /* Toggle CAN Outputs */
   toggleCanOutputs(can, OUTPUT_NODE_NUMBER, CHANNEL_COUNT);

    /* Perform certain cleanup actions and delete MPI objects */
    programCleanup(&control,
                   &can);

    /* return a success. */
    return 0;
}


 
      
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