//?CANOpenTest.cpp?:?定義控制臺應用程序的入口點。
//

#include?“stdafx.h“
#include?“CANOpenTest.h“

#ifdef?_DEBUG
#define?new?DEBUG_NEW
#endif


//#define?SDO_CALLBACK
//?唯一的應用程序對象

CWinApp?theApp;

using?namespace?std;

DWORD?g_dwNodeID?=?0xFFFFFFFF;
HANDLE?g_hNodeUp?=?NULL;
HANDLE?g_hSDOResp?=?NULL;
DWORD?g_dwFlowID?=?0;
void?SDOResponse（SDO_RESP?*pResp）;


PUSIResult?__stdcall?EventCallback（CB_TYPE?callbackTypeLPVOID?pData）
{
	switch（callbackType）
	{
	case?CBT_TRACE:
		printf（“%s“（char*）pData）;
		break;
	case?CBT_SLAVE_STATUS_CHANGE:
		{
			STATUS_CHANGE?*psc?=?（STATUS_CHANGE?*）pData;;
			//Trace（“Node:%dstatus:%d“psc->dwNodeIDpsc->status）;
			switch（psc->status）
			{
			case?SLAVESTATUS_INIT:/*?從站正在初始化（也有可能處于掉線狀態）?*/						
				RemoveNode（psc->dwNodeID）;
				if（g_dwNodeID?==?psc->dwNodeID）				
					g_dwNodeID?=?0xffffffff;		
				break;
			case?SLAVESTATUS_STOP:?/*?從站已停止?*/
				break;
			case?SLAVESTATUS_WORK:?/*?從站正在工作?*/
			case?SLAVESTATUS_PREWORK:?/*?從站處于預工作狀態?*/
				{
					AddNode（psc->dwNodeID）;		
					g_dwNodeID?=?psc->dwNodeID;
					printf（“節點%d#上線！\n“psc->dwNodeID）;
					SetEvent（g_hNodeUp）;
				}
				break;		
			case?SLAVESTATUS_DISCONNECT:?/*?從站未連接?*/				
				RemoveNode（psc->dwNodeID）;
				if（g_dwNodeID?==?psc->dwNodeID）				
					g_dwNodeID?=?0xffffffff;		
				break;
			default:
				break;
			}
		}
		break;
	case?CBT_PDO_DATA:
		{
			CString?strText;
			PDO_DATA?*pPDOData?=?（PDO_DATA*）pData;
			printf（“receive?PDO.\n“）;
			printf（“NodeID:%dPDO%d\n“pPDOData->dwNodeIDpPDOData->dwPDONum）;
			strText?=?“DATA:“;
			for（DWORD?i?=?0;idwDataLen;i++）
			{
				strText.AppendFormat（“%.2X?“pPDOData->pData[i]）;
			}
			printf（“%s\n“strText）;

		}
		break;
	case?CBT_SDO_RESP:
		SDOResponse（（SDO_RESP*）pData）;
		break;
	default:
		break;
	}
	return?RET_SUCCESS;
}


void?SDOResponse（SDO_RESP?*pResp）
{
	if（RET_SUCCESS?==?pResp->result）
	{
		int?nSpeed?=?0;
		//printf（“NODE?%d?sdo?response.\n“pResp->dwNodeID）;
		switch（g_dwFlowID）
		{
		case?2:
			printf（“speed:%d\n“*（int*）（pResp->data））;
			break;
		default:
			break;
		}
		SetEvent（g_hSDOResp）;
	}
}

#define?ERROR_HANDLE（）	{if（result!=RET_SUCCESS）return;}
void?MotorControl（void）
{
#if?1
	int?speed?=?-32000;
	BYTE?tpdo[8];
	DWORD?dwLen?=?0;
	unsigned?long?step_set?=?20000;
	PUSIResult?result?=?RET_SUCCESS;	
#ifdef?SDO_CALLBACK
	g_dwFlowID++;
	result?=?PUSICO_WriteSDOCallBack（g_dwNodeID0x60030（BYTE*）&speedDT_INT324）;?//設置速度
	ERROR_HANDLE（）;
	::WaitForSingleobject（g_hSDORespINFINITE）;

	g_dwFlowID++;
	result?=?PUSICO_ReadSDOCallBack（g_dwNodeID0x60030DT_INT32）;?//讀取速度
	ERROR_HANDLE（）;
	::WaitForSingleobject（g_hSDORespINFINITE）;

	g_dwFlowID++;
	result?=?PUSICO_WriteSDOCallBack（g_dwNodeID0x60040（BYTE*）&step_setDT_UINT324）;?//啟動步進
	ERROR_HANDLE（）;
	::WaitForSingleobject（g_hSDORespINFINITE）;
#else
	result?=?PUSICO_WriteSDO（g_dwNodeID0x60030（BYTE*）&s

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-05-06?09:59??產品使用手冊\
?????文件?????4113159??2019-05-06?09:28??產品使用手冊\pmc007cxsxp_user_manual_v0.2.0.pdf
?????文件??????570198??2019-05-06?09:28??產品使用手冊\控制器離線編程指南.pdf
?????目錄???????????0??2019-05-07?08:19??例程-C#編程語言程序PUSICAN_customer?-?副本\
?????目錄???????????0??2019-05-07?08:17??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\
?????文件????????5425??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest（1）.cpp
?????文件???????18140??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest.aps
?????文件??????????39??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest.h
?????文件????????2644??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest.rc
?????文件????????7931??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest.vcxproj
?????文件????????1638??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest.vcxproj.filters
?????文件?????????143??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\CANOpenTest.vcxproj.user
?????目錄???????????0??2019-05-07?10:24??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\Debug\
?????文件????????2070??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\ReadMe.txt
?????目錄???????????0??2019-05-07?10:24??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\Release\
?????文件?????????394??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\Resource.h
?????文件?????????216??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\stdafx.cpp
?????文件????????2158??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\stdafx.h
?????文件?????????236??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\targetver.h
?????目錄???????????0??2019-05-07?08:17??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\x64\
?????目錄???????????0??2019-05-07?10:24??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\x64\Debug\
?????目錄???????????0??2019-05-07?10:24??例程-C#編程語言程序PUSICAN_customer?-?副本\CANOpenTest\x64\Release\
?????目錄???????????0??2019-05-07?08:18??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\
?????文件??????125440??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\CANOpen.dll
?????文件????????4704??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\CANOpen.lib
?????文件???????51712??2019-05-06?09:35??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\CANOpenTest.exe
?????文件???????53248??2019-05-06?09:36??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\ControlCAN.dll
?????文件???????36864??2019-05-06?09:36??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\ControlCAN_cx.dll
?????文件???????94208??2019-05-06?09:36??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\ECanVci.dll
?????文件??????600064??2019-05-06?09:36??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\LM_USB.dll
?????文件????????5853??2019-05-06?09:36??例程-C#編程語言程序PUSICAN_customer?-?副本\Debug\PMC007xx.config
............此處省略438個文件信息