Function main

example/main_blank.c:45–211

main ***********************************************************************/

/* main ***********************************************************************/
int
main(void) {
    CO_ReturnError_t err;
    CO_NMT_reset_cmd_t reset = CO_RESET_NOT;
    uint32_t heapMemoryUsed;
    void* CANptr = NULL;           /* CAN module address */
    uint8_t pendingNodeId = 10;    /* read from dip switches or nonvolatile memory, configurable by LSS slave */
    uint8_t activeNodeId = 10;     /* Copied from CO_pendingNodeId in the communication reset section */
    uint16_t pendingBitRate = 125; /* read from dip switches or nonvolatile memory, configurable by LSS slave */

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
    CO_storage_t storage;
    CO_storage_entry_t storageEntries[] = {{.addr = &OD_PERSIST_COMM,
                                            .len = sizeof(OD_PERSIST_COMM),
                                            .subIndexOD = 2,
                                            .attr = CO_storage_cmd | CO_storage_restore,
                                            .addrNV = NULL}};
    uint8_t storageEntriesCount = sizeof(storageEntries) / sizeof(storageEntries[0]);
    uint32_t storageInitError = 0;
#endif

    /* Configure microcontroller. */

    /* Allocate memory */
    CO_config_t* config_ptr = NULL;
#ifdef CO_MULTIPLE_OD
    /* example usage of CO_MULTIPLE_OD (but still single OD here) */
    CO_config_t co_config = {0};
    OD_INIT_CONFIG(co_config); /* helper macro from OD.h */
    co_config.CNT_LEDS = 1;
    co_config.CNT_LSS_SLV = 1;
    config_ptr = &co_config;
#endif /* CO_MULTIPLE_OD */
    CO = CO_new(config_ptr, &heapMemoryUsed);
    if (CO == NULL) {
        log_printf("Error: Can't allocate memory\n");
        return 0;
    } else {
        log_printf("Allocated %u bytes for CANopen objects\n", heapMemoryUsed);
    }

#if (CO_CONFIG_STORAGE) & CO_CONFIG_STORAGE_ENABLE
    err = CO_storageBlank_init(&storage, CO->CANmodule, OD_ENTRY_H1010_storeParameters,
                               OD_ENTRY_H1011_restoreDefaultParameters, storageEntries, storageEntriesCount,
                               &storageInitError);

    if (err != CO_ERROR_NO && err != CO_ERROR_DATA_CORRUPT) {
        log_printf("Error: Storage %d\n", storageInitError);
        return 0;
    }
#endif

    while (reset != CO_RESET_APP) {
        /* CANopen communication reset - initialize CANopen objects *******************/
        log_printf("CANopenNode - Reset communication...\n");

        /* Wait rt_thread. */
        CO->CANmodule->CANnormal = false;