#DEFINE ResetCANNetwork BIT151

PROGRAM

GOSUB EnableCANopen

END

_EnableCANopen

P32768 = 5 : REM SET THE CONTROLLER ID TO 5
P32769 = 125 : REM SET THE BIT RATE TO 125 kbps
P32770 = 1 : REM TELL THE CONTROLLER THERE IS 1 SLAVE ON THE NETWORK
P33024 = 1 : REM SET NODE 0 TO PHYSICAL NODE 1

P32772 = 50 : REM SET THE CYCLIC PERIOD TO 50 ms
SET 11265 : REM START THE NETWORK
INH -11265 : REM INHIBIT PROGRAM UNTIL START NETWORK HAS FINISHED
 
'IF THE NETWORK IS NOT OPERATIONAL AT
'THIS POINT THEN TRY TO RESET IT

IF (NOT BIT 11269)  
    SET 11266 : REM RESET NETWORK
    SET ResetCANNetwork : REM SET RESET NETWORK LATCHED BIT
    INH -11266 : REM INHIBIT PROGRAM UNTIL NETWORK RESETS 
    SET 11265 : REM START NETWORK AGAIN
    INH -11265 : REM INHIBIT PROGRAM UNTIL START NETWORK HAS FINISHED
ENDIF

'CHECK IF NETWORK IS STILL NOT OPERATIONAL 
'AND ALREADY RESET NETWORK 

IF ((NOT BIT 11269) AND (ResetCANNetwork)) 
PRINT "CANopen network problem occurred."
ENDIF

RETURN 

ENDP