получение результатов от контроллера через USB-фейлы

Я пытаюсь написать программу на С ++, чтобы мой компьютер мог общаться с тринамической сводной панелью.
Они уже предоставили пример файла, чтобы помочь вам в пути. Это прекрасно работает, но действительно упрощенно.

Теперь я хочу прочитать результаты с USB-устройства, и они сделали функцию для этого:

    //Read the result that is returned by the module
//Parameters: Handle: handle of the serial port, as returned by OpenRS232
//Address: pointer to variable to hold the reply address returned by the module
// Status: pointer to variable to hold the status returned by the module (100 means okay)
//Value: pointer to variable to hold the value returned by the module
prototype:
UCHAR GetResult(HANDLE Handle, UCHAR *Address, UCHAR *Status, int *Value)

Теперь я написал следующее:

            UCHAR* adr;
UCHAR* stat;
int* val;

SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, -3200); // move to next position
SendCmd(RS232Handle,1, TMCL_GAP, 8, 0, 0); // tell motor to look if position is reached
GetResult(RS232Handle,adr,stat,val); //ask for the result, value must give a 1 if so
printf("results from USB device:   adr=%d, stat=%d, val=%d\n", adr, stat, val);

Но когда я запускаю программу и пробую эту опцию, программа зависает.

Кто-нибудь понял, что может вызвать проблемы? (Код, который я предоставил, является лишь частью моей программы, весь код можно найти ниже.
Я не собираюсь читать весь код, проблема должна быть выше, но только для тех, кто заинтересован, я также оставлю здесь все остальное)

// TMCLTest.cpp : Show how to communicate with a TMCM module in TMCL
//

#include "stdafx.h"#include <iostream>

//Opcodes of all TMCL commands that can be used in direct mode
#define TMCL_ROR 1
#define TMCL_ROL 2
#define TMCL_MST 3
#define TMCL_MVP 4
#define TMCL_SAP 5
#define TMCL_GAP 6
#define TMCL_STAP 7

enter code here#define TMCL_RSAP 8
enter code here#define TMCL_SGP 9
#define TMCL_GGP 10
#define TMCL_STGP 11
#define TMCL_RSGP 12
#define TMCL_RFS 13
#define TMCL_SIO 14
#define TMCL_GIO 15
#define TMCL_SCO 30
#define TMCL_GCO 31
#define TMCL_CCO 32

//Opcodes of TMCL control functions (to be used to run or abort a TMCL program in the module)
#define TMCL_APPL_STOP 128
#define TMCL_APPL_RUN 129
#define TMCL_APPL_RESET 131

//Options for MVP commandds
#define MVP_ABS 0
#define MVP_REL 1
#define MVP_COORD 2

//Options for RFS command
#define RFS_START 0
#define RFS_STOP 1
#define RFS_STATUS 2

#define FALSE 0
#define TRUE 1

//Result codes for GetResult
#define TMCL_RESULT_OK 0
#define TMCL_RESULT_NOT_READY 1
#define TMCL_RESULT_CHECKSUM_ERROR 2//Open serial interface
//Usage: ComHandle=OpenRS232("COM1", CBR_9600)
HANDLE OpenRS232(const char* ComName, DWORD BaudRate)
{
HANDLE ComHandle;
DCB CommDCB;
COMMTIMEOUTS CommTimeouts;

ComHandle=CreateFile(ComName, GENERIC_READ|GENERIC_WRITE, 0, NULL, OPEN_EXISTING,                 FILE_ATTRIBUTE_NORMAL, NULL);
if(GetLastError()!=ERROR_SUCCESS) return INVALID_HANDLE_VALUE;
else
{
GetCommState(ComHandle, &CommDCB);

CommDCB.BaudRate=BaudRate;
CommDCB.Parity=NOPARITY;
CommDCB.StopBits=ONESTOPBIT;
CommDCB.ByteSize=8;

CommDCB.fBinary=1;  //Binary Mode only
CommDCB.fParity=0;
CommDCB.fOutxCtsFlow=0;
CommDCB.fOutxDsrFlow=0;
CommDCB.fDtrControl=0;
CommDCB.fDsrSensitivity=0;
CommDCB.fTXContinueOnXoff=0;
CommDCB.fOutX=0;
CommDCB.fInX=0;
CommDCB.fErrorChar=0;
CommDCB.fNull=0;
CommDCB.fRtsControl=RTS_CONTROL_TOGGLE;
CommDCB.fAbortOnError=0;

SetCommState(ComHandle, &CommDCB);

//Set buffer size
SetupComm(ComHandle, 100, 100);

//Set up timeout values (very important, as otherwise the program will be very slow)
GetCommTimeouts(ComHandle, &CommTimeouts);

CommTimeouts.ReadIntervalTimeout=MAXDWORD;
CommTimeouts.ReadTotalTimeoutMultiplier=0;
CommTimeouts.ReadTotalTimeoutConstant=0;

SetCommTimeouts(ComHandle, &CommTimeouts);

return ComHandle;
}
}//Close the serial port
//Usage: CloseRS232(ComHandle);
void CloseRS232(HANDLE Handle)
{
CloseHandle(Handle);
}//Send a binary TMCL command
//e.g.  SendCmd(ComHandle, 1, TMCL_MVP, MVP_ABS, 1, 50000);   will be MVP ABS, 1, 50000 for module with address 1
//Parameters: Handle: Handle of the serial port (returned by OpenRS232).
//            Address: address of the module (factory default is 1).
//            Command: the TMCL command (see the constants at the begiining of this file)
//            Type:    the "Type" parameter of the TMCL command (set to 0 if unused)
//            Motor:   the motor number (set to 0 if unused)
//            Value:   the "Value" parameter (depending on the command, set to 0 if unused)
void SendCmd(HANDLE Handle, UCHAR Address, UCHAR Command, UCHAR Type, UCHAR Motor, INT Value)
{
UCHAR TxBuffer[9];
DWORD BytesWritten;
int i;

TxBuffer[0]=Address;
TxBuffer[1]=Command;
TxBuffer[2]=Type;
TxBuffer[3]=Motor;
TxBuffer[4]=Value >> 24;
TxBuffer[5]=Value >> 16;
TxBuffer[6]=Value >> 8;
TxBuffer[7]=Value & 0xff;
TxBuffer[8]=0;
for(i=0; i<8; i++)
TxBuffer[8]+=TxBuffer[i];

//Send the datagram
WriteFile(Handle, TxBuffer, 9, &BytesWritten, NULL);
}//Read the result that is returned by the module
//Parameters: Handle: handle of the serial port, as returned by OpenRS232
//            Address: pointer to variable to hold the reply address returned by the module
//            Status: pointer to variable to hold the status returned by the module (100 means okay)
//            Value: pointer to variable to hold the value returned by the module
//Return value: TMCL_RESULT_OK: result has been read without errors
//              TMCL_RESULT_NOT_READY: not enough bytes read so far (try again)
//              TMCL_RESULT_CHECKSUM_ERROR: checksum of reply packet wrong
UCHAR GetResult(HANDLE Handle, UCHAR *Address, UCHAR *Status, int *Value)
{
UCHAR RxBuffer[9], Checksum;
DWORD Errors, BytesRead;
COMSTAT ComStat;
int i;

//Check if enough bytes can be read
ClearCommError(Handle, &Errors, &ComStat);
if(ComStat.cbInQue>8)
{
//Receive
ReadFile(Handle, RxBuffer, 9, &BytesRead, NULL);

Checksum=0;
for(i=0; i<8; i++)
Checksum+=RxBuffer[i];

if(Checksum!=RxBuffer[8]) return TMCL_RESULT_CHECKSUM_ERROR;

*Address=RxBuffer[0];
*Status=RxBuffer[2];
*Value=(RxBuffer[4] << 24) | (RxBuffer[5] << 16) | (RxBuffer[6] << 8) | RxBuffer[7];
} else return TMCL_RESULT_NOT_READY;

return TMCL_RESULT_OK;
}int main(int argc, char* argv[])
{
int i;
int Type, Motor, Velocity, Position,ref1;
UCHAR Address, Status;
int Value, Timeout;

HANDLE RS232Handle;

RS232Handle=OpenRS232("COM3", 9600);

// set parameters
SendCmd(RS232Handle, 1, TMCL_SAP, 140, 0, 5); //SAP 140, 0, 5              // set             microsteps to 32 (32 additional steps per step of 1.8 degr.)
//SAP 4, 0, 500              //set max vel.
//SAP 5, 0, 100              //set max acc.
//SAP 6, 0, 255              //set abs. max current to  2.8 ampere

// SAP 7, 0, 50 // устанавливаем ток в режиме ожидания ((50/250) * 2.8A)

printf("VPI Test Setup\n \n" );
do
{
printf("1 - Rotate clockwise (10 rotations)\n");
printf("2 - Rotate counter-clockwise (10 rotations)\n");
printf("3 - Stop motor\n");
printf("4 - Start test (First 100 rotations clockwise, \n then 100 rotations counter clockwise)\n");

printf("\n99 - End\n");

scanf("%d", &i);
switch(i)
{
case 1:
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, 32000); //ABS(4th parameter) = 0
break;

case 2:
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, -32000); //ABS(4th parameter) = 0
break;

case 3:
SendCmd(RS232Handle, 1, TMCL_MST, 0, 0, 0);
break;

case 4:
//SendCmd(RS232Handle, 1, TMCL_RFS,0,0,0);
printf("Test started \n" );

//UCHAR done;
UCHAR* adr;
UCHAR* stat;
int* val;

//SendCmd(RS232Handle, 1, TMCL_SAP, 193, 1, 2); //SAP 193,1,2
SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, -3200); //ABS(4th parameter) = 0
SendCmd(RS232Handle,1, TMCL_GAP, 8, 0, 0);
GetResult(RS232Handle,adr,stat,val);
printf("results from USB device:   adr=%d, stat=%d, val=%d\n", adr, stat, val);
//CHAR GetResult(HANDLE Handle, UCHAR *Address, UCHAR *Status, int *Value)

// if(done != 2)
// {
//       printf("rotation backwards started \n");
//      SendCmd(RS232Handle, 1, TMCL_MVP, 0, 0, 3200);
// }

// }break;
}
SendCmd(RS232Handle, 1, TMCL_ROL, 0, Motor, Velocity);
SendCmd(RS232Handle, 1, TMCL_ROL, 0, Motor, Velocity);
if(i==1 || i==2 || i==3 || i==4)
{
Address=0;
Status=0;
Value=0;
Timeout=GetTickCount();
while(GetResult(RS232Handle, &Address, &Status, &Value)             ==TMCL_RESULT_NOT_READY && abs(GetTickCount()-Timeout)<1000);
printf("Result: Address=%d, Status=%d, Value=%d\n", Address, Status, Value);
}
}
while(i!=99);

CloseRS232(RS232Handle);

return 0;
}