doc/manual/en/manual.tex
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\documentclass[a4paper,12pt]{book}
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\usepackage[ascii]{inputenc}
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\usepackage[T1]{fontenc}
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\usepackage[french,english]{babel}
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\usepackage{amsmath,amssymb,amsfonts,textcomp}
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\usepackage{color}
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\usepackage{calc}
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\usepackage{longtable}
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\usepackage{hyperref}
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\usepackage{graphics}
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\usepackage{graphicx}
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\DeclareGraphicsExtensions{.jpg}
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\DeclareGraphicsExtensions{.png}
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\hypersetup{colorlinks=true, linkcolor=blue, filecolor=blue, pagecolor=blue, urlcolor=blue}
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%%%%\%%%%%%%% titre, auteurs, date, etc...%%%%%%%%%%%%%%%%%%
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\title{\Huge The CanFestival CANOpen stack manual}
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\author{Edouard TISSERANT}
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\date{\today}
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% Text styles
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%\newcommand\textstyleTeletype[1]{\texttt{#1}}
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% Outline numbering
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\setcounter{secnumdepth}{5}
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\renewcommand\thesection{\arabic{section} -}
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\renewcommand\thesubsection{\arabic{section}.\arabic{subsection})}
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\renewcommand\thesubsubsection{\arabic{section}.\arabic{subsection}.\arabic{subsubsection})}
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\renewcommand\theparagraph{\alph{paragraph})}
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\renewcommand\thesubparagraph{\roman{subparagraph})}
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% List styles
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\newcommand\liststyleLi{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLii{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLiii{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLiv{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLv{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLvi{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemiii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLvii{%
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\renewcommand\labelitemi{{--}}
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}
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\newcommand\liststyleLviii{%
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLix{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLx{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLxi{%
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\renewcommand\labelitemi{{--}}
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}
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\newcommand\liststyleLxii{%
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\renewcommand\labelitemi{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLxiii{%
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\renewcommand\labelitemi{{\textbullet}}
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\renewcommand\labelitemii{{\textbullet}}
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}
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\begin{document}
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{\centering\sffamily\Huge The CanFestival CANOpen stack manual.}
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\renewcommand\contentsname{CanFestival v3.0 Manual}
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\setcounter{tocdepth}{2}
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\tableofcontents
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\section{Introduction}
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CanFestival is an OpenSource (LGPL and GPL) CANOpen framework.
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\subsection{The CanFestival project}
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This project, initiated by Edouard TISSERANT in 2001, as grown thanks to
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Francis DUPIN and other contributors.
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Today, CanFestival focuses on providing an ANSI{}-C platform independent
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CANOpen stack that can be implemented as master or slave nodes on PCs,
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Real{}-time IPCs, and Microcontrollers.
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CanFestival is a project supported by Lolitech.
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\subsection{What is CANopen}
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CANopen is a CAN based high level protocol. It defines some protocols to
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:
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\liststyleLi
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\begin{enumerate}
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\item Configure a CAN network.
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\item Transmit data to a specific node or in broadcast.
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\item Administrate the network. For example detecting a not responding
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node.
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\end{enumerate}
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The documentation can be found in the Can in automation website :
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\href{http://www.can-cia.de/canopen}{http://www.can{}-cia.de/canopen}
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The most important document about CANopen is the normative CiA Draft
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Standard 301, version 4.02. You can now download with no cost the
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specification in Can in automation website.
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To continue reading this document, let us assume that you have read some
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papers introducing CANopen.
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\section{CanFestival Features}
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\subsection{Tools }
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The CANopen library is coming with some tools :
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\liststyleLii
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\begin{enumerate}
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\item Object Dictionary editor GUI. WxPython Model{}-View{}-Controler
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based GUI, that help a lot in generating object dictionary source code
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for each node.
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\item A configure script, that let you chose compile time options such
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as target CPU/HOST, CAN and TIMER drivers.\newline
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This script have not been generated with autoconf, it have been made
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keeping micro{}-controller target in mind.
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\end{enumerate}
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\subsection{Standard conformance}
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\paragraph{Multi{}-Platform}
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\liststyleLiii
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\begin{enumerate}
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\item Library source code is C{}-ANSI.
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\item Driver and examples coding conventions merely depend on target
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specific contributor/compiler.
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\item Unix compatible interfaces and examples should compile and run on
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any Unix system (tested on GNU/Linux and GNU/FreeBSD).
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\end{enumerate}
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\paragraph{CanOpen conformance}
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{\bfseries\upshape
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DS{}-301}
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\liststyleLiv
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\begin{enumerate}
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\item Should conform to DS301. V.4.02 13 february 2002.
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\item Master and Slave functionality implemented.
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\item Sending SYNC implemented.
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\item 1 SDO server per node. (update: more than one possible. To be more
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tested)
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\item Unlimited SDO client.
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\item SDO transmission mode : normal, expedited download and upload.
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\item Unlimited PDO receive.
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\item Unlimited PDO transmit.
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\item Object Data type implemented : 8, 16, 32 bits values, and fixed
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length strings.
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\item Slave state full implemented.
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\item NMT to change slave{\textquotesingle}s state implemented.
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\item PDO transmission mode : on request, every reception of 0 to n
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SYNC, on event.
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\item NMT Heartbeat implemented : A node can be either heartbeat
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producer or receiver.
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\item NMT NodeGuard implemented : Not fully implemented.
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\item TIME (time Stamp) : Not implemented.
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\item EMCY (emergency objects) : Not implemented.
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\item PDO Mapping bit per bit implemented.
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\end{enumerate}
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{\bfseries\upshape
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DS{}-302}
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\liststyleLiv
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\begin{enumerate}
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\item Concise \space DFC : implemented.
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\end{enumerate}
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\section{How to start}
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\subsection{Host requirements}
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What you need on your development workstation.
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\subsubsection{Object Dictionary Editor GUI}
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\liststyleLv
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\begin{enumerate}
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\item Python, with 
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\item wxPyhon modules installed (at least version 2.6.3). 
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\item Gnosis xml tools. (Optional can also be installed locally to the
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project automatically will the help of a Makefile. Please see
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\hyperlink{a91UsingDictionaryEditorGUIoutline}{9.1) Using Dictionary
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Editor GUI} )
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\end{enumerate}
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\subsubsection[\space Linux and Unix{}-likes]{\space Linux and Unix{}-likes}
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\liststyleLv
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\begin{enumerate}
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\item Linux, FreeBSD, Cygwin or any Unix environment with GNU toolchain.
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\item The GNU C compiler (gcc) or any other ANSI{}-C compiler for your
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target platform.
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\item Xpdf, and the official 301\_v04000201.pdf file in order to get GUI
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context sensitive help. Download the ds301 at\newline
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\href{http://www.can-cia.org/downloads/ciaspecifications/?1390}{http://www.can{}-cia.org/downloads/ciaspecifications/?1390}.
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\item GNU Make
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\item Bash and sed
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\end{enumerate}
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\subsubsection{Windows (for native win32 target)}
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\liststyleLv
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\begin{enumerate}
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\item Visual Studio Express 2005 or worst.
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\item Microsoft platform SDK (requires Genuine Advantage)
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\item Cygwin (for configuration only)
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\end{enumerate}
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\subsection{How to get CanFestival}
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Please always use CVS, this is the best way to get the most reactive
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support from the developer community :
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cvs {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival
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login\newline
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(type return, without entering a password) 
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Then, enter : \newline
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cvs {}-z3 {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival co
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{}-P CanFestival{}-3
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\section{Understanding Canfestival}
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\subsection{CanFestival Project tree layout}
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Simplified directory structure.
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{\ttfamily\bfseries
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./src ANSI{}-C source of CANOpen stack}
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{\ttfamily\bfseries
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\space /include Exportables Header files}
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{\ttfamily\bfseries
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./drivers Interfaces to specific platforms/HW}
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{\ttfamily
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./drivers/unix Linux and Cygwin OS interface}
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{\ttfamily
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./drivers/win32 Native Win32 OS interface}
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{\ttfamily
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./drivers/timers\_xeno Xenomai timers/threads (Linux only)}
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{\ttfamily
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./drivers/timers\_unix Posix timers/threads (Linux, Cygwin)}
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{\ttfamily
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./drivers/can\_peak\_linux PeakSystem CAN library interface}
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{\ttfamily
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./drivers/can\_peak\_win32 PeakSystem PCAN{}-Light interface}
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{\ttfamily
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./drivers/can\_uvccm\_win32 Acacetus{\textquotesingle}s RS232
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``CAN{}-uVCCM'' interface}
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{\ttfamily
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./drivers/can\_virtual Fake CAN network (Linux, Cygwin)}
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{\ttfamily
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./drivers/hcs12 HCS12 full target interface}
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{\ttfamily\bfseries
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./examples Examples}
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{\ttfamily
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./examples/TestMasterSlave 2 nodes, NMT SYNC SDO PDO, win32+unix}
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{\ttfamily
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./examples/TestMasterMicroMod 1 node, control Peak I/O Module, unix}
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{\ttfamily
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./examples/gene\_SYNC\_HCS12 Just send periodic SYNC on HCS12}
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{\ttfamily
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./examples/win32test Ask some DS301 infos to a node (\textbf{win32)}}
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{\ttfamily\bfseries
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./objdictgen Object Dictionary editor GUI}
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{\ttfamily
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./objdictgen/config Pre{}-defined OD profiles}
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{\ttfamily
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./objdictgen/examples Some examples/test OD}
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{\ttfamily\bfseries
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./doc Project and CanOpen doc}
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\subsection{Implement CanFestival in your application}
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 \begin{center}
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   \includegraphics[width=12cm]{Pictures/10000201000003F9000002CF880931E7.png}
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\end{center}
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\bigskip
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\subsection{CanFestival CAN interfaces}
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Because most CAN controllers and drivers implement FIFOs, CanFestival
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consider sending message as a non bloking operation.
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In order to prevent reentrent calls to the stack, messages reception is
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implemented differently on {\textmu}C and OS.:
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\liststyleLvi
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\begin{enumerate}
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\item {\textmu}C must provide interuption masking for timer and can
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receive IT\newline
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 \begin{center}
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   \includegraphics[width=12cm]{Pictures/10000201000003CA0000016604E6A5EF.png}
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\end{center}
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\item OS must provide a receive thread, a timer thread and a mutex. CAN
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reception is a bloking operation.\newline
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\begin{center}
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   \includegraphics[width=12cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}
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\end{center}
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\end{enumerate}
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\subsection{CanFestival events scheduling}
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A CanOpen node must be able to take delayed actions.
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As exemples, periodic sync emission, heartbeat production or SDO timeout
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need to set some alarms that will be called later and do the job.
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{\textmu}C generaly do not have enough free timers to handle all the
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CanOpen needs directly. Moreover, CanFestival internal data may be
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corrupt by reentrant calls. 
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CanFestival implement a micro{}-scheduler (timer.c). It uses only one
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timer to mimic many timers. It manage an alarm table, and call alarms
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at desired time.
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\begin{center}
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   \includegraphics[width=12cm]{Pictures/100000000000022C000000DEDAD2140C.png}
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\end{center}
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Scheduler can handle short clock value ranges limitation found on some
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{\textmu}C. As an example, value range for a 16bit clock counter with
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4{\textmu}s tick is crossed within 0.26 seconds... Long alarms must be
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segmented.
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Chronogram illustrate a long alarm (A) and a short periodic alarm (B),
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with a A value {\textgreater} clock range {\textgreater} B value.
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Values t0...t8 are successive setTimer call parameter values. t1
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illustrates an intermediate call to TimeDispatch, caused by a delay
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longer than clock range. Because of long alarm segmentation, at the end
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of t1, TimeDispatch call will not trig any alarm callback.
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\begin{center}
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   \includegraphics[width=12cm]{Pictures/1000000000000396000000FFC42573DA.png}
208
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\end{center}
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   385
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\section{Linux Target}
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Linux target is default configure target.
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   388
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\subsection{Linux Compilation and installation}
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Call ./configure {--}help to see all available compile time options.
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After invoking ./configure with your platform specific switches, just
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type make.
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{\ttfamily
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./configure [options]}
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{\ttfamily
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   399
make}
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   400
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{\ttfamily
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make install}
208
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\subsubsection{Standard Linux node}
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Configure switch:
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   406
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{\ttfamily
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 {}-{}-timers=unix}
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To do a CANopen node running on PC{}-Linux, you need :
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\liststyleLvii
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\begin{enumerate}
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\item A working linux distribution
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\item One or more Peak system PC CAN interface and the last Peak Linux
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driver installed.
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\end{enumerate}
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\subsubsection{Real{}-Time Linux node}
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Configure switch:
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{\ttfamily
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 {}-{}-timers=xeno}
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   423
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To do a CANopen node running on PC{}-Linux, you need :
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   425
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\liststyleLviii
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\begin{enumerate}
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\item A working Linux distribution patched with XENOMAI 2.1 or greater.
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   429
\item One or more Peak system PC CAN interface and the last Peak Real
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   430
Time Linux driver installed.
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\end{enumerate}
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\subsubsection{CAN devices}
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Curently supported CAN devices and corresponding configure switch:
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   434
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\paragraph{Peak systems}
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   436
Configure switch:
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   437
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{\ttfamily
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   439
{}-{}-can=peak\_linux}
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PeakSystems CAN interface is automatically chosen as default CAN
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interface if libpcan is present in the system.
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Please download driver at
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\href{http://www.peak-system.com/linux}{http://www.peak{}-system.com/linux}
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   446
and follow instructions in order to install driver on your system.
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   447
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\paragraph{Socket{}-Can (http://socketcan.berlios.de)}
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   449
Configure switch:
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   450
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{\ttfamily
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   452
{}-{}-can=socket}
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   453
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   454
\paragraph{LinCan}
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   455
Configure switch:
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diff changeset
   456
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   457
{\ttfamily
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   458
{}-{}-can=lincan}
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   459
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   460
\paragraph{Virtual CAN interfaces (for test/debug)}
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   461
Configure switch:
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diff changeset
   462
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   463
{\ttfamily
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   464
{}-{}-can=virtual}
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   465
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Virtual CAN interface use Unix pipes to emulate a virtual CAN network.
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   467
Each message issued from a node is repeat to all other nodes. Currently
05d95c45b388 Manual convertion -> latex -> pdf
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   468
only works with nodes running in the same process, and does not support
05d95c45b388 Manual convertion -> latex -> pdf
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   469
work with Xenomai.
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diff changeset
   470
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   471
\subsection{Testing your CanFestival installation}
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   472
Sample provided in /example/TestMasterSlave is installed into your
05d95c45b388 Manual convertion -> latex -> pdf
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   473
system during installation.
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   475
{\ttfamily
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diff changeset
   476
TestMasterSlave}
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diff changeset
   477
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   478
Default can driver library is libcanfestival\_can\_virtual.so., which
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   479
will simply pass CAN messages through Unix pipes between Master and
05d95c45b388 Manual convertion -> latex -> pdf
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   480
Slave. 
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diff changeset
   481
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parents:
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   482
You may also want to specify different can interface and define some CAN
05d95c45b388 Manual convertion -> latex -> pdf
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   483
ports. An other example using Peak{\textquotesingle}s dual PCMCIA
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
   484
(configure and install with {--}can=peak) :
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diff changeset
   485
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   486
{\ttfamily
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   487
TestMasterSlave {}-l libcanfestival\_can\_peak.so {}-s 40 {}-m 41}
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diff changeset
   488
05d95c45b388 Manual convertion -> latex -> pdf
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   489
\section{Windows Targets}
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   490
CanFestival can be compiled and run on Windows platform. It is possible
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   491
to use both Cygwin and win32 native runtime environment.
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   492
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   493
\subsection{Object Dictionary Editor GUI installation.}
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diff changeset
   494
Please refer to
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   495
\hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using Dictionary
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
   496
Editor GUI}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   497
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   498
\subsection{CYGWIN}
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diff changeset
   499
\subsubsection{Requirements}
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diff changeset
   500
Cygwin have to be installed with those packages :
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
   501
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   502
\liststyleLix
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
   503
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   504
\item gcc
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   505
\item unzip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   506
\item wget
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   507
\item make
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   508
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   509
Currently, the only supported CAN devices are PeakSystems ones, with
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   510
PcanLight driver and library. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   511
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   512
Please download driver at
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   513
\href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak{}-system.com/themen/download\_gb.html}
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   514
\space and follow instructions in order to install driver on your system.
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   515
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   516
Install Cygwin as required, and the driver for your Peak CAN device.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   517
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   518
Open a Cygwin terminal, and follow those instructions:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   519
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   520
\subsubsection{Cygwin configuration and compilation}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   521
\paragraph{A single node with PcanLight and Peak CAN{}-USB adapter}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   522
Download the PCAN{}-Light Zip file for your HW ( URL from download page
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   523
): 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   524
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   525
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   526
wget http://www.peak{}-system.com/files/usb.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   527
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   528
Extract its content into your cygwin home (it will create a ``Disk''
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   529
directory):
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   530
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   531
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   532
unzip usb.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   533
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   534
Configure CanFestival3 providing path to the desired PcanLight
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   535
implementation:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   536
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   537
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   538
cd CanFestival{}-3}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   539
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   540
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   541
export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   542
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   543
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   544
export PCAN\_HEADER=Pcan\_usb.h}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   545
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   546
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   547
export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   548
C++/Pcan\_usb.lib}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   549
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   550
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   551
./configure {}-{--}can=peak\_win32}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   552
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   553
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   554
make}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   555
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   556
In order to test, you have to use another CanFestival node, connect with
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   557
a CAN cable.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   558
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   559
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   560
cp \~{}/Disk/PCAN{}-Light/Pcan\_usb.dll .}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   561
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   562
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   563
./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   564
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   565
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   566
  {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   567
{\textbackslash}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   568
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   569
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   570
  {}-S 500K {}-M none}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   571
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   572
Then, on the other node :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   573
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   574
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   575
./TestMasterSlave {}-l my\_driver.so {}-S none {}-M 500K}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   576
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   577
Now messages are beeing exchanged between master and slave node.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   578
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   579
\paragraph{Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   580
Download the PCAN{}-Light Zip file for your HW ( URL from download page
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   581
): 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   582
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   583
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   584
wget http://www.peak{}-system.com/files/pccard.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   585
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   586
Extract its content into your cygwin home (it will create a ``Disk''
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   587
directory):
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   588
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   589
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   590
unzip pccard.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   591
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   592
The configure CanFestival3 providing path to the desired PcanLight
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   593
implementation:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   594
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   595
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   596
export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   597
export PCAN\_HEADER=Pcan\_pcc.h\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   598
export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   599
C++/Pcan\_pcc.lib\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   600
export PCAN2\_HEADER=Pcan\_2pcc.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   601
export PCAN2\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   602
C++/Pcan\_2pcc.lib}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   603
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   604
In order to test, just connect together both CAN ports of the PCMCIA
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   605
card. Don{\textquotesingle}t forget 120ohms terminator.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   606
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   607
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   608
cp \~{}/Disk/PCAN{}-Light/Pcan\_pcc.dll .}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   609
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   610
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   611
cp \~{}/Disk/PCAN{}-Light/Pcan\_2pcc.dll .}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   612
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   613
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   614
./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   615
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   616
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   617
  {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   618
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   619
Messages are then exchanged between master and slave node, both inside
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   620
TestMasterSlave{\textquotesingle}s process.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   621
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   622
\subsection{Visual Studio C++}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   623
\subsubsection{Requirements}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   624
Minimal Cygwin installation is required at configuration time in order
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   625
to create specific header files (config.h and cancfg.h). Once this
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   626
files created, cygwin is not necessary any more.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   627
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   628
Project and solution files have been created and tested with Visual
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   629
Studio Express 2005. Be sure to have installed Microsoft Platform SDK,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   630
as recommended at the end of Visual Studio installation.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   631
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   632
\subsubsection{Configuration with cygwin}
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   633
Follow instructions given at 
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   634
\hyperlink{Cygwin configuration and compilation}{Cygwin
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   635
configuration and compilation}, but do neither call make nor do tests,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   636
just do configuration steps. This will create headers files accordingly
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   637
to your configuration parameters, and the desired CAN hardware.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   638
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   639
\subsubsection{Compilation with Visual Studio}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   640
You can either load independents ``*.vcproj'' project files along your
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   641
own projects in your own solution or load the provided
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   642
``CanFestival{}-3.vc8.sln'' solution files directly.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   643
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   644
Build CanFestival{}-3 project first.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   645
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   646
\paragraph{PcanLight and the can\_peak\_win32 project.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   647
Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   648
to can\_peak\_win32 \space \space project before build of the DLL.
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   649
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   650
\subsubsection{Testing}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   651
Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or Debug
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   652
directory, and run the test program:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   653
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   654
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   655
TestMasterSlave.exe {}-l can\_peak\_win32.dll}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   656
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   657
\section{Motorola HCS12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   658
The examples have been tested on a MC9S12DG255 mounted on a
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   659
Elektronikladen HCS12 T{}-board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   660
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   661
Beware that there are a few differences in the MSCAN module of the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   662
68HC12 and HCS12 microcontroller. For a HC12, you must adapt the driver
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   663
that we provide for \space the HCS12.
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   664
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   665
For the difference MSCAN HC12/HCS12, see the Motorola application note
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   666
AN2011/D.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   667
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   668
Configure switch:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   669
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   670
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   671
 {}-{}-target=hcs12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   672
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   673
To do a CANopen node running on a microncontroller Motorola MC9S12DP256,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   674
you need :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   675
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   676
\liststyleLx
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   677
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   678
\item The compiler GNU gcc for HC11, HC12, HCS12 : m6811{}-elf. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   679
Download the \textbf{release 3.1} at :
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   680
\space \href{http://m68hc11.serveftp.org/m68hc11_pkg_rpm.php}{http://m68hc11.serveftp.org/m68hc11\_pkg\_rpm.php}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   681
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   682
\item A board with this chip. We are using the T{}-board from
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   683
Electronikladden. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   684
\item At least about 40 kBytes of program memory.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   685
\item A tool to flash the memory. (We are using the hight cost
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   686
Lauterbach debugger).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   687
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   688
\subsection{Running a HCS12 node}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   689
\subsubsection{Compiling Canfestival:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   690
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   691
./configure {--}target=hcs12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   692
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   693
\subsubsection{Compiling and building an example}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   694
Enter in the folder of an HCS12 example, 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   695
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   696
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   697
make all}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   698
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   699
\subsubsection{Flashing the memory :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   700
Use your prefered loader ! If you are using a debugger Lauterbach, you
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   701
can load the bash file : trace32\_flash\_programmer.cmm. It loads
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   702
directly the elf file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   703
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   704
\subsubsection{Connecting to a serial RS232 console :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   705
Connect the portS(TxD0) of the HCS12 to a console configured at 19200
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   706
bauds 8N1, via a Max232 chip to adapt the electricals levels. On Linux,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   707
you can use minicom. Connecting to a console is usefull to read the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   708
messages, but not required.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   709
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   710
\subsubsection{Connecting to the CAN network :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   711
Connect the port CAN0 (pin PM0, PM1) to the network via a CAN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   712
controller. On our board, the CAN controler is a PCA82C250 chip.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   713
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   714
\subsubsection{starting the node :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   715
Press the reset of your HCS12 board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   716
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   717
\section{Example and test program:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   718
The ``examples'' directory contains some test program you can use as
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   719
example for your own developments.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   720
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   721
\subsection{TestMasterSlave}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   722
{\ttfamily
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   723
**************************************************************\space}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   724
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   725
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   726
* \space TestMasterSlave
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   727
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   728
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   729
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   730
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   731
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   732
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   733
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   734
* \space A simple example for PC. It does implement 2 CanOpen \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   735
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   736
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   737
* \space nodes in the same process. A master and a slave. Both \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   738
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   739
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   740
* \space communicate together, exchanging periodically NMT, SYNC, \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   741
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   742
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   743
* \space SDO and PDO. Master configure heartbeat producer time \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   744
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   745
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   746
* \space at 1000 ms for slave node{}-id 0x02 by concise DCF.
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   747
\space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   748
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   749
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   750
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   751
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   752
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   753
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   754
* \space \space Usage:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   755
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   756
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   757
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   758
* \space \space ./TestMasterSlave \space [OPTIONS]
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   759
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   760
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   761
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   762
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   763
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   764
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   765
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   766
* \space \space OPTIONS:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   767
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   768
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   769
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   770
* \space \space \space \space {}-l : Can library
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   771
[{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   772
\space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   773
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   774
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   775
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   776
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   777
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   778
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   779
* \space \space \space Slave:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   780
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   781
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   782
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   783
* \space \space \space \space {}-s : bus name [{\textquotedbl}0{\textquotedbl}]
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   784
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   785
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   786
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   787
* \space \space \space \space {}-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   788
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   789
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   790
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   791
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   792
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   793
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   794
* \space \space \space Master:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   795
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   796
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   797
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   798
* \space \space \space \space {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   799
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   800
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   801
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   802
* \space \space \space \space {}-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   803
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   804
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   805
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   806
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   807
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   808
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   809
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   810
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   811
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   812
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   813
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   814
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   815
Notes for Concise DCF :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   816
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   817
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   818
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   819
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   820
{\sffamily
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   821
 In this example, Master configure \space heartbeat producer time at 1000 ms
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   822
for slave node{}-id 0x02 by concise DCF according DS{}-302 profile. }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   823
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   824
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   825
 }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   826
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   827
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   828
 Index 0x1F22 , sub{}-index 0x00 of the master OD, correspond to the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   829
number of entries. This equal to the maximum possible nodeId (127).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   830
Each sub{}-index points to the Node{}-ID of the device, to which the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   831
configuration belongs. }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   832
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   833
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   834
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   835
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   836
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   837
 To add more parameters configurations to the slave, the value at
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   838
sub{}-index 0x02 must be a binary stream (little{}-endian) following
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   839
this structure :\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   840
\{
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   841
(UNS32) nb of entries\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   842
(UNS16) index parameter 1\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   843
(UNS8) sub{}-index parameter 1\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   844
(UNS32) size data parameter 1\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   845
(DOMAIN) data parameter 1\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   846
(UNS16) index parameter 2\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   847
(UNS8) sub{}-index parameter 2\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   848
(UNS32) size data parameter 2\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   849
(DOMAIN) data parameter 2\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   850
\space \space \space \space \space ....\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   851
(UNS16) index parameter n\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   852
(UNS8) sub{}-index parameter n\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   853
(UNS32) size data parameter n\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   854
(DOMAIN) data parameter n\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   855
\}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   856
}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   857
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   858
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   859
 So the binary value stream to configure heartbeat producer time must be
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   860
:\newline
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   861
    0100000017100002000000e803}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   862
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   863
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   864
The slave node is configured just before the Master entering in
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   865
Pre\_operational state.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   866
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   867
\subsection{gene\_SYNC\_HCS12 :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   868
This is a simple CanOpen node that only send cyclic SYNC message. It
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   869
demonstrate implementation on HCS12 based board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   870
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   871
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   872
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   873
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   874
\subsection{TestMasterMicroMod }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   875
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   876
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   877
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   878
{\ttfamily
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   879
* \space TestMasterMicroMod
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   880
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   881
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   882
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   883
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   884
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   885
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   886
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   887
* \space A simple example for PC.
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   888
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   889
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   890
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   891
* \space A CanOpen master that control a MicroMod module:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   892
\space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   893
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   894
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   895
* \space {}- setup module TPDO 1 transmit type
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   896
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   897
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   898
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   899
* \space {}- setup module RPDO 1 transmit type
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   900
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   901
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   902
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   903
* \space {}- setup module hearbeatbeat period
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   904
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   905
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   906
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   907
* \space {}- disable others TPDOs
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   908
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   909
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   910
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   911
* \space {}- set state to operational
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   912
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   913
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   914
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   915
* \space {}- send periodic SYNC
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   916
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   917
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   918
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   919
* \space {}- send periodic RPDO 1 to Micromod (digital output) \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   920
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   921
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   922
* \space {}- listen Micromod{\textquotesingle}s TPDO 1 (digital input)
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   923
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   924
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   925
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   926
* \space {}- Mapping RPDO 1 bit per bit (digital input)
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   927
\space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   928
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   929
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   930
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   931
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   932
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   933
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   934
* \space \space Usage:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   935
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   936
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   937
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   938
* \space \space ./TestMasterMicroMod \space [OPTIONS]
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   939
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   940
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   941
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   942
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   943
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   944
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   945
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   946
* \space \space OPTIONS:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   947
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   948
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   949
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   950
* \space \space \space \space {}-l : Can library
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   951
[{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   952
\space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   953
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   954
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   955
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   956
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   957
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   958
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   959
* \space \space \space Slave:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   960
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   961
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   962
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   963
* \space \space \space \space {}-i : Slave Node id format [0x01 , 0x7F]
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   964
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   965
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   966
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   967
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   968
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   969
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   970
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   971
* \space \space \space Master:
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   972
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   973
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   974
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   975
* \space \space \space \space {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   976
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   977
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   978
{\ttfamily
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   979
* \space \space \space \space {}-M : 1M,500K,250K,125K,100K,50K,20K,10K
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   980
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   981
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   982
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   983
*
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
   984
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   985
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   986
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   987
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   988
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   989
\section{Developing a new node}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   990
Using provided examples as a base for your new node is generally a good
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   991
idea. You can also use the provided *.od files as a base for your node
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   992
object dictionary.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   993
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   994
Creating a new CanOpen node implies to define the Object Dictionary of
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   995
this node. For that, developer have to provide a C file. This C file
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   996
contains the definition of all dictionary entries, and some kind of
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   997
index table that helps the stack to access some entries directly.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   998
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   999
\subsection{Using Dictionary Editor GUI}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1000
The Object Dictionary Editor is a WxPython based GUI that is used to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1001
create the C file needed to create a new CanOpen node. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1002
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1003
\subsubsection{Installation and usage on Linux}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1004
You first have to download and install Gnosis XML modules. This is
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1005
automated by a Makefile rule.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1006
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1007
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1008
cd objdictgen}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1009
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1010
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1011
make}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1012
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1013
Now start the editor.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1014
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1015
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1016
python objdictedit.py [od files...]}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1017
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1018
\subsubsection{Installation and usage on Windows}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1019
Install Python (at least version 2.4) and wxPython (at least version
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1020
2.6.3.2).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1021
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1022
Cygwin users can install Gnosis XML utils the same as Linux use. Just
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1023
call make.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1024
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1025
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1026
cd objdictgen}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1027
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1028
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1029
make}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1030
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1031
Others will have to download and intall Gnosis XML by hand :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1032
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1033
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1034
Gnosis Utils:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1035
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1036
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1037
http://freshmeat.net/projects/gnosisxml/}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1038
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1039
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1040
http://www.gnosis.cx/download/Gnosis\_Utils.More/Gnosis\_Utils{}-1.2.1.win32{}-py24.exe}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1041
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1042
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1043
Get latest version.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1044
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1045
Download CanFestival archive and uncompress it. Use windows file
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1046
explorer to go into CanFestival3{\textbackslash}objdicgten, and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1047
double{}-click on objdictedit.py.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1048
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1049
\subsubsection{About}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1050
The Object Dictionary editor GUI is a python application that use the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1051
Model{}-View{}-Controller design pattern. It depends on WxPython to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1052
display view on any supported platform.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1053
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1054
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1055
   \includegraphics[width=7cm]{Pictures/10000201000001FC000001E5D65E8766.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1056
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1057
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1058
\subsubsection{Main view}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1059
Top list let you choose dictionary section, bottom left list is the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1060
selected index in that dictionary, and bottom right list are edited
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1061
sub{}-indexes.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1062
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1063
 \begin{center}
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1064
   \includegraphics[width=12cm]{Pictures/10000201000003E7000001C7B0296577.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1065
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1066
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1067
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1068
   \includegraphics[width=3cm]{Pictures/10000000000000B6000000DF1EDD1E73.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1069
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1070
  \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1071
   \includegraphics[width=3cm]{Pictures/10000000000000AC000000C9C3F53FA6.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1072
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1073
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1074
   \includegraphics[width=3cm]{Pictures/100000000000006D000000A31EC8CB54.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1075
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1076
  \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1077
   \includegraphics[width=3cm]{Pictures/10000000000000AA0000006014F74635.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1078
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1079
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1080
\subsubsection{New node}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1081
Edit your node name, ID and type. Choose your inherited specific
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1082
profile.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1083
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1084
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1085
   \includegraphics[width=11cm]{Pictures/10000201000001CB0000015F4FC09B68.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1086
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1087
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1088
\subsubsection{Node info}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1089
Edit your node name, ID and type.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1090
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1091
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1092
   \includegraphics[width=7cm]{Pictures/10000201000001010000011DA724D25C.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1093
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1094
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1095
\subsubsection{Profile editor}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1096
Chose the used profile to edit.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1097
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1098
   \includegraphics[width=4cm]{Pictures/10000000000000AB000000C88F594413.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1099
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1100
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1101
Pick up optional chosen profile entries.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1102
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1103
   \includegraphics[width=11cm]{Pictures/10000201000002DE000001D82D89C224.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1104
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1105
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1106
\subsubsection{User types}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1107
Use User Types to implement value boundaries, and string lentgth\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1108
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1109
   \includegraphics[width=11cm]{Pictures/10000201000001C40000010766961D7F.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1110
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1111
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1112
\subsubsection{Mapped variable}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1113
Add your own specific dictionary entries and associated mapped
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1114
variables.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1115
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1116
   \includegraphics[width=11cm]{Pictures/10000201000001C4000000DD129D4661.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1117
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1118
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1119
\subsubsection{Integrated help}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1120
Using F1 key, you can get context sensitive help.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1121
 \begin{center}
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1122
   \includegraphics[width=12cm]{Pictures/10000201000002F30000020B23ED7F67.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1123
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1124
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1125
In order to do that, official 301\_v04000201.pdf file must be placed
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1126
into doc/ directory, and xpdf must be present on your system.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1127
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1128
F2 key open HTML CanFestival help.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1129
 \begin{center}
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1130
   \includegraphics[width=12cm]{Pictures/10000201000003440000025ACC3FD2F1.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1131
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1132
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1133
\subsection{Generating the object Dictionary}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1134
Once object dictionary has been edited and saved, you have to generate
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1135
object dictionary C code for your CanFestival node.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1136
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1137
\subsubsection{With GUI}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1138
Menu entry ``File/Build Dictionary''.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1139
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1140
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1141
   \includegraphics[width=4cm]{Pictures/10000201000000B7000000C66AF89CD5.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1142
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1143
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1144
Choose C file to create or overwrite. Header file will be also created
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1145
with the same prefix as C file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1146
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1147
\subsubsection{With command line}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1148
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1149
Usage of objdictgen.py :\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1150
python objdictgen.py XMLFilePath CfilePath}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1151
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1152
\section{FAQ}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1153
\subsection{General}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1154
\subsubsection{Does the code compiles on Windows ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1155
Yes, with both Cygwin and Visual Studio C++.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1156
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1157
Because CANopen layer is coded with C, put a compilation option /TC or
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1158
/TP if you plan to mix C++ files. See the MSDN documentation about
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1159
that.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1160
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1161
\subsubsection{How to fit the library to an other microcontr\^oler ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1162
First, be sure that you have at least 40K bytes of program memory, and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1163
about 2k of RAM. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1164
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1165
You have to create target specific interface to HW resources. Take model
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1166
on bundled interfaces provided in drivers/ and create your own
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1167
interface. You also have to update Makefile.in files for target
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1168
specific cflags and options. Chose {--}targer= configure switch to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1169
compile your specific interface.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1170
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1171
You are welcome to contribute{}-back your own interfaces ! Other
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1172
Canfestival users will use it and provide feedback, tests and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1173
enhancements.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1174
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1175
\subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1176
Thanks to Philippe Foureys (IUT of Valence), a slave node have been
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1177
tested with the National Instrument CanOpen Conformance Test. It passed
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1178
the test with success.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1179
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1180
Some very small unconformity have been found in very unusual situations,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1181
for example in the SDO code response to wrong messages.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1182
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1183
\subsection{LINUX}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1184
\subsubsection{How to use a Peaksystem CAN board ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1185
Just install peak driver and then compile and install Canfestival. Peak
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1186
driver is detected at compile time.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1187
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1188
\subsubsection{How to use an unsupported CAN board ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1189
You have to install the specific driver on your system, with necessary
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1190
libs and headers. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1191
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1192
Use can\_peak.c/h or can\_virtual.c/h as an example, and adapt it to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1193
your driver API.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1194
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1195
Execute configure script and choose {}-{}-can=mydriver
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1196
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1197
\subsection{Win32}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1198
Compatibility:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1199
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1200
\liststyleLxi
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1201
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1202
\item Code was compiled MS VisualStudio 2003.NET and VisualStudio
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1203
2005.NET for WindowsXP \space with ANSI and UNICODE configurations and for
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1204
WindowsCE 5.0. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1205
\item Some preliminary testing was done, but not enough to be used in
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1206
mission critical projects.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1207
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1208
Additional Features:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1209
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1210
\liststyleLxii
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1211
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1212
\item Non{}-integral integers support implementation UNS24, UNS40, UNS48
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1213
etc.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1214
\item When enable debug output with DEBUG\_WAR\_CONSOLE\_ON or
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1215
DEBUG\_ERR\_CONSOLE\_ON, you can navigate in CanFestival source code by
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1216
double clicking at diagnostic lines in VisualStudio.NET 200X Debug
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1217
Output Window.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1218
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1219
Custom size integral types such as INTEGER24, UNS40, INTEGER56 etc. have
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1220
been defined as 64 bits integers. You will need to replace sizeof(TYPE)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1221
operators to sizeof\_TYPE definitions in generated code, i.e. replace
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1222
sizeof(UNS40) with sizeof\_UNS40.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1223
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1224
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1225
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1226
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1227
\subsection{HCS12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1228
\subsubsection{Which board are you using ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1229
A T{}-board from elektronikladen with a MC9S12DP256 or MC9S12DG256.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1230
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1231
\subsubsection{Does the code compile with an other compiler than GNU gcc
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1232
?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1233
It is known to work with Metrowerks CodeWarrior. Here are some tips from
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1234
Philippe Foureys. :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1235
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1236
\paragraph{Interrupt functions}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1237
\subparagraph{Code for GCC:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1238
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1239
 // prototype\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1240
 void \_\_attribute\_\_((interrupt))timer3Hdl(void):\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1241
 // function\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1242
 void \_\_attribute\_\_((interrupt))timer3Hdl(void)\{...\}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1243
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1244
\subparagraph{Code for CodeWarrior}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1245
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1246
 // protoype\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1247
 void interrupt timer3Hdl(void);\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1248
 // function\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1249
 pragma CODE\_SEG\_\_NEAR\_SEG\_NON\_BANKED\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1250
 void interrupt timer3Hdl(void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1251
 \{...\}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1252
 pragma CODE\_SEG\_DEFAULT}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1253
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1254
\paragraph{Interrupt lock, unlock}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1255
\subparagraph{Code for GCC}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1256
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1257
 void unlock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1258
 \{\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1259
  \space \_\_asm\_\_
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1260
\_\_volatile\_\_({\textquotedbl}cli{\textquotedbl});\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1261
 \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1262
 void lock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1263
 \{\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1264
  \space unsigned short mask;\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1265
  \space \_\_asm\_\_
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1266
\_\_volatile\_\_({\textquotedbl}tpa{\textbackslash}n{\textbackslash}tsei{\textquotedbl}:{\textquotedbl}=d{\textquotedbl}(mask));\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1267
 \}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1268
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1269
\subparagraph{Code for CodeWarrior}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1270
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1271
void unlock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1272
 \{\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1273
  \space \_\_asm({\textquotedbl}cli{\textquotedbl});\newline
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1274
 \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1275
 void lock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1276
 \{\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1277
  \space unsigned short mask;\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1278
  \space \_\_asm\newline
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1279
  \{\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1280
  \space tpa:tsei:{\textquotedbl}=d{\textquotedbl}(mask);\newline
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1281
  \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1282
 \}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1283
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1284
\paragraph{Initialize function}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1285
\subparagraph{Code for GCC}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1286
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1287
void initCanHCS12 (void)\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1288
 \{ \space \newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1289
  \space //Init the HCS12 microcontroler for CanOpen \newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1290
  \space initHCS12();\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1291
  \space \space // Init the HCS12 \space CAN driver\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1292
  \space const canBusInit bi0 = \{\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1293
  \space \space \space 0, \space \space \space /* no low power \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1294
\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1295
  \space \space \space 0, \space \space \space /* no time stamp
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1296
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1297
  \space \space \space 1, \space \space \space /* enable MSCAN
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1298
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1299
  \space \space \space 0, \space \space \space /* clock source : oscillator (In fact, it is not used)
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1300
\space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1301
  \space \space \space 0, \space \space \space /* no loop back
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1302
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1303
  \space \space \space 0, \space \space \space /* no listen only
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1304
\space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1305
  \space \space \space 0, \space \space \space /* no low pass filter for wk up */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1306
  \space CAN\_Baudrates[CAN\_BAUDRATE\_250K],\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1307
  \space \space \space \{\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1308
  \space \space \space \space \space 0x00, \space \space \space /* Filter on 16 bits.\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1309
  \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space See Motorola Block Guide V02.14 fig
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1310
4{}-3 */\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1311
  \space \space \space \space \space 0x00, 0xFF, /* filter 0 hight accept all msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1312
\space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1313
  \space \space \space \space \space 0x00, 0xFF, /* filter 0 low accept all msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1314
\space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1315
  \space \space \space \space \space 0x00, 0xFF, /* filter 1 hight filter all of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1316
\space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1317
  \space \space \space \space \space 0x00, 0xFF, /* filter 1 low filter all of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1318
\space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1319
  \space \space \space \space \space 0x00, 0xFF, /* filter 2 hight filter most of \space msg
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1320
*/\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1321
  \space \space \space \space \space 0x00, 0xFF, /* filter 2 low filter most of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1322
\space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1323
  \space \space \space \space \space 0x00, 0xFF, /* filter 3 hight filter most of \space msg
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1324
*/\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1325
  \space \space \space \space \space 0x00, 0xFF, /* filter 3 low filter most of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1326
\space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1327
  \space \space \space \}\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1328
  \space \};}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1329
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1330
\subparagraph{Code for CodeWarrior}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1331
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1332
void initCanHCS12 (void)\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1333
 \{ \space \newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1334
  \space //Init the HCS12 microcontroler for CanOpen \newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1335
  \space initHCS12();\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1336
  \space \space // Init the HCS12 \space CAN driver\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1337
  \space const canBusInit bi0 = \{\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1338
  \space \space \space 0, \space \space \space /* no low power \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1339
\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1340
  \space \space \space 0, \space \space \space /* no time stamp
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1341
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1342
  \space \space \space 1, \space \space \space /* enable MSCAN
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1343
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1344
  \space \space \space 0, \space \space \space /* clock source : oscillator (In fact, it is not used)
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1345
\space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1346
  \space \space \space 0, \space \space \space /* no loop back
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1347
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1348
  \space \space \space 0, \space \space \space /* no listen only
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1349
\space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1350
  \space \space \space 0, \space \space \space /* no low pass filter for wk up */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1351
  \space \space \space \{\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1352
  \space \space \space \space 1, /* clksrc */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1353
  \space \space \space \space 3, /* brp \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1354
  \space \space \space \space 0, /* sjw \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1355
  \space \space \space \space 0, /* samp \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1356
  \space \space \space \space 1, /* tseg2 \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1357
  \space \space \space \space 12,/* tseg1 \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1358
  \space \space \space \},\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1359
  \space \space \space \{\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1360
  \space \space \space \space \space 0x00, \space \space \space /* Filter on 16 bits.\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1361
  \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space See Motorola Block Guide V02.14 fig
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1362
4{}-3 */\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1363
  \space \space \space \space \space 0x00, 0xFF, /* filter 0 hight accept all msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1364
\space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1365
  \space \space \space \space \space 0x00, 0xFF, /* filter 0 low accept all msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1366
\space \space \space \space \space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1367
  \space \space \space \space \space 0x00, 0xFF, /* filter 1 hight filter all of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1368
\space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1369
  \space \space \space \space \space 0x00, 0xFF, /* filter 1 low filter all of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1370
\space \space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1371
  \space \space \space \space \space 0x00, 0xFF, /* filter 2 hight filter most of \space msg
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1372
*/\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1373
  \space \space \space \space \space 0x00, 0xFF, /* filter 2 low filter most of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1374
\space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1375
  \space \space \space \space \space 0x00, 0xFF, /* filter 3 hight filter most of \space msg
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1376
*/\newline
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1377
  \space \space \space \space \space 0x00, 0xFF, /* filter 3 low filter most of \space msg
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1378
\space \space */\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1379
  \space \space \space \}\newline
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1380
  \space \};}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1381
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1382
\subsubsection{Does the code works in banked memory ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1383
No. Today it seems that the port of gcc is bogged for using the banked
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1384
memory. So, unfortunately, we are limited to 48 Kbytes of memory code.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1385
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1386
\subsubsection{What GCC version are you using ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1387
We are using the stable RPM release 2.2 :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1388
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1389
\liststyleLxiii
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1390
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1391
\item GNU Gcc 3.0.4. Build 20030501
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1392
\item Newlib 1.10.0 Build 20030421
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1393
\item GNU Binutils 2.12.1 Build 20030427
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1394
\end{enumerate}
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1395
\section{Documentation resources\newline}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1396
\paragraph{CIA : Can in Automation\newline}
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1397
Many documentation on CANopen.\newline
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1398
\href{http://www.can-cia.de/}{http://www.can{}-cia.de}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1399
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1400
\paragraph{Resources and training in CANopen\newline}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1401
\href{http://www.esacademy.com/}{http://www.esacademy.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1402
249
d328d0d9b88e Some cleanup in latex manual
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  1403
\paragraph{Elektronikladen HCS12 T{}-board\newline}
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1404
\href{http://www.elektronikladen.de/en_hcs12tb.html}{http://www.elektronikladen.de/en\_hcs12tb.html}
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1405
249
d328d0d9b88e Some cleanup in latex manual
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diff changeset
  1406
\paragraph{Gnu gcc compiler for HC12\newline}
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1407
\href{http://m68hc11.serveftp.org/m68hc11_port.php}{http://m68hc11.serveftp.org/m68hc11\_port.php}
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1408
249
d328d0d9b88e Some cleanup in latex manual
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diff changeset
  1409
\paragraph{Motorola documentation on HC12\newline}
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1410
\href{http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MC9S12DP256}{http://www.freescale.com/webapp/sps/site/prod\_summary.jsp?code=MC9S12DP256}
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1411
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d328d0d9b88e Some cleanup in latex manual
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  1412
\paragraph{Lauterbach debugger for HC12\newline}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
  1413
\href{http://www.lauterbach.com/}{http://www.lauterbach.com}
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1414
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d328d0d9b88e Some cleanup in latex manual
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  1415
\paragraph{Python language\newline}
208
05d95c45b388 Manual convertion -> latex -> pdf
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  1416
\href{http://www.python.org/}{http://www.python.org}
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nico
parents:
diff changeset
  1417
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
  1418
\clearpage\section{About the project}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1419
\subsection{Contributors }
05d95c45b388 Manual convertion -> latex -> pdf
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  1420
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
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   \includegraphics[width=10cm]{Pictures/1000020100000258000000832C6FFAB4.png}
208
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  1422
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1423
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1424
Unit\'e mixte de recherche INRETS{}-LCPC
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1425
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1426
sur les Interractions V\'ehicule{}-Infrastructure{}-Conducteur
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1427
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1428
14, route de la mini\`ere
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1429
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1430
78000 Versailles
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1431
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1432
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1433
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1434
Tel : +33 1 40 43 29 01
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1435
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1436
\href{http://www.inrets.fr/ur/livic}{http://www.inrets.fr/ur/livic}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1437
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1438
\textbf{Contributors :} Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1439
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1440
   Camille BOSSARD
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1441
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1442
   Laurent ROMIEUX
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1443
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1444
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1445
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
  1446
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1447
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
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diff changeset
  1448
   \includegraphics[width=10cm]{Pictures/100002010000013A0000004A96B0C1FF.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1449
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1450
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1451
LOLITECH
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1452
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1453
204, rue du Haut du Pin
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1454
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1455
88470 Saint{}-Michel sur Meurthe
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1456
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1457
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1458
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1459
Tel : +33 3 29 52 95 67
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1460
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1461
\href{http://www.lolitech.fr/}{http://www.lolitech.fr}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1462
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1463
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1464
Contributors : \textmd{Edouard TISSERANT (Original author)}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1465
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1466
{\mdseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1467
   Laurent BESSARD}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1468
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
  1469
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1470
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1471
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1472
Many thanks to the other contributors for their great work:
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
  1473
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1474
\textmd{   }Raphael ZULLIGER
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1475
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1476
\textmd{   }David DUMINY (st\'e A6R)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1477
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1478
\textmd{   }Zakaria BELAMRI
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1479
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1480
\subsection{Getting support}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1481
Send your feedback and bug reports to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1482
\href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1483
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d328d0d9b88e Some cleanup in latex manual
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diff changeset
  1484
For commercial support, \space training and specific integration and
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1485
developments, please ask LOLITECH (see contributors).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1486
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1487
\subsection{Contributing}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1488
You are free to contribute your specific interfaces back to the project.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1489
This way, you can hope to get support from CanFestival users community.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1490
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1491
Please send your patch to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1492
\href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1493
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1494
Feel free to create some new predefined DS{}-4xx profiles (*.prf) in
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1495
objdictgen/config, as much as possible respectful to the official
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1496
specifications.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1497
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1498
\subsection{License}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1499
All the project is licensed with LGPL. This mean you can link
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1500
CanFestival with any code without being obliged to publish it.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1501
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1502
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1503
\#This file is part of CanFestival, a library implementing CanOpen
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1504
Stack. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1505
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1506
\#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1507
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1508
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1509
\#See COPYING file for copyrights details. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1510
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1511
\#This library is free software; you can redistribute it and/or \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1512
\#modify it under the terms of the GNU Lesser General Public \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1513
\#License as published by the Free Software Foundation; either \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1514
\#version 2.1 of the License, or (at your option) any later version.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1515
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1516
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1517
\#This library is distributed in the hope that it will be useful,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1518
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1519
\#but WITHOUT ANY WARRANTY; without even the implied warranty of
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1520
\newline
249
d328d0d9b88e Some cleanup in latex manual
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diff changeset
  1521
\#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \space See the GNU
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1522
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1523
\#Lesser General Public License for more details. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1524
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1525
\#You should have received a copy of the GNU Lesser General Public
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1526
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1527
\#License along with this library; if not, write to the Free Software
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1528
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1529
\#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
249
d328d0d9b88e Some cleanup in latex manual
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parents: 211
diff changeset
  1530
\space 02111{}-1307 \space USA }
208
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  1531
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
  1532
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1533
\bigskip
249
d328d0d9b88e Some cleanup in latex manual
etisserant
parents: 211
diff changeset
  1534
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1535
\end{document}