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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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____ _ _ _
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/ ___| / \ | \ | | ___ _ __ ___ _ __
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| | / _ \ | \| |/ _ \| '_ \ / _ \ '_ \
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| |___ / ___ \| |\ | (_) | |_) | __/ | | |
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\____/_/ \_\_| \_|\___/| .__/ \___|_| |_|
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|_|
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____ _
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/ ___|__ _ _ __ __ _ __| | __ _
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| | / _` | '_ \ / _` |/ _` |/ _` |
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| |__| (_| | | | | (_| | (_| | (_| |
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\____\__,_|_| |_|\__,_|\__,_|\__,_|
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canfestival@canopencanada.ca
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/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/_/
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MARKETING or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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CanFestival driver for the Philips ARM7 model LPC2138 , with a Philips
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SJA1000 CAN controler, and running on the eCOS operating system.
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Driver Features:
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Full CANfestival-3 support including:
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DS-150/205: CAN Power Management Layer specification (sleep/wake-up)
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DS-201: CAN low level layer
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DS-301: CANopen Application layer and Communication Profile (basic CANopen specification)
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DS-303-1: LED diagnostic usage (led.c)
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DS-305: Layer Setting Service (lss.c) to set the baudrateand node ID in a PnP fashion.
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NVRAM: Non Volatil Ram (nvram.c) Full support for internal Philips IAT programming FLASH mode
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To use this driver, you need to proceed to do all these steps.
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NB: We choose to leave this driver in .o object code to keep the capability
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to make on-the-fly redefinition of some parameters for all examples.
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Step 1
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-----------
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Have a developpement workstation. To build everything, we chose to use
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an old AMD K6/2-300Mhz running with FreeBSD-5.2-RELEASE freely available
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at http://www.freebsd.org/.
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To install freebsd, download the two floppy images from
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ftp://ftp.freebsd.org/pub/FreeBSD/releases/i386/5.2-RELEASE/floppies
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and copy them to a simple floppy disk by typeing:
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dd if=./image.dd of=/dev/fd0
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dd if=./image2.dd of=/dev/fd0
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and proceed to boot on them.
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You can use Linux or Windows also or any other O/S where you can use GCC.
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on FreeBSD, you need to configure the serial port by editing the /etc/rc/serial
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config file by adding this entry:
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lpc2000 () {
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# Philips LPC2000 serial port configuration for 57600 bauds connection.
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ci=$1; shift
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co=$1; shift
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for i in $*
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do
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# Lock clocal on, hupcl off.
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# XON-XOFF printer
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stty < /dev/ttyi${ci}${i} clocal -hupcl ixon -imaxbel -ixany -ixoff -crtscts 57600
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stty < /dev/ttyl${ci}${i} clocal hupcl
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stty < /dev/cuai${co}${i} clocal -hupcl ixon -imaxbel -ixany -ixoff -crtscts 57600
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stty < /dev/cual${co}${i} clocal hupcl
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done
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}
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###############
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lpc2000 d a 0 1 # to configure COM1 and COM2, mean, /dev/cuaa0 and /dev/cuaa1
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###############
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Step 2
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-----------
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Find an upload tool to be able to flash the LPC2138.
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We found the lpc2isp at the address:
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http://guest.engelschall.com/~martin/lpc21xx/isp/index.html
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You can use this upload script to call it with proper arguments.
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#!/bin/sh
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lpc21isp -term -control build/terminal.hex /dev/cuaa1 57600 14746
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Step 3
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-----------
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Proceed to build a GCC cross compiler to be able to produce ARM7TDMI compatible
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binary. Go to the port directory of your FreeBSD
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cd /usr/ports/devel/arm-elf-binutils
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gmake install
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cd /usr/ports/devel/arm-elf-gcc295
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gmake install
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And add the installation binary PATH to your environment variables.
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cd /etc
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vi profile
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export PATH=$PATH:/usr/local/armelf/bin
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Step 4
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Build an eCOS tree for the LPC2138.
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Download eCOS from http://www.ecoscentric.com and proceed to compile
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the configtool program.
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cd /usr/ports/devel/ecos-tools/
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gmake install
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untar our special package for eCOS named eCOS-OLIMEX-p2138.tgz in
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the eCOS three on your files system.
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Start now your configtool for eCOS:
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configtool
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Choose the right target
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For our purpose, we choose to use an OLIMEX P2138 target board.
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This target is not in the list, we created it from a derivative of
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the OLIMEX P2106. We simply selected an other processor in the pulldown menu
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of the configtool. The LPC2138. Adjust some memory capacity, and that's it.
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When all you need is properly selected in the configtool, you click on
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Save_As and you suggest a name like My2138.
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After, you click on Generate Build Tree.
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cd My2138_build
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gmake depend
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gmake
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gmake install
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And now you have you own eCOS tree for your project in My2138_install
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Step 5
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-----------
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Prepare the hardware board for this project. We chose to use an
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http://www.olimex.com/ board, the P2138.
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Any other LPC2138 evaluation could made the job.
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On the P2138 board, we have a little area that we can use to solder
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the SJA1000 controler.
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See can_controler.gif to know how to solder all wires.
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Warning: If you want to use different GPIO (General Purpose Input Output)
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pin to fit with your own project,
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you can choose a different one, but you need
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to be sure to properly define then in the lpc2138_pinout.h
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Step 6
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Put the CANfestival-3.tar.gz stuff in My2138_install/src/CANfestival-3
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cd My2138_install/src/CANfestival-3
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./configure target=ecos-lpc2138-sja1000
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gmake
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cd My2138_install/lib
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ln -s My2138_install/src/CANfestival-3/src/libcanfestival.a
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cd My2138_install/src
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ln -s My2138_install/src/CANfestival-3/driver/ecos-lpc2138-sja1000
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Step 7
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Now you are ready to build our demo.
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cd My2138_install/src/CANfestival-3/examples/DS-406Master_ecos
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gmake
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cd My2138_install/src/CANfestival-3/examples/TerminalSlave_ecos
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gmake
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Step 8
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To test, upload both .hex file to both targets with lpc21isp and
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see the DS-406 absolut rotary encoder transmiting his absolute value to the
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terminal.
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For more info about this project, see http://www.oremeq.qc.ca/
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Step 9
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For your own project, you can copy all the examples files in your own
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directory and modify them.
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What is important to understand is:
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driver/ecos_lpc2138_sja1000:
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build_baudrate.c is a commande line tool to generate the proper
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timing file for your sja1000 regarding your sja1000 clk.
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see the Makefile for adjustment.
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canOpenDriver.c is the only link between the libcanfestival and
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the hardware.
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f_can_send
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f_can_receive
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interrupts
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nvram_save/load
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baudrate
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eCOS-OLIMEX-p2138.tgz eCOS package for the OLIMEX p2138 evaluation board
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you have to untar that files in your eCOS three.
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sja1000.c containe only function for initialization or
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configuration of the CAN controler. All this stuff is
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_not_ use by the libcanfestival. You have to call them
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from your main() to enable CAN with your needed configuration.
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hardware init
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lpc2138.c All the basic stuff to run the LPC2138
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iat_flash user programmable internal flash of the lpc2138
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lpc2138_pinout.h Is your LPC2138 pinout definition. Modify this file
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if you want to redefine your pinout affectation.
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time_slicer.c eCOS implementation of the CANfestival scheduler.
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settimer
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alarm
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applicfg.h is your configuration file for the libcanfestival
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lpc2138_pinout.h define all your GPIO to fit macros.
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objdictedit:
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Objdictedit will produce the dictionary.
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Generate your dictionnary. (Or use an already made YourFile.od with
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the tool: objdictgen.py
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The job is to implement all functions define in the YourFIle.c in
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your own project files.
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Enjoye!!!!
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Canopen Canada core team
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canfestival@canopencanada.ca
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