doc/manual/en/manual.tex
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\documentclass[12pt,twoside]{article}
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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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\newenvironment{changemargin}[2]{\begin{list}{}{%
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\setlength{\topsep}{0pt}%
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\setlength{\leftmargin}{0pt}%
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\setlength{\rightmargin}{0pt}%
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\setlength{\listparindent}{\parindent}%
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\setlength{\itemindent}{\parindent}%
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\setlength{\parsep}{0pt plus 1pt}%
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\addtolength{\leftmargin}{#1}%
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\addtolength{\rightmargin}{#2}%
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}\item }{\end{list}}
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%%%%\%%%%%%%% titre, auteurs, date, etc...%%%%%%%%%%%%%%%%%%
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\title{\Huge Documentation}
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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\labelitemiii{{--}}
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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\labelitemiii{{--}}
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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\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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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\labelitemii{{--}}
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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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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLviii{%
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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\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\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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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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\renewcommand\labelitemii{{--}}
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\renewcommand\labelitemiii{{--}}
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\renewcommand\labelitemiv{{--}}
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}
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\newcommand\liststyleLxii{%
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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\liststyleLxiii{%
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\renewcommand\labelitemi{{\textbullet}}
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\renewcommand\labelitemii{{\textbullet}}
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\renewcommand\labelitemiii{{\textbullet}}
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\renewcommand\labelitemiv{{\textbullet}}
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}
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% Pages styles (master pages)
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\makeatletter
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\newcommand\ps@Standard{%
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\renewcommand\@oddhead{}%
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\renewcommand\@evenhead{}%
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\renewcommand\@oddfoot{}%
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\renewcommand\@evenfoot{\@oddfoot}%
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\setlength\paperwidth{8.2673in}\setlength\paperheight{11.6925in}\setlength\voffset{-1in}\setlength\hoffset{-1in}\setlength\topmargin{0.1965in}\setlength\headheight{12pt}\setlength\headsep{0cm}\setlength\footskip{12pt+0.1965in}\setlength\textheight{11.6925in-0.1965in-0.7874in-0cm-12pt-0.1965in-12pt}\setlength\oddsidemargin{0.3937in}\setlength\textwidth{8.2673in-0.3937in-0.3937in}
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\renewcommand\thepage{\arabic{page}}
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\setlength{\skip\footins}{0.0398in}\renewcommand\footnoterule{\vspace*{-0.0071in}\noindent\textcolor{black}{\rule{0.25\columnwidth}{0.0071in}}\vspace*{0.0398in}}
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}
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\makeatother
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\pagestyle{Standard}
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\setlength\tabcolsep{1mm}
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\renewcommand\arraystretch{1.3}
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\begin{document}
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{\centering\sffamily
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CanFestival3. Version 3.0\newline
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The CANOpen stack manual
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\par}
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\setcounter{tocdepth}{2}
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\renewcommand\contentsname{Table of contents}
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\tableofcontents
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\section{Introduction}
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This document describe the CANOpen layer.CanFestival is an OpenSource
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(LGPL) 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 \ 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[\ Linux and Unix{}-likes]{\ 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
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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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\ /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=20cm]{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}
211
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   \includegraphics[width=16cm]{Pictures/10000201000003CA0000016604E6A5EF.png}
208
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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}
211
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   \includegraphics[width=16cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}
208
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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}
211
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   \includegraphics[width=13cm]{Pictures/100000000000022C000000DEDAD2140C.png}
208
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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}
211
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   \includegraphics[width=18cm]{Pictures/1000000000000396000000FFC42573DA.png}
208
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\end{center}
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\section{Linux Target}
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Linux target is default configure target.
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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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   426
./configure [options]}
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   427
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   428
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
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make}
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diff changeset
   430
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   431
{\ttfamily
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nico
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   432
\textstyleTeletype{make install}}
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   433
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   434
\subsubsection{Standard Linux node}
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   435
Configure switch:
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   436
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{\ttfamily
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   438
 {}-{}-timers=unix}
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   439
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To do a CANopen node running on PC{}-Linux, you need :
05d95c45b388 Manual convertion -> latex -> pdf
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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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   446
driver installed.
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\end{enumerate}
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   448
\subsubsection{Real{}-Time Linux node}
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   449
Configure switch:
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diff changeset
   450
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{\ttfamily
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nico
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   452
 {}-{}-timers=xeno}
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   453
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nico
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   454
To do a CANopen node running on PC{}-Linux, you need :
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diff changeset
   455
05d95c45b388 Manual convertion -> latex -> pdf
nico
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   456
\liststyleLviii
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   457
\begin{enumerate}
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   458
\item A working Linux distribution patched with XENOMAI 2.1 or greater.
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   459
\item One or more Peak system PC CAN interface and the last Peak Real
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   460
Time Linux driver installed.
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   461
\end{enumerate}
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   462
\subsubsection{CAN devices}
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   463
Curently supported CAN devices and corresponding configure switch:
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   464
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   465
\paragraph{Peak systems}
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   466
Configure switch:
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diff changeset
   467
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nico
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   468
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
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   469
{}-{}-can=peak\_linux}
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   470
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   471
PeakSystems CAN interface is automatically chosen as default CAN
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diff changeset
   472
interface if libpcan is present in the system.
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   473
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   474
Please download driver at
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   475
\href{http://www.peak-system.com/linux}{http://www.peak{}-system.com/linux}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   476
and follow instructions in order to install driver on your system.
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diff changeset
   477
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   478
\paragraph{Socket{}-Can (http://socketcan.berlios.de)}
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diff changeset
   479
Configure switch:
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diff changeset
   480
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   481
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   482
{}-{}-can=socket}
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diff changeset
   483
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   484
\paragraph{LinCan}
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diff changeset
   485
Configure switch:
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diff changeset
   486
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nico
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diff changeset
   487
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   488
{}-{}-can=lincan}
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nico
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diff changeset
   489
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nico
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diff changeset
   490
\paragraph{Virtual CAN interfaces (for test/debug)}
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nico
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diff changeset
   491
Configure switch:
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nico
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diff changeset
   492
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   493
{\ttfamily
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nico
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diff changeset
   494
{}-{}-can=virtual}
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diff changeset
   495
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   496
Virtual CAN interface use Unix pipes to emulate a virtual CAN network.
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diff changeset
   497
Each message issued from a node is repeat to all other nodes. Currently
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   498
only works with nodes running in the same process, and does not support
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   499
work with Xenomai.
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   500
05d95c45b388 Manual convertion -> latex -> pdf
nico
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   501
\subsection{Testing your CanFestival installation}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   502
Sample provided in /example/TestMasterSlave is installed into your
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   503
system during installation.
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   504
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   505
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   506
TestMasterSlave}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   507
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   508
Default can driver library is libcanfestival\_can\_virtual.so., which
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   509
will simply pass CAN messages through Unix pipes between Master and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   510
Slave. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   511
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   512
You may also want to specify different can interface and define some CAN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   513
ports. An other example using Peak{\textquotesingle}s dual PCMCIA
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   514
(configure and install with {--}can=peak) :
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   515
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   516
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   517
TestMasterSlave {}-l libcanfestival\_can\_peak.so {}-s 40 {}-m 41}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   518
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   519
\section{Windows Targets}
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   520
CanFestival can be compiled and run on Windows platform. It is possible
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   521
to use both Cygwin and win32 native runtime environment.
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   522
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   523
\subsection{Object Dictionary Editor GUI installation.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   524
Please refer to
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   525
\hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using Dictionary
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   526
Editor GUI}
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   527
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   528
\subsection{CYGWIN}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   529
\subsubsection{Requirements}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   530
Cygwin have to be installed with those packages :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   531
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   532
\liststyleLix
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   533
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   534
\item gcc
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   535
\item unzip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   536
\item wget
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   537
\item make
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   538
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   539
Currently, the only supported CAN devices are PeakSystems ones, with
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   540
PcanLight driver and library. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   541
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   542
Please download driver at
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   543
\href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak{}-system.com/themen/download\_gb.html}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   544
\ and follow instructions in order to install driver on your system.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   545
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   546
Install Cygwin as required, and the driver for your Peak CAN device.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   547
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   548
Open a Cygwin terminal, and follow those instructions:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   549
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   550
\subsubsection{Cygwin configuration and compilation}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   551
\paragraph{A single node with PcanLight and Peak CAN{}-USB adapter}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   552
Download the PCAN{}-Light Zip file for your HW ( URL from download page
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   553
): 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   554
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   555
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   556
wget http://www.peak{}-system.com/files/usb.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   557
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   558
Extract its content into your cygwin home (it will create a ``Disk''
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   559
directory):
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   560
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   561
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   562
unzip usb.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   563
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   564
Configure CanFestival3 providing path to the desired PcanLight
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   565
implementation:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   566
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   567
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   568
cd CanFestival{}-3}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   569
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   570
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   571
export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   572
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   573
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   574
export PCAN\_HEADER=Pcan\_usb.h}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   575
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   576
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   577
export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   578
C++/Pcan\_usb.lib}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   579
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   580
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   581
./configure {}-{--}can=peak\_win32}
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
make}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   585
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   586
In order to test, you have to use another CanFestival node, connect with
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   587
a CAN cable.
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
cp \~{}/Disk/PCAN{}-Light/Pcan\_usb.dll .}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   591
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   592
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   593
./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
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
  {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   597
{\textbackslash}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   598
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   599
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   600
  {}-S 500K {}-M none}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   601
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   602
Then, on the other node :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   603
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   604
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   605
./TestMasterSlave {}-l my\_driver.so {}-S none {}-M 500K}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   606
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   607
Now messages are beeing exchanged between master and slave node.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   608
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   609
\paragraph{Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   610
Download the PCAN{}-Light Zip file for your HW ( URL from download page
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   611
): 
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
wget http://www.peak{}-system.com/files/pccard.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   615
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   616
Extract its content into your cygwin home (it will create a ``Disk''
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   617
directory):
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   618
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   619
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   620
unzip pccard.zip}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   621
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   622
The configure CanFestival3 providing path to the desired PcanLight
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   623
implementation:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   624
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   625
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   626
export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   627
export PCAN\_HEADER=Pcan\_pcc.h\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   628
export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   629
C++/Pcan\_pcc.lib\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   630
export PCAN2\_HEADER=Pcan\_2pcc.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   631
export PCAN2\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   632
C++/Pcan\_2pcc.lib}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   633
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   634
In order to test, just connect together both CAN ports of the PCMCIA
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   635
card. Don{\textquotesingle}t forget 120ohms terminator.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   636
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   637
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   638
cp \~{}/Disk/PCAN{}-Light/Pcan\_pcc.dll .}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   639
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   640
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   641
cp \~{}/Disk/PCAN{}-Light/Pcan\_2pcc.dll .}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   642
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   643
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   644
./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   645
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   646
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   647
  {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   648
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   649
Messages are then exchanged between master and slave node, both inside
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   650
TestMasterSlave{\textquotesingle}s process.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   651
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   652
\subsection{Visual Studio C++}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   653
\subsubsection{Requirements}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   654
Minimal Cygwin installation is required at configuration time in order
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   655
to create specific header files (config.h and cancfg.h). Once this
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   656
files created, cygwin is not necessary any more.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   657
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   658
Project and solution files have been created and tested with Visual
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   659
Studio Express 2005. Be sure to have installed Microsoft Platform SDK,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   660
as recommended at the end of Visual Studio installation.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   661
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   662
\subsubsection{Configuration with cygwin}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   663
Follow instructions given at
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   664
\hyperlink{a422Cygwinconfigurationandcompilationoutline}{4.2.2)Cygwin
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   665
configuration and compilation}, but do neither call make nor do tests,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   666
just do configuration steps. This will create headers files accordingly
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   667
to your configuration parameters, and the desired CAN hardware.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   668
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   669
\subsubsection{Compilation with Visual Studio}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   670
You can either load independents ``*.vcproj'' project files along your
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   671
own projects in your own solution or load the provided
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   672
``CanFestival{}-3.vc8.sln'' solution files directly.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   673
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   674
Build CanFestival{}-3 project first.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   675
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   676
\paragraph{PcanLight and the can\_peak\_win32 project.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   677
Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   678
to can\_peak\_win32 \ \ project before build of the DLL.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   679
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   680
\subsubsection{Testing}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   681
Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or Debug
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   682
directory, and run the test program:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   683
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   684
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   685
TestMasterSlave.exe {}-l can\_peak\_win32.dll}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   686
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   687
\section{Motorola HCS12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   688
The examples have been tested on a MC9S12DG255 mounted on a
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   689
Elektronikladen HCS12 T{}-board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   690
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   691
Beware that there are a few differences in the MSCAN module of the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   692
68HC12 and HCS12 microcontroller. For a HC12, you must adapt the driver
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   693
that we provide for \ the HCS12.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   694
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   695
For the difference MSCAN HC12/HCS12, see the Motorola application note
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   696
AN2011/D.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   697
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   698
Configure switch:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   699
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   700
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   701
 {}-{}-target=hcs12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   702
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   703
To do a CANopen node running on a microncontroller Motorola MC9S12DP256,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   704
you need :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   705
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   706
\liststyleLx
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   707
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   708
\item The compiler GNU gcc for HC11, HC12, HCS12 : m6811{}-elf. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   709
Download the \textbf{release 3.1} at :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   710
\ \href{http://m68hc11.serveftp.org/m68hc11_pkg_rpm.php}{http://m68hc11.serveftp.org/m68hc11\_pkg\_rpm.php}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   711
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   712
\item A board with this chip. We are using the T{}-board from
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   713
Electronikladden. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   714
\item At least about 40 kBytes of program memory.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   715
\item A tool to flash the memory. (We are using the hight cost
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   716
Lauterbach debugger).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   717
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   718
\subsection{Running a HCS12 node}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   719
\subsubsection{Compiling Canfestival:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   720
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   721
./configure {--}target=hcs12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   722
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   723
\subsubsection{Compiling and building an example}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   724
Enter in the folder of an HCS12 example, 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   725
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   726
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   727
make all}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   728
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   729
\subsubsection{Flashing the memory :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   730
Use your prefered loader ! If you are using a debugger Lauterbach, you
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   731
can load the bash file : trace32\_flash\_programmer.cmm. It loads
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   732
directly the elf file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   733
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   734
\subsubsection{Connecting to a serial RS232 console :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   735
Connect the portS(TxD0) of the HCS12 to a console configured at 19200
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   736
bauds 8N1, via a Max232 chip to adapt the electricals levels. On Linux,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   737
you can use minicom. Connecting to a console is usefull to read the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   738
messages, but not required.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   739
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   740
\subsubsection{Connecting to the CAN network :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   741
Connect the port CAN0 (pin PM0, PM1) to the network via a CAN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   742
controller. On our board, the CAN controler is a PCA82C250 chip.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   743
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   744
\subsubsection{starting the node :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   745
Press the reset of your HCS12 board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   746
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   747
\section{Example and test program:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   748
The ``examples'' directory contains some test program you can use as
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   749
example for your own developments.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   750
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   751
\subsection{TestMasterSlave}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   752
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   753
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   754
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   755
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   756
* \ TestMasterSlave
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   757
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   758
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   759
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   760
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   761
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   762
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   763
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   764
* \ A simple example for PC. It does implement 2 CanOpen \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   765
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   766
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   767
* \ nodes in the same process. A master and a slave. Both \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   768
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   769
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   770
* \ communicate together, exchanging periodically NMT, SYNC, \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   771
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   772
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   773
* \ SDO and PDO. Master configure heartbeat producer time \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   774
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   775
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   776
* \ at 1000 ms for slave node{}-id 0x02 by concise DCF.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   777
\ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   778
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   779
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   780
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   781
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   782
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   783
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   784
* \ \ Usage:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   785
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   786
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   787
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   788
* \ \ ./TestMasterSlave \ [OPTIONS]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   789
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   790
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   791
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   792
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   793
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   794
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   795
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   796
* \ \ OPTIONS:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   797
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   798
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   799
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   800
* \ \ \ \ {}-l : Can library
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   801
[{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   802
\ \ \ \ *}
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
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   806
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
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
* \ \ \ Slave:
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
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   813
* \ \ \ \ {}-s : bus name [{\textquotedbl}0{\textquotedbl}]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   814
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   815
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   816
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   817
* \ \ \ \ {}-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   818
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   819
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   820
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   821
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   822
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   823
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   824
* \ \ \ Master:
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
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   828
* \ \ \ \ {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   829
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   830
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   831
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   832
* \ \ \ \ {}-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   833
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   834
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   835
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   836
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   837
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   838
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   839
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   840
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   841
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   842
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   843
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   844
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   845
Notes for Concise DCF :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   846
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   847
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   848
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   849
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   850
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   851
 In this example, Master configure \ heartbeat producer time at 1000 ms
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   852
for slave node{}-id 0x02 by concise DCF according DS{}-302 profile. }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   853
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   854
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   855
 }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   856
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   857
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   858
 Index 0x1F22 , sub{}-index 0x00 of the master OD, correspond to the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   859
number of entries. This equal to the maximum possible nodeId (127).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   860
Each sub{}-index points to the Node{}-ID of the device, to which the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   861
configuration belongs. }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   862
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   863
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   864
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   865
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   866
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   867
 To add more parameters configurations to the slave, the value at
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   868
sub{}-index 0x02 must be a binary stream (little{}-endian) following
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   869
this structure :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   870
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   871
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   872
    }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   873
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   874
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   875
[ nb of entries / index parameter 1 / sub{}-index parameter 1 \ / size
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   876
data parameter 1 \ / data parameter 1 / index parameter n / ...]}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   877
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   878
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   879
\ \ \ \ \ \ (UNS32) \ \ \ \ \ \ \ \ \ \ \ \ (UNS16)  (UNS8)  
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   880
\ \ \ \ \ \ \ \ \ \ \ (UNS32)   \ \ \ (DOMAIN)}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   881
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   882
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   883
 }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   884
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   885
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   886
 So the binary value stream to configure heartbeat producer time must be
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   887
: }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   888
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   889
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   890
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   891
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   892
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   893
    0100000017100002000000e803}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   894
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   895
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   896
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   897
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   898
{\sffamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   899
The slave node is configured just before the Master entering in
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   900
Pre\_operational state.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   901
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   902
\subsection{gene\_SYNC\_HCS12 :}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   903
This is a simple CanOpen node that only send cyclic SYNC message. It
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   904
demonstrate implementation on HCS12 based board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   905
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   906
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   907
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   908
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   909
\subsection{TestMasterMicroMod }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   910
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   911
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   912
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   913
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   914
* \ TestMasterMicroMod
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   915
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   916
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   917
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   918
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   919
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   920
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   921
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   922
* \ A simple example for PC.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   923
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   924
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   925
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   926
* \ A CanOpen master that control a MicroMod module:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   927
\ \ \ \ \ \ \ \ \ *}
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
* \ {}- setup module TPDO 1 transmit type
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   931
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   932
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   933
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   934
* \ {}- setup module RPDO 1 transmit type
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   935
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   936
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   937
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   938
* \ {}- setup module hearbeatbeat period
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   939
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
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
* \ {}- disable others TPDOs
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   943
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   944
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   945
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   946
* \ {}- set state to operational
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   947
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   948
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   949
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   950
* \ {}- send periodic SYNC
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   951
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   952
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   953
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   954
* \ {}- send periodic RPDO 1 to Micromod (digital output) \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   955
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   956
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   957
* \ {}- listen Micromod{\textquotesingle}s TPDO 1 (digital input)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   958
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   959
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   960
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   961
* \ {}- Mapping RPDO 1 bit per bit (digital input)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   962
\ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   963
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   964
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   965
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   966
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   967
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   968
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   969
* \ \ Usage:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   970
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   971
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   972
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   973
* \ \ ./TestMasterMicroMod \ [OPTIONS]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   974
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   975
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   976
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   977
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   978
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   979
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   980
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   981
* \ \ OPTIONS:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   982
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   983
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   984
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   985
* \ \ \ \ {}-l : Can library
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   986
[{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
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
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   990
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   991
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   992
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   993
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   994
* \ \ \ Slave:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   995
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   996
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   997
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   998
* \ \ \ \ {}-i : Slave Node id format [0x01 , 0x7F]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   999
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1000
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1001
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1002
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1003
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1004
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1005
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1006
* \ \ \ Master:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1007
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1008
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1009
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1010
* \ \ \ \ {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1011
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1012
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1013
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1014
* \ \ \ \ {}-M : 1M,500K,250K,125K,100K,50K,20K,10K
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1015
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1016
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1017
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1018
*
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1019
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1020
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1021
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1022
**************************************************************}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1023
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1024
\section{Developing a new node}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1025
Using provided examples as a base for your new node is generally a good
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1026
idea. You can also use the provided *.od files as a base for your node
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1027
object dictionary.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1028
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1029
Creating a new CanOpen node implies to define the Object Dictionary of
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1030
this node. For that, developer have to provide a C file. This C file
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1031
contains the definition of all dictionary entries, and some kind of
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1032
index table that helps the stack to access some entries directly.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1033
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1034
\subsection{Using Dictionary Editor GUI}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1035
The Object Dictionary Editor is a WxPython based GUI that is used to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1036
create the C file needed to create a new CanOpen node. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1037
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1038
\subsubsection{Installation and usage on Linux}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1039
You first have to download and install Gnosis XML modules. This is
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1040
automated by a Makefile rule.
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
cd objdictgen}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1044
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1045
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1046
make}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1047
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1048
Now start the editor.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1049
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1050
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1051
python objdictedit.py [od files...]}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1052
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1053
\subsubsection{Installation and usage on Windows}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1054
Install Python (at least version 2.4) and wxPython (at least version
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1055
2.6.3.2).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1056
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1057
Cygwin users can install Gnosis XML utils the same as Linux use. Just
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1058
call make.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1059
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1060
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1061
cd objdictgen}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1062
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1063
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1064
make}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1065
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1066
Others will have to download and intall Gnosis XML by hand :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1067
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1068
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1069
Gnosis Utils:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1070
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1071
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1072
http://freshmeat.net/projects/gnosisxml/}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1073
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1074
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1075
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
  1076
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1077
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1078
Get latest version.}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1079
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1080
Download CanFestival archive and uncompress it. Use windows file
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1081
explorer to go into CanFestival3{\textbackslash}objdicgten, and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1082
double{}-click on objdictedit.py.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1083
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1084
\subsubsection{About}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1085
The Object Dictionary editor GUI is a python application that use the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1086
Model{}-View{}-Controller design pattern. It depends on WxPython to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1087
display view on any supported platform.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1088
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1089
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1090
   \includegraphics[width=7cm]{Pictures/10000201000001FC000001E5D65E8766.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1091
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1092
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1093
\subsubsection{Main view}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1094
Top list let you choose dictionary section, bottom left list is the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1095
selected index in that dictionary, and bottom right list are edited
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1096
sub{}-indexes.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1097
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1098
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1099
   \includegraphics[width=14cm]{Pictures/10000201000003E7000001C7B0296577.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1100
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1101
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=3cm]{Pictures/10000000000000B6000000DF1EDD1E73.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1104
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1105
  \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1106
   \includegraphics[width=3cm]{Pictures/10000000000000AC000000C9C3F53FA6.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1107
\end{center}
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=3cm]{Pictures/100000000000006D000000A31EC8CB54.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1110
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1111
  \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1112
   \includegraphics[width=3cm]{Pictures/10000000000000AA0000006014F74635.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1113
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1114
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1115
\subsubsection{New node}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1116
Edit your node name, ID and type. Choose your inherited specific
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1117
profile.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1118
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1119
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1120
   \includegraphics[width=11cm]{Pictures/10000201000001CB0000015F4FC09B68.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1121
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1122
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1123
\subsubsection{Node info}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1124
Edit your node name, ID and type.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1125
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1126
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1127
   \includegraphics[width=7cm]{Pictures/10000201000001010000011DA724D25C.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1128
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1129
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1130
\subsubsection{Profile editor}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1131
Chose the used profile to edit.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1132
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1133
   \includegraphics[width=4cm]{Pictures/10000000000000AB000000C88F594413.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1134
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1135
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1136
Pick up optional chosen profile entries.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1137
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1138
   \includegraphics[width=11cm]{Pictures/10000201000002DE000001D82D89C224.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1139
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1140
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1141
\subsubsection{User types}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1142
Use User Types to implement value boundaries, and string lentgth\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1143
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1144
   \includegraphics[width=11cm]{Pictures/10000201000001C40000010766961D7F.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1145
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1146
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1147
\subsubsection{Mapped variable}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1148
Add your own specific dictionary entries and associated mapped
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1149
variables.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1150
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1151
   \includegraphics[width=11cm]{Pictures/10000201000001C4000000DD129D4661.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1152
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1153
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1154
\subsubsection{Integrated help}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1155
Using F1 key, you can get context sensitive help.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1156
 \begin{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1157
   \includegraphics[width=15cm]{Pictures/10000201000002F30000020B23ED7F67.png}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1158
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1159
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1160
In order to do that, official 301\_v04000201.pdf file must be placed
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1161
into doc/ directory, and xpdf must be present on your system.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1162
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1163
F2 key open HTML CanFestival help.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1164
 \begin{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1165
   \includegraphics[width=15cm]{Pictures/10000201000003440000025ACC3FD2F1.png}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1166
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1167
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1168
\subsection{Generating the object Dictionary}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1169
Once object dictionary has been edited and saved, you have to generate
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1170
object dictionary C code for your CanFestival node.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1171
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1172
\subsubsection{With GUI}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1173
Menu entry ``File/Build Dictionary''.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1174
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1175
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1176
   \includegraphics[width=4cm]{Pictures/10000201000000B7000000C66AF89CD5.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1177
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1178
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1179
Choose C file to create or overwrite. Header file will be also created
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1180
with the same prefix as C file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1181
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1182
\subsubsection{With command line}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1183
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1184
Usage of objdictgen.py :\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1185
python objdictgen.py XMLFilePath CfilePath}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1186
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1187
\section{FAQ}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1188
\subsection{General}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1189
\subsubsection{Does the code compiles on Windows ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1190
Yes, with both Cygwin and Visual Studio C++.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1191
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1192
Because CANopen layer is coded with C, put a compilation option /TC or
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1193
/TP if you plan to mix C++ files. See the MSDN documentation about
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1194
that.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1195
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1196
\subsubsection{How to fit the library to an other microcontr\^oler ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1197
First, be sure that you have at least 40K bytes of program memory, and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1198
about 2k of RAM. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1199
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1200
You have to create target specific interface to HW resources. Take model
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1201
on bundled interfaces provided in drivers/ and create your own
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1202
interface. You also have to update Makefile.in files for target
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1203
specific cflags and options. Chose {--}targer= configure switch to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1204
compile your specific interface.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1205
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1206
You are welcome to contribute{}-back your own interfaces ! Other
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1207
Canfestival users will use it and provide feedback, tests and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1208
enhancements.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1209
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1210
\subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1211
Thanks to Philippe Foureys (IUT of Valence), a slave node have been
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1212
tested with the National Instrument CanOpen Conformance Test. It passed
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1213
the test with success.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1214
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1215
Some very small unconformity have been found in very unusual situations,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1216
for example in the SDO code response to wrong messages.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1217
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1218
\subsection{LINUX}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1219
\subsubsection{How to use a Peaksystem CAN board ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1220
Just install peak driver and then compile and install Canfestival. Peak
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1221
driver is detected at compile time.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1222
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1223
\subsubsection{How to use an unsupported CAN board ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1224
You have to install the specific driver on your system, with necessary
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1225
libs and headers. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1226
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1227
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
  1228
your driver API.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1229
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1230
Execute configure script and choose {}-{}-can=mydriver
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1231
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1232
\subsection{Win32}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1233
Compatibility:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1234
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1235
\liststyleLxi
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1236
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1237
\item Code was compiled MS VisualStudio 2003.NET and VisualStudio
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1238
2005.NET for WindowsXP \ with ANSI and UNICODE configurations and for
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1239
WindowsCE 5.0. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1240
\item Some preliminary testing was done, but not enough to be used in
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1241
mission critical projects.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1242
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1243
Additional Features:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1244
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1245
\liststyleLxii
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1246
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1247
\item Non{}-integral integers support implementation UNS24, UNS40, UNS48
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1248
etc.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1249
\item When enable debug output with DEBUG\_WAR\_CONSOLE\_ON or
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1250
DEBUG\_ERR\_CONSOLE\_ON, you can navigate in CanFestival source code by
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1251
double clicking at diagnostic lines in VisualStudio.NET 200X Debug
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1252
Output Window.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1253
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1254
Custom size integral types such as INTEGER24, UNS40, INTEGER56 etc. have
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1255
been defined as 64 bits integers. You will need to replace sizeof(TYPE)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1256
operators to sizeof\_TYPE definitions in generated code, i.e. replace
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1257
sizeof(UNS40) with sizeof\_UNS40.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1258
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1259
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1260
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1261
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1262
\subsection{HCS12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1263
\subsubsection{Which board are you using ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1264
A T{}-board from elektronikladen with a MC9S12DP256 or MC9S12DG256.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1265
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1266
\subsubsection{Does the code compile with an other compiler than GNU gcc
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1267
?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1268
It is known to work with Metrowerks CodeWarrior. Here are some tips from
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1269
Philippe Foureys. :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1270
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1271
\paragraph{Interrupt functions}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1272
\subparagraph{Code for GCC:}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1273
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1274
 // prototype\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1275
 void \_\_attribute\_\_((interrupt))timer3Hdl(void):\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1276
 // function\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1277
 void \_\_attribute\_\_((interrupt))timer3Hdl(void)\{...\}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1278
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1279
\subparagraph{Code for CodeWarrior}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1280
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1281
 // protoype\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1282
 void interrupt timer3Hdl(void);\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1283
 // function\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1284
 pragma CODE\_SEG\_\_NEAR\_SEG\_NON\_BANKED\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1285
 void interrupt timer3Hdl(void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1286
 \{...\}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1287
 pragma CODE\_SEG\_DEFAULT}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1288
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1289
\paragraph{Interrupt lock, unlock}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1290
\subparagraph{Code for GCC}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1291
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1292
 void unlock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1293
 \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1294
  \ \_\_asm\_\_
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1295
\_\_volatile\_\_({\textquotedbl}cli{\textquotedbl});\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1296
 \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1297
 void lock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1298
 \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1299
  \ unsigned short mask;\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1300
  \ \_\_asm\_\_
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1301
\_\_volatile\_\_({\textquotedbl}tpa{\textbackslash}n{\textbackslash}tsei{\textquotedbl}:{\textquotedbl}=d{\textquotedbl}(mask));\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1302
 \}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1303
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1304
\subparagraph{Code for CodeWarrior}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1305
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1306
void unlock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1307
 \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1308
  \ \_\_asm({\textquotedbl}cli{\textquotedbl});\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1309
 \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1310
 void lock (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1311
 \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1312
  \ unsigned short mask;\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1313
  \ \_\_asm\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1314
  \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1315
  \ tpa:tsei:{\textquotedbl}=d{\textquotedbl}(mask);\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1316
  \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1317
 \}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1318
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1319
\paragraph{Initialize function}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1320
\subparagraph{Code for GCC}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1321
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1322
void initCanHCS12 (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1323
 \{ \ \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1324
  \ //Init the HCS12 microcontroler for CanOpen \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1325
  \ initHCS12();\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1326
  \ \ // Init the HCS12 \ CAN driver\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1327
  \ const canBusInit bi0 = \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1328
  \ \ \ 0, \ \ \ /* no low power \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1329
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1330
  \ \ \ 0, \ \ \ /* no time stamp
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1331
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1332
  \ \ \ 1, \ \ \ /* enable MSCAN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1333
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1334
  \ \ \ 0, \ \ \ /* clock source : oscillator (In fact, it is not used)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1335
\ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1336
  \ \ \ 0, \ \ \ /* no loop back
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1337
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1338
  \ \ \ 0, \ \ \ /* no listen only
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1339
\ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1340
  \ \ \ 0, \ \ \ /* no low pass filter for wk up */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1341
  \ CAN\_Baudrates[CAN\_BAUDRATE\_250K],\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1342
  \ \ \ \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1343
  \ \ \ \ \ 0x00, \ \ \ /* Filter on 16 bits.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1344
  \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ See Motorola Block Guide V02.14 fig
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1345
4{}-3 */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1346
  \ \ \ \ \ 0x00, 0xFF, /* filter 0 hight accept all msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1347
\ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1348
  \ \ \ \ \ 0x00, 0xFF, /* filter 0 low accept all msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1349
\ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1350
  \ \ \ \ \ 0x00, 0xFF, /* filter 1 hight filter all of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1351
\ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1352
  \ \ \ \ \ 0x00, 0xFF, /* filter 1 low filter all of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1353
\ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1354
  \ \ \ \ \ 0x00, 0xFF, /* filter 2 hight filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1355
*/\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1356
  \ \ \ \ \ 0x00, 0xFF, /* filter 2 low filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1357
\ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1358
  \ \ \ \ \ 0x00, 0xFF, /* filter 3 hight filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1359
*/\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1360
  \ \ \ \ \ 0x00, 0xFF, /* filter 3 low filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1361
\ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1362
  \ \ \ \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1363
  \ \};}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1364
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1365
\subparagraph{Code for CodeWarrior}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1366
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1367
void initCanHCS12 (void)\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1368
 \{ \ \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1369
  \ //Init the HCS12 microcontroler for CanOpen \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1370
  \ initHCS12();\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1371
  \ \ // Init the HCS12 \ CAN driver\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1372
  \ const canBusInit bi0 = \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1373
  \ \ \ 0, \ \ \ /* no low power \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1374
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1375
  \ \ \ 0, \ \ \ /* no time stamp
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1376
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1377
  \ \ \ 1, \ \ \ /* enable MSCAN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1378
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1379
  \ \ \ 0, \ \ \ /* clock source : oscillator (In fact, it is not used)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1380
\ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1381
  \ \ \ 0, \ \ \ /* no loop back
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1382
\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1383
  \ \ \ 0, \ \ \ /* no listen only
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1384
\ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1385
  \ \ \ 0, \ \ \ /* no low pass filter for wk up */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1386
  \ \ \ \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1387
  \ \ \ \ 1, /* clksrc */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1388
  \ \ \ \ 3, /* brp \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1389
  \ \ \ \ 0, /* sjw \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1390
  \ \ \ \ 0, /* samp \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1391
  \ \ \ \ 1, /* tseg2 \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1392
  \ \ \ \ 12,/* tseg1 \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1393
  \ \ \ \},\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1394
  \ \ \ \{\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1395
  \ \ \ \ \ 0x00, \ \ \ /* Filter on 16 bits.\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1396
  \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ See Motorola Block Guide V02.14 fig
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1397
4{}-3 */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1398
  \ \ \ \ \ 0x00, 0xFF, /* filter 0 hight accept all msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1399
\ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1400
  \ \ \ \ \ 0x00, 0xFF, /* filter 0 low accept all msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1401
\ \ \ \ \ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1402
  \ \ \ \ \ 0x00, 0xFF, /* filter 1 hight filter all of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1403
\ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1404
  \ \ \ \ \ 0x00, 0xFF, /* filter 1 low filter all of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1405
\ \ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1406
  \ \ \ \ \ 0x00, 0xFF, /* filter 2 hight filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1407
*/\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1408
  \ \ \ \ \ 0x00, 0xFF, /* filter 2 low filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1409
\ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1410
  \ \ \ \ \ 0x00, 0xFF, /* filter 3 hight filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1411
*/\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1412
  \ \ \ \ \ 0x00, 0xFF, /* filter 3 low filter most of \ msg
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1413
\ \ */\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1414
  \ \ \ \}\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1415
  \ \};}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1416
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1417
\subsubsection{Who to use warnings and errors messages ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1418
\paragraph{Warnings messages}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1419
\begin{longtable}[c]{|p{0.8476598in}|p{0.7761598in}|p{1.0268599in}|p{-0.026640158in}|p{1.0386599in}|p{1.2247599in}|p{1.1761599in}|}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1420
\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1421
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1422
DEBUG\_WAR\_CONSOLE \_ON}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1423
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1424
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1425
DEBUG \_CAN}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1426
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1427
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1428
PrintMsg{}-WarTo{}-Console}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1429
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1430
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1431
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1432
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1433
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1434
Printing long message on console }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1435
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1436
\textbf{Printing short message on console.} (number and value only) 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1437
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1438
\textbf{Sending number and value in a PDO}., only if the node is a
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1439
slave, in operational state. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1440
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1441
\endhead
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1442
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1443
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1444
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1445
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1446
1
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1447
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1448
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1449
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1450
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1451
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1452
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1453
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1454
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1455
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1456
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1457
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1458
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1459
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1460
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1461
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1462
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1463
0
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1464
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1465
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1466
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1467
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1468
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1469
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1470
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1471
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1472
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1473
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1474
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1475
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1476
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1477
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1478
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1479
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1480
1
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1481
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1482
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1483
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1484
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1485
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1486
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1487
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1488
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1489
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1490
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1491
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1492
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1493
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1494
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1495
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1496
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1497
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1498
0
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1499
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1500
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1501
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1502
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1503
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1504
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1505
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1506
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1507
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1508
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1509
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1510
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1511
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1512
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1513
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1514
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1515
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1516
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1517
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1518
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1519
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1520
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1521
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1522
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1523
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1524
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1525
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1526
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1527
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1528
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1529
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1530
\end{longtable}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1531
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1532
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1533
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1534
\paragraph{Errors messages}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1535
\begin{longtable}[c]{|p{0.8476598in}|p{0.7351598in}|p{0.6511598in}|p{0.7865598in}|p{-0.026640158in}|p{0.8087598in}|p{0.9955599in}|p{1.1858599in}|}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1536
\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1537
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1538
DEBUG\_ERR\_CONSOLE \_ON}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1539
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1540
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1541
DEBUG \_CAN}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1542
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1543
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1544
PDO \_ERROR }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1545
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1546
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1547
PrintMsg{}-ErrTo{}-Console}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1548
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1549
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1550
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1551
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1552
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1553
Printing long message on console}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1554
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1555
\textbf{Printing short message on console.} (number and value only) 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1556
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1557
\textbf{Sending number and value in a PDO}., only if the node is a
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1558
slave, in operational state. 
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1559
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1560
\endhead
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1561
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1562
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1563
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1564
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1565
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1566
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1567
1
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1568
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1569
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1570
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1571
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1572
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1573
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1574
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1575
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1576
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1577
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1578
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1579
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1580
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1581
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1582
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1583
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1584
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1585
0
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1586
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1587
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1588
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1589
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1590
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1591
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1592
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1593
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1594
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1595
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1596
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1597
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1598
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1599
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1600
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1601
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1602
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1603
1
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1604
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1605
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1606
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1607
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1608
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1609
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1610
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1611
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1612
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1613
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1614
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1615
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1616
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1617
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1618
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1619
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1620
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1621
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1622
0
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1623
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1624
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1625
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1626
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1627
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1628
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1629
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1630
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1631
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1632
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1633
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1634
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1635
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1636
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1637
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1638
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1639
DEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1640
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1641
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1642
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1643
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1644
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1645
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1646
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1647
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1648
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1649
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1650
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1651
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1652
yes
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1653
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1654
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1655
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1656
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1657
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1658
UNDEF
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1659
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1660
X
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1661
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1662
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1663
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1664
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1665
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1666
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1667
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1668
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1669
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1670
&
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1671
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1672
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1673
\\\hline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1674
\end{longtable}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1675
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1676
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1677
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1678
\subsubsection{Does the code works in banked memory ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1679
No. Today it seems that the port of gcc is bogged for using the banked
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1680
memory. So, unfortunately, we are limited to 48 Kbytes of memory code.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1681
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1682
\subsubsection{What GCC version are you using ?}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1683
We are using the stable RPM release 2.2 :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1684
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1685
\liststyleLxiii
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1686
\begin{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1687
\item GNU Gcc 3.0.4. Build 20030501
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1688
\item Newlib 1.10.0 Build 20030421
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1689
\item GNU Binutils 2.12.1 Build 20030427
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1690
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1691
\section{Documentation resources}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1692
\paragraph{CIA : Can in Automation}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1693
Many documentation on CANopen.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1694
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1695
\href{http://www.can-cia.de/}{http://www.can{}-cia.de}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1696
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1697
\paragraph{Resources and training in CANopen}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1698
\href{http://www.esacademy.com/}{http://www.esacademy.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1699
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1700
\paragraph{Elektronikladen HCS12 T{}-board}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1701
\href{http://www.elektronikladen.de/en_hcs12tb.html}{http://www.elektronikladen.de/en\_hcs12tb.html}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1702
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1703
\paragraph{Gnu gcc compiler for HC12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1704
\href{http://m68hc11.serveftp.org/m68hc11_port.php}{http://m68hc11.serveftp.org/m68hc11\_port.php}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1705
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1706
\paragraph{Motorola documentation on HC12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1707
\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
nico
parents:
diff changeset
  1708
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1709
\paragraph{Lauterbach debugger for HC12}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1710
\href{http://www.lauterbach.com/}{http://www.lauterbach.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1711
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1712
\paragraph{Python language}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1713
\href{http://www.python.org/}{http://www.python.org}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1714
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1715
\clearpage\section{About the project}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1716
\subsection{Contributors }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1717
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1718
   \includegraphics[width=10cm]{Pictures/1000020100000258000000832C6FFAB4.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1719
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1720
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1721
Unit\'e mixte de recherche INRETS{}-LCPC
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1722
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1723
sur les Interractions V\'ehicule{}-Infrastructure{}-Conducteur
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1724
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1725
14, route de la mini\`ere
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1726
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1727
78000 Versailles
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1728
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1729
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1730
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1731
Tel : +33 1 40 43 29 01
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1732
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1733
\href{http://www.inrets.fr/ur/livic}{http://www.inrets.fr/ur/livic}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1734
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1735
\textbf{Contributors :} Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1736
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1737
   Camille BOSSARD
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1738
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1739
   Laurent ROMIEUX
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1740
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1741
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1742
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1743
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1744
 \begin{center}
211
2a4c2ca03555 Manual and Documentation finish
nico
parents: 208
diff changeset
  1745
   \includegraphics[width=10cm]{Pictures/100002010000013A0000004A96B0C1FF.png}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1746
\end{center}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1747
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1748
LOLITECH
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1749
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1750
204, rue du Haut du Pin
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1751
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1752
88470 Saint{}-Michel sur Meurthe
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1753
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1754
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1755
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1756
Tel : +33 3 29 52 95 67
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1757
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1758
\href{http://www.lolitech.fr/}{http://www.lolitech.fr}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1759
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1760
{\bfseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1761
Contributors : \textmd{Edouard TISSERANT (Original author)}}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1762
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1763
{\mdseries
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1764
   Laurent BESSARD}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1765
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1766
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1767
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1768
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1769
Many thanks to the other contributors for their great work:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1770
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1771
\textmd{   }Raphael ZULLIGER
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1772
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1773
\textmd{   }David DUMINY (st\'e A6R)
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1774
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1775
\textmd{   }Zakaria BELAMRI
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1776
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1777
\subsection{Getting support}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1778
Send your feedback and bug reports to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1779
\href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1780
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1781
For commercial support, \ training and specific integration and
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1782
developments, please ask LOLITECH (see contributors).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1783
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1784
\subsection{Contributing}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1785
You are free to contribute your specific interfaces back to the project.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1786
This way, you can hope to get support from CanFestival users community.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1787
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1788
Please send your patch to
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1789
\href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1790
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1791
Feel free to create some new predefined DS{}-4xx profiles (*.prf) in
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1792
objdictgen/config, as much as possible respectful to the official
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1793
specifications.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1794
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1795
\subsection{License}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1796
All the project is licensed with LGPL. This mean you can link
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1797
CanFestival with any code without being obliged to publish it.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1798
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1799
{\ttfamily
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1800
\#This file is part of CanFestival, a library implementing CanOpen
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1801
Stack. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1802
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1803
\#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1804
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1805
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1806
\#See COPYING file for copyrights details. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1807
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1808
\#This library is free software; you can redistribute it and/or \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1809
\#modify it under the terms of the GNU Lesser General Public \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1810
\#License as published by the Free Software Foundation; either \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1811
\#version 2.1 of the License, or (at your option) any later version.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1812
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1813
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1814
\#This library is distributed in the hope that it will be useful,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1815
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1816
\#but WITHOUT ANY WARRANTY; without even the implied warranty of
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1817
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1818
\#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \ See the GNU
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1819
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1820
\#Lesser General Public License for more details. \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1821
\# \newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1822
\#You should have received a copy of the GNU Lesser General Public
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1823
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1824
\#License along with this library; if not, write to the Free Software
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1825
\newline
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1826
\#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1827
\ 02111{}-1307 \ USA }
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1828
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1829
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1830
\bigskip
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1831
\end{document}