doc/manual/en/manual.tex
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\documentclass[12pt,english,a4paper]{book}
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\usepackage[T1]{fontenc}
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\usepackage[latin9]{inputenc}
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\usepackage{graphicx}
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\usepackage{amsfonts}
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\usepackage{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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\DeclareGraphicsExtensions{.jpg}
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\DeclareGraphicsExtensions{.png}
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\hypersetup{colorlinks=true, linkcolor=blue, filecolor=blue, pagecolor=blue, urlcolor=blue}
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%%%%\%%%%%%%% titre, auteurs, date, etc...%%%%%%%%%%%%%%%%%%
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\title{\Huge The CanFestival CANOpen stack manual}
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\author{Edouard TISSERANT}
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\date{\today}
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\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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\newcommand{\canopen}{CANopen }
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\begin{document}
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{\centering\textsf{\huge The CanFestival \canopen stack manual.}}
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\renewcommand{\contentsname}{CanFestival v3.0 Manual}
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\setcounter{tocdepth}{2} \tableofcontents{}
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\clearpage{}
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\section{Introduction}
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CanFestival is an OpenSource (LGPL and GPL) \canopen framework.
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\subsection{The CanFestival project}
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This project, initiated by Edouard TISSERANT in 2001, has grown thanks
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to 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
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PCs, 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
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to :
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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 node. 
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\end{enumerate}
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The documentation can be found on 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 the specification
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from the CAN in Automation website at no cost.
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To continue reading this document, let us assume that you have read
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some 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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\begin{enumerate}
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\item Object Dictionary editor GUI. WxPython Model-View-Controler based
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GUI, that helps a lot in generating object dictionary source code for
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each node. 
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\item A configure script, that let you chose compile time options such as
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target CPU/HOST, CAN and TIMER drivers.\\
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 This script has not been generated with autoconf, it has been made
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keeping micro-controller target in mind. 
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\end{enumerate}
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\subsection{Multi-Platform}
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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 specific
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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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\subsection{\canopen standard conformance}
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\subsubsection{DS-301}
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Supported features should conform to DS301. V.4.02 13 february 2002. 
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\begin{enumerate}
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\item NMT master and slave
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\item Heartbeat consumer and producer
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\item NodeGuard slave reponder and basic master without tracking
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\item SYNC service
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\item SDO multiples client and server, segmented and expedited
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\item PDO : TPDO and RPDO, with respect to transmission type
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\item PDO mapping from/to OD variables bit per bit. 
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\item EMCY : Send and receive and keeps track of emergency objects
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\item Data types : 8 to 64 bits values, fixed length strings.
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\end{enumerate}
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\subsubsection{DS-302}
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Only concise DFC is supported.
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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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\begin{enumerate}
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\item Python, with 
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\item wxPython modules installed (at least version 2.6.3).
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\item Gnosis xml tools. (Optional can also be installed locally to the project
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automatically with the help of a Makefile. Please see {}``Using Dictionary
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Editor GUI'' ) 
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\end{enumerate}
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\subsubsection{Linux and Unix-likes}
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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 target
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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. 
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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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\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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\begin{verbatim}
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	cvs -d:pserver:anonymous@lolitech.dyndns.org:/canfestival login
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\end{verbatim}
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(type return, without entering a password)
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Then, enter :
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\begin{verbatim}
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	cvs -z3 -d:pserver:anonymous@lolitech.dyndns.org:/canfestival co -P CanFestival-3
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\end{verbatim}
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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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\begin{verbatim}
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./src ANSI-C source of \canopen stack
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./include Exportables Header files
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./drivers Interfaces to specific platforms/HW
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./drivers/unix Linux and Cygwin OS interface
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./drivers/win32 Native Win32 OS interface
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./drivers/timers_xeno Xenomai timers/threads (Linux only)
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./drivers/timers_kernel Linux kernel timer/threads
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./drivers/timers_unix Posix timers/threads (Linux, Cygwin)
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./drivers/can_virtual_kernel Fake CAN network (kernel space)
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./drivers/can_peak_linux PeakSystem CAN library interface
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./drivers/can_peak_win32 PeakSystem PCAN-Light interface
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./drivers/can_uvccm_win32 Acacetus's RS232 CAN-uVCCM interface
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./drivers/can_virtual Fake CAN network (Linux, Cygwin)
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./drivers/hcs12 HCS12 full target interface
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./examples Examples
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./examples/TestMasterSlave 2 nodes, NMT SYNC SDO PDO, win32+unix
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./examples/TestMasterMicroMod 1 node, control Peak I/O Module, unix
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./examples/gene_SYNC_HCS12 Just send periodic SYNC on HCS12
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./examples/win32test Ask some DS301 infos to a node (win32)
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./objdictgen Object Dictionary editor GUI
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./objdictgen/config Pre-defined OD profiles
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./objdictgen/examples Some examples/test OD
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./doc Documentation source
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\end{verbatim}
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\subsection{Implement CanFestival in your application}
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\begin{center}
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\includegraphics[width=12cm]{Pictures/10000201000003F9000002CF880931E7} 
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\par\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 blocking operation.
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In order to prevent reentrent calls to the stack, messages reception
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is implemented differently on {\textmu}C and OS.:
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\begin{enumerate}
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\item {\textmu}C must provide interruption masking, mutually excluding timer and CAN receive interrupts.\\
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\begin{center}
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\includegraphics[width=12cm]{Pictures/10000201000003CA0000016604E6A5EF} 
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\par\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 should be a bloking operation.\\
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\begin{center}
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\includegraphics[width=12cm]{Pictures/10000201000003F9000002CF8B0CDAEA} 
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\par\end{center}
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\end{enumerate}
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\subsection{CanFestival event scheduling}
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A \canopen node must be able to take delayed actions.
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For instance, 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 generally do not have enough free timers to handle all
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the \canopen needs directly. Moreover, CanFestival internal data
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may be corrupt by reentrant calls.
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CanFestival implement a micro -scheduler (timer.c). It uses only one
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timer to mimic many timers. It manage an alarm table, and call alarms
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at desired time.
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\begin{center}
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\includegraphics[width=12cm]{Pictures/100000000000022C000000DEDAD2140C} 
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\par\end{center}
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Scheduler can handle short clock value ranges limitation found on
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some {\textmu}C. As an example, value range for a 16bit clock counter
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with 4{\textmu}s tick is crossed within 0.26 seconds... Long alarms
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must be segmented.
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Chronogram illustrate a long alarm (A) and a short periodic alarm
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(B), with a A value {\textgreater} clock range {\textgreater}
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B value. Values t0...t8 are successive setTimer call parameter values.
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t1 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
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end of t1, TimeDispatch call will not trig any alarm callback.
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\begin{center}
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\includegraphics[width=12cm]{Pictures/1000000000000396000000FFC42573DA} 
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\par\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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\begin{verbatim}
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	./configure [options]
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	make
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	make install
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\end{verbatim}
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\subsubsection{Standard Linux node}
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\begin{verbatim}
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	./configure --timers=unix
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\end{verbatim}
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To do a \canopen node running on PC -Linux, you need :
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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 driver
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installed. 
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\end{enumerate}
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\subsubsection{Real -Time Linux node}
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\begin{verbatim}
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	./configure --timers=xeno
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\end{verbatim}
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To do a \canopen node running on PC -Linux, you need :
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\begin{enumerate}
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\item A working Linux distribution patched with XENOMAI 2.1 or greater. 
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\item One or more Peak system PC CAN interface and the last Peak Real Time
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Linux driver installed. 
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\end{enumerate}
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\subsubsection{Linux kernel node}
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To do a CANopen node running on PC-Linux in kernel space, you need:
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\begin{enumerate}
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\item A working Linux distribution with pre-built 2.6.x.x kernel sources
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\item A CAN card driver compatible with CanFestival
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\end{enumerate}
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\subsubsection{CAN devices}
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Currently supported CAN devices and corresponding configure switch:
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\paragraph{Peak systems}
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\begin{verbatim}
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	./configure --can=peak_linux
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\end{verbatim}
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PeakSystems CAN interface is automatically chosen as default CAN interface
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if libpcan is present in the system.
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Please download driver at \href{http://www.peak-system.com/linux}{http://www.peak
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-system.com/linux} and follow instructions in order to install driver
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on your system.
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\paragraph{Socket -Can (http://socketcan.berlios.de)}
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\begin{verbatim}
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	./configure --can=socket
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\end{verbatim}
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\paragraph{LinCan}
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\begin{verbatim}
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	./configure --can=lincan
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\end{verbatim}
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\paragraph{Virtual CAN interfaces (for test/debug)}
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\begin{verbatim}
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	./configure --can=virtual
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		or, for kernel space:
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	./configure --can=kernel_virtual
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\end{verbatim}
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Virtual CAN interface use Unix pipes to emulate a virtual CAN network.
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Each message issued from a node is repeat to all other nodes. Currently
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only works with nodes running in the same process, and does not support
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work with Xenomai.
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\subsection{Testing your CanFestival installation}
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\subsection{User space}
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Sample provided in /example/TestMasterSlave is installed into your
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system during installation.
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\begin{verbatim}
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	TestMasterSlave
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\end{verbatim}
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Default CAN driver library is libcanfestival\_can\_virtual.so., which
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will simply pass CAN messages through Unix pipes between Master and
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Slave.
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You may also want to specify different can interface and define some
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CAN ports. Another example using Peak{\textquotesingle}s dual PCMCIA
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(configure and install with --can=peak) :
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\begin{verbatim}
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	TestMasterSlave -l libcanfestival_can_peak.so -s 40 -m 41
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\end{verbatim}
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\subsection{Kernel space}
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\begin{verbatim}
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	example/kerneltest
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\end{verbatim}
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It's based on TestMasterSlave example
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and has the same functionality. Uses virtual can driver as default
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too. After successful installation you can insert the module by typing:
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modprobe canf\_ktest Module control is done by simple console 'canf\_ktest\_console'
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which is used to start/stop sending data.
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\section{Windows Targets}
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CanFestival can be compiled and run on Windows platform. It is possible
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to use both Cygwin and win32 native runtime environment.
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\subsection{Object Dictionary Editor GUI installation.}
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Please refer to \hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using
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Dictionary Editor GUI}
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\subsection{CYGWIN}
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\subsubsection{Requirements}
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Cygwin have to be installed with those packages :
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\begin{enumerate}
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\item gcc 
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\item unzip 
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\item wget 
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\item make 
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\end{enumerate}
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Currently, the only supported CAN devices are PeakSystems ones, with
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PcanLight driver and library.
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Please download driver at \href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak
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-system.com/themen/download\_gb.html} \ and follow instructions
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in order to install driver on your system.
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Install Cygwin as required, and the driver for your Peak CAN device.
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Open a Cygwin terminal, and follow those instructions:
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\subsubsection{Cygwin configuration and compilation}
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\paragraph{A single node with PcanLight and Peak CAN -USB adapter}
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Download the PCAN-Light Zip file for your HW ( URL from download
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page ):
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394
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\begin{verbatim}
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	wget http://www.peak -system.com/files/usb.zip
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\end{verbatim}
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Extract its content into your cygwin home (it will create a {}``Disk''
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directory):
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\begin{verbatim}
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	unzip usb.zip
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\end{verbatim}
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Configure CanFestival3 providing path to the desired PcanLight implementation:
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394
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\begin{verbatim}
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	cd CanFestival -3
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	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
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   514
	export PCAN_HEADER=Pcan_usb.h
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	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_usb.lib
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	./configure --can=peak_win32
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diff changeset
   517
	make
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diff changeset
   518
\end{verbatim}
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diff changeset
   519
393
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diff changeset
   520
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   521
In order to test, you have to use another CanFestival node, connect
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diff changeset
   522
with a CAN cable.
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diff changeset
   523
394
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diff changeset
   524
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   525
\begin{verbatim}
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diff changeset
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	cp ~/Disk/PCAN-Light/Pcan_usb.dll .
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diff changeset
   527
	./examples/TestMasterSlave/TestMasterSlave \
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diff changeset
   528
	-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll \
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diff changeset
   529
	-S 500K -M none
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diff changeset
   530
\end{verbatim}
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diff changeset
   531
208
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   532
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   533
Then, on the other node :
05d95c45b388 Manual convertion -> latex -> pdf
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   534
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   535
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   536
\begin{verbatim}
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diff changeset
   537
	./TestMasterSlave -l my_driver.so -S none -M 500K
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diff changeset
   538
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   539
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   540
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   541
Now messages are being exchanged between master and slave node.
393
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diff changeset
   542
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   543
\paragraph{Two nodes with PcanLight and Peak dual PCMCIA -CAN adapter}
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diff changeset
   544
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   545
Download the PCAN-Light Zip file for your HW ( URL from download
393
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diff changeset
   546
page ):
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diff changeset
   547
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   548
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   549
\begin{verbatim}
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   550
	wget http://www.peak-system.com/files/pccard.zip
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diff changeset
   551
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   552
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   553
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   554
Extract its content into your cygwin home (it will create a {}``Disk''
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   555
directory):
05d95c45b388 Manual convertion -> latex -> pdf
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   556
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   557
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   558
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   559
	unzip pccard.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   560
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   561
208
05d95c45b388 Manual convertion -> latex -> pdf
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   562
05d95c45b388 Manual convertion -> latex -> pdf
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   563
The configure CanFestival3 providing path to the desired PcanLight
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   564
implementation:
05d95c45b388 Manual convertion -> latex -> pdf
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   565
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   566
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   567
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   568
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   569
	export PCAN_HEADER=Pcan_pcc.h
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   570
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_pcc.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   571
	export PCAN2_HEADER=Pcan_2pcc.h
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diff changeset
   572
	export PCAN2_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_2pcc.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   573
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   574
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   575
05d95c45b388 Manual convertion -> latex -> pdf
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   576
In order to test, just connect together both CAN ports of the PCMCIA
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   577
card. Don{\textquotesingle}t forget 120ohms terminator.
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   578
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   579
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   580
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   581
	cp ~/Disk/PCAN-Light/Pcan_pcc.dll .
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   582
	cp ~/Disk/PCAN-Light/Pcan_2pcc.dll .
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   583
	./examples/TestMasterSlave/TestMasterSlave \
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diff changeset
   584
	   -l drivers/can_peak_win32/cygcan_peak_win32.dll
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   585
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   586
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05d95c45b388 Manual convertion -> latex -> pdf
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   587
05d95c45b388 Manual convertion -> latex -> pdf
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   588
Messages are then exchanged between master and slave node, both inside
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   589
TestMasterSlave{\textquotesingle}s process.
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   590
05d95c45b388 Manual convertion -> latex -> pdf
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   591
\subsection{Visual Studio C++}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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   592
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   593
\subsubsection{Requirements}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   594
208
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   595
Minimal Cygwin installation is required at configuration time in order
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   596
to create specific header files (config.h and cancfg.h). Once this
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   597
files created, cygwin is not necessary any more.
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   598
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   599
Project and solution files have been created and tested with Visual
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   600
Studio Express 2005. Be sure to have installed Microsoft Platform
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   601
SDK, as recommended at the end of Visual Studio installation.
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diff changeset
   602
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   603
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   604
\subsubsection{Configuration with cygwin}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   605
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   606
Follow instructions given at \hyperlink{Cygwin configuration and compilation}{Cygwin
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   607
configuration and compilation}, but do neither call make nor do tests,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   608
just do configuration steps. This will create headers files accordingly
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   609
to your configuration parameters, and the desired CAN hardware.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   610
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   611
208
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nico
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diff changeset
   612
\subsubsection{Compilation with Visual Studio}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   613
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   614
You can either load independent {}``{*}.vcproj'' project files
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   615
along your own projects in your own solution or load the provided
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   616
{}``CanFestival -3.vc8.sln'' solution files directly.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   617
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   618
Build CanFestival -3 project first.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   619
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   620
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   621
\paragraph{PcanLight and the can\_peak\_win32 project.}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   622
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   623
Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   624
to can\_peak\_win32 \ \ project before build of the DLL.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   625
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   626
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   627
\subsubsection{Testing}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   628
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   629
Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   630
Debug directory, and run the test program:
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   631
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
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diff changeset
   632
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   633
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   634
	TestMasterSlave.exe -l can_peak_win32.dll
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
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diff changeset
   635
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
   636
208
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diff changeset
   637
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   638
\subsection{MSYS}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   639
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   640
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   641
\subsubsection{Requirements}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   642
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   643
Download from : http://sourceforge.net/project/showfiles.php?group\_id=2435
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   644
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   645
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   646
\item MSYS-1.0.10.exe 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   647
\item MinGW-5.1.3.exe 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   648
\item mingwPORT (which contains wget-1.9.1) 
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   649
\end{enumerate}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   650
Please download driver at http://www.peak-system.com/themen/download\_gb.html
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   651
and follow instructions in order to install driver on your system.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   652
Install MSYS and MingW as required, and the driver for your Peak CAN
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   653
device. Open a MSYS terminal, and follow those instructions:\\
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   654
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   655
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   656
\begin{itemize}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   657
\item extract wget-1.9.1-mingwPORT.tar.bz2 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   658
\item copy wget.exe in c:\textbackslash{} msys\textbackslash{} 1.0\textbackslash{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   659
bin\textbackslash{} 
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   660
\item start MSYS and check the file /etc/fstab contain the line c:/MinGW
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   661
/mingw 
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   662
\end{itemize}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   663
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   664
\subsubsection{MSYS configuration and compilation}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   665
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   666
Instructions for compilation are nearly the same as CYGWIN part.
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   667
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   668
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   669
\paragraph{A single node with PcanLight and Peak CAN-USB adapter}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   670
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   671
Download the PCAN-Light Zip file for your HW ( URL from download page
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   672
):
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   673
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   674
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   675
	wget http://www.peak-system.com/files/usb.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   676
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   677
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   678
Extract its content into your MSYS's home (it will create a \char`\"{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   679
Disk\char`\"{} directory):
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   680
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
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diff changeset
   681
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   682
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   683
	unzip usb.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   684
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   685
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   686
282
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diff changeset
   687
Configure CanFestival3 providing path to the desired PcanLight implementation:
6afe145df950 Updated manual for msys/mingw build
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diff changeset
   688
394
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diff changeset
   689
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   690
	cd CanFestival-3
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   691
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
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diff changeset
   692
	export PCAN_HEADER=Pcan_usb.h
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diff changeset
   693
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_usb.lib
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diff changeset
   694
	./configure --can=peak_win32
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   695
	make
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   696
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   697
282
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diff changeset
   698
In order to test, you have to use another CanFestival node, connect
6afe145df950 Updated manual for msys/mingw build
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diff changeset
   699
with a CAN cable.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   700
394
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diff changeset
   701
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   702
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   703
	cp ~/Disk/PCAN-Light/Pcan_usb.dll .
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   704
	./examples/TestMasterSlave/TestMasterSlave \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   705
	  -l drivers/can_peak_win32/cygcan_peak_win32.dll \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   706
	  -S 500K -M none
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   707
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   708
282
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greg
parents: 249
diff changeset
   709
Then, on the other node :
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   710
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   711
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   712
	./TestMasterSlave -l my_driver.so -S none -M 500K -m 0
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   713
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   714
Now messages are being exchanged between master and slave node.
282
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parents: 249
diff changeset
   715
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greg
parents: 249
diff changeset
   716
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   717
\paragraph{Two nodes with PcanLight and Peak dual PCMCIA-CAN adapter}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   718
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   719
Download the PCAN-Light Zip file for your HW ( URL from download page
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   720
):
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   721
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   722
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   723
	wget http://www.peak-system.com/files/pccard.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   724
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   725
Extract its content into your MSYS's home (it will create a \char`\"{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   726
Disk\char`\"{} directory):
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   727
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   728
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   729
	unzip pccard.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   730
\end{verbatim}
282
6afe145df950 Updated manual for msys/mingw build
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parents: 249
diff changeset
   731
The configure CanFestival3 providing path to the desired PcanLight
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   732
implementation:
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   733
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   734
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   735
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   736
	export PCAN_HEADER=Pcan_pcc.h}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   737
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_pcc.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   738
	export PCAN2_HEADER=Pcan_2pcc.h
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   739
	export PCAN2_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_2pcc.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   740
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   741
282
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diff changeset
   742
In order to test, just connect together both CAN ports of the PCMCIA
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   743
card. Don't forget 120ohms terminator.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   744
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   745
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   746
	cp~/Disk/PCAN-Light/Pcan_pcc.dll ~.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   747
	cp ~/Disk/PCAN-Light/Pcan_2pcc.dll ~.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   748
	./examples/TestMasterSlave/TestMasterSlave \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   749
		-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll -m 0 -s 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   750
\end{verbatim}
282
6afe145df950 Updated manual for msys/mingw build
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parents: 249
diff changeset
   751
Messages are then exchanged between master and slave node, both inside
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   752
TestMasterSlave's process.
6afe145df950 Updated manual for msys/mingw build
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parents: 249
diff changeset
   753
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   754
\section{Motorola HCS12}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   755
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   756
The examples have been tested on a MC9S12DG255 mounted on a Elektronikladen
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   757
HCS12 T -board.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   758
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   759
Beware that there are few differences in the MSCAN module of the 68HC12
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   760
and HCS12 microcontroller. For a HC12, you must adapt the driver that
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   761
we provide for \ the HCS12.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   762
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   763
For the difference MSCAN HC12/HCS12, see the Motorola application
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   764
note AN2011/D.
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   765
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   766
Configure switch:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   767
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   768
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   769
	--target=hcs12
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   770
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   771
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   772
To do a \canopen node running on a microncontroller Motorola MC9S12DP256,
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   773
you need :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   774
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   775
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
   776
\item The compiler GNU gcc for HC11, HC12, HCS12 : m6811 -elf. \\
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
   777
 Download the \textbf{release 3.1} at : \href{http://m68hc11.serveftp.org/m68hc11_pkg_rpm.php}{http://m68hc11.serveftp.org/m68hc11\_pkg\_rpm.php} 
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   778
\item A board with this chip. We are using the T -board from Electronikladen. 
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   779
\item At least about 40 kBytes of program memory. 
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
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diff changeset
   780
\item A tool to flash the memory. (We are using the high cost Lauterbach
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   781
debugger). 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   782
\end{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   783
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   784
\subsection{Running a HCS12 node}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   785
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   786
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   787
\subsubsection{Compiling Canfestival:}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   788
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   789
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   790
	./configure --target=hcs12
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   791
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   792
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   793
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   794
\subsubsection{Compiling and building an example}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   795
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   796
Enter in the folder of an HCS12 example,
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   797
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   798
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   799
	make all
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   800
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   801
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   802
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   803
\subsubsection{Flashing the memory :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   804
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   805
Use your preferred loader ! If you are using a debugger Lauterbach,
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   806
you can load the bash file : trace32\_flash\_programmer.cmm. It loads
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   807
directly the elf file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   808
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   809
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   810
\subsubsection{Connecting to a serial RS232 console :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   811
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   812
Connect the portS(TxD0) of the HCS12 to a console configured at 19200
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   813
bauds 8N1, via a Max232 chip to adapt the electrical levels. On Linux,
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   814
you can use minicom. Connecting to a console is useful to read the
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   815
messages, but not required.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   816
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   817
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   818
\subsubsection{Connecting to the CAN network :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   819
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   820
Connect the port CAN0 (pin PM0, PM1) to the network via a CAN controller.
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   821
On our board, the CAN controller is a PCA82C250 chip.
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   822
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   823
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   824
\subsubsection{starting the node :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   825
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   826
Press the reset of your HCS12 board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   827
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   828
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   829
\section{Example and test program:}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   830
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   831
The {}``examples'' directory contains some test program you can
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   832
use as example for your own developments.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   833
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   834
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   835
\subsection{TestMasterSlave}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   836
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   837
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   838
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   839
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   840
  *  TestMasterSlave                                           *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   841
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   842
  *  A simple example for PC. It does implement 2 CanOpen      *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   843
  *  nodes in the same process. A master and a slave. Both     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   844
  *  communicate together, exchanging periodically NMT, SYNC,  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   845
  *  SDO and PDO. Master configure heartbeat producer time     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   846
  *  at 1000 ms for slave node-id 0x02 by concise DCF.         *                                  
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   847
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   848
  *   Usage:                                                   *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   849
  *   ./TestMasterSlave  [OPTIONS]                             *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   850
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   851
  *   OPTIONS:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   852
  *     -l : Can library ["libcanfestival_can_virtual.so"]     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   853
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   854
  *    Slave:                                                  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   855
  *     -s : bus name ["0"]                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   856
  *     -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   857
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   858
  *    Master:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   859
  *     -m : bus name ["1"]                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   860
  *     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   861
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   862
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   863
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   864
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   865
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   866
Notes aboute use of voncise DCF :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   867
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   868
In this example, Master configure heartbeat producer time
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   869
at 1000 ms for slave node -id 0x02 by concise DCF according DS -302
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   870
profile.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   871
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   872
Index 0x1F22, sub-index 0x00 of the master OD, correspond
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   873
to the number of entries. This equal to the maximum possible nodeId
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   874
(127). Each sub -index points to the Node -ID of the device, to which
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   875
the configuration belongs.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   876
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   877
To add more parameters configurations to the slave, the value
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   878
at sub -index 0x02 must be a binary stream (little -endian) following
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   879
this structure :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   880
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   881
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   882
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   883
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   884
	 (UNS32) nb of entries
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   885
	 (UNS16) index parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   886
	 (UNS8) sub -index parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   887
	 (UNS32) size data parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   888
	 (DOMAIN) data parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   889
	 (UNS16) index parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   890
	 (UNS8) sub -index parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   891
	 (UNS32) size data parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   892
	 (DOMAIN) data parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   893
	      ....
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   894
	 (UNS16) index parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   895
	 (UNS8) sub -index parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   896
	 (UNS32) size data parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   897
	 (DOMAIN) data parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   898
	 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   899
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   900
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   901
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   902
So the binary value stream to configure heartbeat producer
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   903
time must be :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   904
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   905
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   906
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   907
	0100000017100002000000e803
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   908
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   909
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   910
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   911
The slave node is configured just before the Master entering
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   912
in Pre\_operational state.
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   913
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   914
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   915
\subsection{gene\_SYNC\_HCS12 :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   916
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   917
This is a simple \canopen node that only send cyclic SYNC message.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   918
It demonstrate implementation on HCS12 based board.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   919
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   920
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   921
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   922
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   923
391
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents: 284
diff changeset
   924
\subsection{kerneltest :}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents: 284
diff changeset
   925
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   926
Example based on TestMasterSlave slightly modified to suit kernel
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   927
space requisites. It will do the same as TestMasterSlave but in kernel
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   928
space sending kernel messages (displayed by dmesg for example). It
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   929
is designed as external kernel module implemented as character device.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   930
There is a shell script called 'insert.sh', which will insert the
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   931
module and create a new device file /dev/canf\_ktest (used to sending
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   932
commands to module). To actual sending commands you can use simple
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   933
console named 'canf\_ktest\_console'. The module is dependent on a
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   934
another separate module 'canfestival.ko' implementing CanOpen stack
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   935
which exports requisite functions. Canfestival.ko module is then dependent
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   936
on CAN card driver module, by default CAN virtual driver will be loaded.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   937
After installing modules (make install), all dependencies are solved
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   938
automatically by kernel. To run the example type: 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   939
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   940
	sh run.sh
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   941
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   942
It will insert required modules, start console, and after quitting
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   943
console it'll remove modules from kernel.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   944
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   945
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   946
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   947
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   948
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   949
\subsection{TestMasterMicroMod }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   950
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   951
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   952
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   953
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   954
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   955
  *  TestMasterMicroMod                                        *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   956
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   957
  *  A simple example for PC.                                  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   958
  *  A CanOpen master that control a MicroMod module:          *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   959
  *  - setup module TPDO 1 transmit type                       *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   960
  *  - setup module RPDO 1 transmit type                       *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   961
  *  - setup module hearbeatbeat period                        *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   962
  *  - disable others TPDOs                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   963
  *  - set state to operational                                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   964
  *  - send periodic SYNC                                      *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   965
  *  - send periodic RPDO 1 to Micromod (digital output)       *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   966
  *  - listen Micromod's TPDO 1 (digital input)                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   967
  *  - Mapping RPDO 1 bit per bit (digital input)              *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   968
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   969
  *   Usage:                                                   *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   970
  *   ./TestMasterMicroMod  [OPTIONS]                          *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   971
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   972
  *   OPTIONS:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   973
  *     -l : Can library ["libcanfestival_can_virtual.so"]     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   974
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   975
  *    Slave:                                                  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   976
  *     -i : Slave Node id format [0x01 , 0x7F]                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   977
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   978
  *    Master:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   979
  *     -m : bus name ["1"]                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   980
  *     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   981
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   982
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   983
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   984
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   985
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   986
\section{Developing a new node}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   987
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   988
Using provided examples as a base for your new node is generally a
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   989
good idea. You can also use the provided {*}.od files as a base for
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   990
your node object dictionary.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   991
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   992
Creating a new \canopen node implies to define the Object Dictionary
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   993
of this node. For that, developer has to provide a C file. This C
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   994
file contains the definition of all dictionary entries, and some kind
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   995
of index table that helps the stack to access some entries directly.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   996
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   997
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   998
\subsection{Using Dictionary Editor GUI}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   999
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1000
The Object Dictionary Editor is a WxPython based GUI that is used
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1001
to create the C file needed to create a new \canopen node.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1002
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1003
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1004
\subsubsection{Installation and usage on Linux}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1005
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1006
You first have to download and install Gnosis XML modules. This is
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1007
automated by a Makefile rule.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1008
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1009
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1010
	cd objdictgen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1011
	make
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1012
\end{verbatim}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1013
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1014
Now start the editor.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1015
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1016
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1017
	python objdictedit.py [od files...]
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1018
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1019
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1020
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1021
\subsubsection{Installation and usage on Windows}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1022
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1023
Install Python (at least version 2.4) and wxPython (at least version
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1024
2.6.3.2).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1025
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1026
Cygwin users can install Gnosis XML utils the same as Linux use. Just
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1027
call make.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1028
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1029
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1030
	cd objdictgen
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1031
	make
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1032
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1033
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1034
Others will have to download and install Gnosis XML by hand :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1035
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1036
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1037
	Gnosis Utils:
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1038
	http://freshmeat.net/projects/gnosisxml/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1039
	http://www.gnosis.cx/download/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1040
	Get latest version.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1041
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1042
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1043
Download CanFestival archive and uncompress it. Use windows file explorer
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1044
to go into CanFestival3\textbackslash{}objdicgten, and double -click
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1045
on objdictedit.py.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1046
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1047
\subsubsection{About}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1048
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1049
The Object Dictionary editor GUI is a python application that use
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1050
the Model-View-Controller design pattern. It depends on WxPython to
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1051
display view on any supported platform.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1052
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1053
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1054
\includegraphics[width=7cm]{Pictures/10000201000001FC000001E5D65E8766} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1055
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1056
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1057
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1058
\subsubsection{Main view}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1059
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1060
Top list let you choose dictionary section, bottom left list is the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1061
selected index in that dictionary, and bottom right list are edited
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1062
sub -indexes.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1063
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1064
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1065
\includegraphics[width=12cm]{Pictures/10000201000003E7000001C7B0296577} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1066
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1067
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1068
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1069
\includegraphics[width=3cm]{Pictures/10000000000000B6000000DF1EDD1E73} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1070
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1071
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1072
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1073
\includegraphics[width=3cm]{Pictures/10000000000000AC000000C9C3F53FA6} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1074
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1075
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1076
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1077
\includegraphics[width=3cm]{Pictures/100000000000006D000000A31EC8CB54} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1078
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1079
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1080
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1081
\includegraphics[width=3cm]{Pictures/10000000000000AA0000006014F74635} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1082
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1083
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1084
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1085
\subsubsection{New node}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1086
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1087
Edit your node name, ID and type. Choose your inherited specific profile.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1088
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1089
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1090
\includegraphics[width=11cm]{Pictures/10000201000001CB0000015F4FC09B68} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1091
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1092
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1093
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1094
\subsubsection{Node info}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1095
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1096
Edit your node name, ID and type.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1097
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1098
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1099
\includegraphics[width=7cm]{Pictures/10000201000001010000011DA724D25C} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1100
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1101
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1102
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1103
\subsubsection{Profile editor}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1104
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1105
Chose the used profile to edit.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1106
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1107
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1108
\includegraphics[width=4cm]{Pictures/10000000000000AB000000C88F594413} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1109
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1110
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1111
Pick up optional chosen profile entries.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1112
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1113
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1114
\includegraphics[width=11cm]{Pictures/10000201000002DE000001D82D89C224} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1115
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1116
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1117
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1118
\subsubsection{User types}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1119
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1120
Use User Types to implement value boundaries, and string length
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1121
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1122
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1123
\includegraphics[width=11cm]{Pictures/10000201000001C40000010766961D7F} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1124
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1125
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1126
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1127
\subsubsection{Mapped variable}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1128
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1129
Add your own specific dictionary entries and associated mapped variables.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1130
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1131
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1132
\includegraphics[width=11cm]{Pictures/10000201000001C4000000DD129D4661} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1133
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1134
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1135
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1136
\subsubsection{Integrated help}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1137
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1138
Using F1 key, you can get context sensitive help.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1139
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1140
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1141
\includegraphics[width=12cm]{Pictures/10000201000002F30000020B23ED7F67} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1142
\par\end{center}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1143
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1144
In order to do that, official 301\_v04000201.pdf file must be placed
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1145
into doc/ directory, and xpdf must be present on your system.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1146
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1147
F2 key open HTML CanFestival help.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1148
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1149
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1150
\includegraphics[width=12cm]{Pictures/10000201000003440000025ACC3FD2F1} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1151
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1152
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1153
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1154
\subsection{Generating the object Dictionary}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1155
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1156
Once object dictionary has been edited and saved, you have to generate
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1157
object dictionary C code for your CanFestival node.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1158
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1159
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1160
\subsubsection{With GUI}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1161
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1162
Menu entry {}``File/Build Dictionary''.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1163
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1164
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1165
\includegraphics[width=4cm]{Pictures/10000201000000B7000000C66AF89CD5} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1166
\par\end{center}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1167
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1168
Choose C file to create or overwrite. Header file will be also created
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1169
with the same prefix as C file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1170
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1171
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1172
\subsubsection{With command line}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1173
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1174
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1175
	Usage of objdictgen.py :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1176
	python objdictgen.py XMLFilePath CfilePath
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1177
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1178
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1179
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1180
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1181
\section{FAQ}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1182
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1183
208
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diff changeset
  1184
\subsection{General}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1185
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1186
208
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
  1187
\subsubsection{Does the code compiles on Windows ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1188
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1189
Yes, with both Cygwin and Visual Studio C++. 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1190
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1191
Because \canopen layer is coded with C, put a compilation option
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1192
/TC or /TP if you plan to mix C++ files. See the MSDN documentation
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1193
about that.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1194
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1195
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1196
\subsubsection{How to fit the library to an other microcontrôler ?}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1197
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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  1198
First, be sure that you have at least 40K bytes of program memory,
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1199
and about 2k of RAM.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1200
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1201
You have to create target specific interface to HW resources. Take
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1202
model on bundled interfaces provided in drivers/ and create your own
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1203
interface. You also have to update Makefile.in files for target specific
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1204
cflags and options. Choose {--}target= configure switch to compile
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1205
your specific interface.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1206
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1207
You are welcome to contribute -back your own interfaces! Other Canfestival
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1208
users will use it and provide feedback, tests and enhancements.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1209
208
05d95c45b388 Manual convertion -> latex -> pdf
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  1210
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1211
\subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1212
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1213
Thanks to Philippe Foureys (IUT of Valence), a slave node have been
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1214
tested with the National Instrument \canopen Conformance Test. It
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1215
passed the test with success.
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
  1216
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1217
Some very small unconformity have been found in very unusual situations,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1218
for example in the SDO code response to wrong messages.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1219
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1220
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1221
\subsection{LINUX}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1222
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1223
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1224
\subsubsection{How to use a Peaksystem CAN board ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1225
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1226
Just install peak driver and then compile and install Canfestival.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1227
Peak driver is detected at compile time.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1228
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1229
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1230
\subsubsection{How to use an unsupported CAN board ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1231
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1232
You have to install the specific driver on your system, with necessary
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1233
libs and headers.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1234
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1235
Use can\_peak.c/h or can\_virtual.c/h as an example, and adapt it
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1236
to your driver API.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1237
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1238
Execute configure script and choose --can=mydriver
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1239
208
05d95c45b388 Manual convertion -> latex -> pdf
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  1240
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1241
\subsection{Win32}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1242
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1243
Compatibility:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1244
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1245
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1246
\item Code was compiled MS VisualStudio 2003.NET and VisualStudio 2005.NET
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1247
for WindowsXP \ with ANSI and UNICODE configurations and for WindowsCE
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1248
5.0. 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1249
\item Some preliminary testing was done, but not enough to be used in mission
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1250
critical projects. 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1251
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1252
Additional Features:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1253
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1254
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1255
\item Non -integral integers support implementation UNS24, UNS40, UNS48
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1256
etc. 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1257
\item When enable debug output with DEBUG\_WAR\_CONSOLE\_ON or DEBUG\_ERR\_CONSOLE\_ON,
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1258
you can navigate in CanFestival source code by double clicking at
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1259
diagnostic lines in VisualStudio.NET 200X Debug Output Window. 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1260
\end{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1261
Custom size integral types such as INTEGER24, UNS40, INTEGER56 etc.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1262
have been defined as 64 bits integers. You will need to replace sizeof(TYPE)
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1263
operators to sizeof\_TYPE definitions in generated code, i.e. replace
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1264
sizeof(UNS40) with sizeof\_UNS40.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1265
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1266
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1267
\subsection{HCS12}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1268
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1269
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1270
\subsubsection{Which board are you using ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1271
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1272
A T -board from elektronikladen with a MC9S12DP256 or MC9S12DG256.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1273
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1274
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1275
\subsubsection{Does the code compile with an other compiler than GNU gcc ?}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1276
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1277
It is known to work with Metrowerks CodeWarrior. Here are some tips
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1278
from Philippe Foureys. :
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1279
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1280
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1281
\paragraph{Interrupt functions}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1282
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1283
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1284
\subparagraph{Code for GCC:
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1285
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1286
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1287
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1288
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1289
	// prototype
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1290
	void __attribute__((interrupt))timer3Hdl(void):
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1291
	// function
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1292
	void __attribute__((interrupt))timer3Hdl(void){...}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1293
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1294
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1295
	
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1296
\subparagraph{Code for CodeWarrior
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1297
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1298
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1299
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1300
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1301
	// protoype
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1302
	void interrupt timer3Hdl(void);
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1303
	// function
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1304
	pragma CODE_SEG__NEAR_SEG_NON_BANKED
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1305
	void interrupt timer3Hdl(void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1306
	{...}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1307
	pragma CODE_SEG_DEFAULT\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1308
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1309
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1310
\paragraph{Interrupt lock, unlock
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1311
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1312
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1313
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1314
\subparagraph{Code for GCC
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1315
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1316
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1317
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1318
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1319
 void unlock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1320
 {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1321
   __asm__ __volatile__("cli");
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1322
 }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1323
 void lock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1324
 {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1325
   unsigned short mask;
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1326
   __asm__ __volatile__("tpa\n\tsei":"=d"(mask));
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1327
 }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1328
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1329
208
05d95c45b388 Manual convertion -> latex -> pdf
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  1330
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1331
\subparagraph{Code for CodeWarrior}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1332
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1333
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1334
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1335
void unlock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1336
	{
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1337
	  __asm("cli");
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1338
	}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1339
	void lock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1340
	{
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1341
	  unsigned short mask;
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1342
	  __asm
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1343
	 {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1344
	  tpa:tsei:"=d"(mask);
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1345
	 }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1346
	}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1347
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1348
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1349
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1350
\paragraph{Initialize function}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1351
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
  1352
208
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
  1353
\subparagraph{Code for GCC}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1354
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
  1355
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1356
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1357
void initCanHCS12 (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1358
{  
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1359
  //Init the HCS12 microcontroler for CanOpen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1360
  initHCS12();
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1361
   // Init the HCS12  CAN driver
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1362
  const canBusInit bi0 = {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1363
    0,    /* no low power                 */ 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1364
    0,    /* no time stamp                */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1365
    1,    /* enable MSCAN                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1366
    0,    /* clock source : oscillator (In fact, it is not used)   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1367
    0,    /* no loop back                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1368
    0,    /* no listen only               */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1369
    0,    /* no low pass filter for wk up */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1370
  CAN_Baudrates[CAN_BAUDRATE_250K],
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1371
    {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1372
      0x00,    /* Filter on 16 bits.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1373
                  See Motorola Block Guide V02.14 fig 4-3 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1374
      0x00, 0xFF, /* filter 0 hight accept all msg      */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1375
      0x00, 0xFF, /* filter 0 low accept all msg        */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1376
      0x00, 0xFF, /* filter 1 hight filter all of  msg  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1377
      0x00, 0xFF, /* filter 1 low filter all of  msg    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1378
      0x00, 0xFF, /* filter 2 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1379
      0x00, 0xFF, /* filter 2 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1380
      0x00, 0xFF, /* filter 3 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1381
      0x00, 0xFF, /* filter 3 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1382
    }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1383
};
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1384
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1385
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1386
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1387
\subparagraph{Code for CodeWarrior
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1388
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1389
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1390
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1391
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1392
void initCanHCS12 (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1393
{  
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1394
  //Init the HCS12 microcontroler for CanOpen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1395
  initHCS12();
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1396
   // Init the HCS12  CAN driver
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1397
  const canBusInit bi0 = {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1398
    0,    /* no low power                 */ 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1399
    0,    /* no time stamp                */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1400
    1,    /* enable MSCAN                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1401
    0,    /* clock source : oscillator (In fact, it is not used)   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1402
    0,    /* no loop back                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1403
    0,    /* no listen only               */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1404
    0,    /* no low pass filter for wk up */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1405
    {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1406
     1, /* clksrc */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1407
     3, /* brp    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1408
     0, /* sjw    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1409
     0, /* samp   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1410
     1, /* tseg2  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1411
     12,/* tseg1  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1412
    },
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1413
    {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1414
      0x00,    /* Filter on 16 bits.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1415
                 See Motorola Block Guide V02.14 fig 4-3 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1416
      0x00, 0xFF, /* filter 0 hight accept all msg      */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1417
      0x00, 0xFF, /* filter 0 low accept all msg        */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1418
      0x00, 0xFF, /* filter 1 hight filter all of  msg  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1419
      0x00, 0xFF, /* filter 1 low filter all of  msg    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1420
      0x00, 0xFF, /* filter 2 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1421
      0x00, 0xFF, /* filter 2 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1422
      0x00, 0xFF, /* filter 3 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1423
      0x00, 0xFF, /* filter 3 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1424
    }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1425
};
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1426
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1427
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1428
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1429
\subsubsection{Does the code works in banked memory ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1430
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1431
No. Today it seems that the port of gcc is bogged for using the banked
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1432
memory. So, unfortunately, we are limited to 48 Kbytes of memory code.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1433
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1434
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1435
\subsubsection{What GCC version are you using ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1436
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1437
We are using the stable RPM release 2.2 :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1438
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1439
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1440
\item GNU Gcc 3.0.4. Build 20030501 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1441
\item Newlib 1.10.0 Build 20030421 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1442
\item GNU Binutils 2.12.1 Build 20030427 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1443
\end{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1444
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1445
\section{Documentation resources}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1446
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1447
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1448
\subsection{CIA : Can in Automation }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1449
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1450
\href{http://www.can-cia.de/}{http://www.can -cia.de}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1451
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1452
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1453
\subsection{Resources and training in \canopen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1454
}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1455
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1456
\href{http://www.esacademy.com/}{http://www.esacademy.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1457
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1458
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1459
\subsection{Elektronikladen HCS12 T -board }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1460
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1461
\href{http://www.elektronikladen.de/en_hcs12tb.html}{http://www.elektronikladen.de/en\_hcs12tb.html}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1462
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1463
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1464
\subsection{Gnu gcc compiler for HC12 }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1465
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1466
\href{http://m68hc11.serveftp.org/m68hc11_port.php}{http://m68hc11.serveftp.org/m68hc11\_port.php}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1467
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1468
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1469
\subsection{Motorola documentation on HC12 }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1470
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1471
\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
  1472
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1473
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1474
\subsection{Lauterbach debugger for HC12 }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1475
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1476
\href{http://www.lauterbach.com/}{http://www.lauterbach.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1477
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1478
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1479
\subsection{Python language }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1480
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1481
\href{http://www.python.org/}{http://www.python.org}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1482
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1483
\clearpage{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1484
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1485
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1486
\section{About the project}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1487
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1488
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1489
\subsection{Contributors }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1490
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1491
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1492
\includegraphics[width=10cm]{Pictures/1000020100000258000000832C6FFAB4} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1493
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1494
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1495
Unité mixte de recherche INRETS -LCPC
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1496
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1497
sur les Interractions Véhicule -Infrastructure -Conducteur
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1498
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1499
14, route de la miničre
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1500
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1501
78000 Versailles
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1502
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1503
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1504
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1505
Tel : +33 1 40 43 29 01
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1506
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1507
\href{http://www.inrets.fr/ur/livic}{http://www.inrets.fr/ur/livic}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1508
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1509
\textbf{Contributors :} Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1510
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1511
Camille BOSSARD
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1512
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1513
Laurent ROMIEUX
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1514
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1515
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1516
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1517
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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\begin{center}
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\includegraphics[width=10cm]{Pictures/100002010000013A0000004A96B0C1FF} 
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\par\end{center}
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LOLITECH
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  1523
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204, rue du Haut du Pin
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393
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88470 Saint -Michel sur Meurthe
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  1527
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  1528
FRANCE
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  1529
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  1530
Tel : +33 3 29 52 95 67
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  1531
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\href{http://www.lolitech.fr/}{http://www.lolitech.fr}
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393
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\textbf{Contributors :} Edouard TISSERANT (Original author)
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  1535
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Laurent BESSARD
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  1537
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\bigskip{}
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  1539
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  1541
Many thanks to the other contributors for their great work:
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  1542
393
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  1543
Raphael ZULLIGER
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  1544
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  1545
David DUMINY (sté A6R)
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  1546
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  1547
Zakaria BELAMRI
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  1548
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  1550
\subsection{Getting support}
393
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  1551
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  1552
Send your feedback and bug reports to \href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival-devel@lists.sourceforge.net}.
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  1553
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  1554
For commercial support, \ training and specific integration and developments,
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  1555
please ask LOLITECH (see contributors).
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  1556
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  1558
\subsection{Contributing}
393
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  1559
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You are free to contribute your specific interfaces back to the project.
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nico
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  1561
This way, you can hope to get support from CanFestival users community.
05d95c45b388 Manual convertion -> latex -> pdf
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  1562
393
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Please send your patch to \href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival
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  1564
-devel@lists.sourceforge.net}.
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  1565
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Feel free to create some new predefined DS -4xx profiles ({*}.prf)
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  1567
in objdictgen/config, as much as possible respectful to the official
208
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  1568
specifications.
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  1569
393
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\subsection{License}
393
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  1573
All the project is licensed with LGPL. This mean you can link CanFestival
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  1574
with any code without being obliged to publish it.
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394
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\begin{verbatim}
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#This file is part of CanFestival, a library implementing CanOpen Stack. 
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  1579
# 
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  1580
#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD 
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  1581
# 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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  1582
#See COPYING file for copyrights details. 
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  1583
# 
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  1584
#This library is free software; you can redistribute it and/or 
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  1585
#modify it under the terms of the GNU Lesser General Public 
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  1586
#License as published by the Free Software Foundation; either 
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  1587
#version 2.1 of the License, or (at your option) any later version. 
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  1588
# 
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  1589
#This library is distributed in the hope that it will be useful, 
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  1590
#but WITHOUT ANY WARRANTY; without even the implied warranty of 
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  1591
#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
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  1592
#Lesser General Public License for more details. 
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  1593
# 
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  1594
#You should have received a copy of the GNU Lesser General Public 
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  1595
#License along with this library; if not, write to the Free Software 
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  1596
#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA 
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  1597
\end{verbatim}
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  1599
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\end{document}