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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\subsubsection{DS-305}
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LSS services are fully supported although they have to be enabled at compile time. Additionally, FastScan LSS service is also optionally enabled. 
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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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\item MinGW/MSYS
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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_rtai Rtai 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_serial Serial point to point and PTY hub (*nix only)
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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/can_vcom VScom VSCAN interface
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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/TestMasterSlaveLSS 3 nodes, NMT SYNC SDO PDO LSS, 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 reentrant 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 blocking 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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With Xenomai :
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\begin{verbatim}
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	./configure --timers=xeno
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\end{verbatim}
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With Rtai :
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\begin{verbatim}
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	./configure --timers=rtai
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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) or RTAI (3.6). 
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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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448
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\paragraph{Serial}
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\begin{verbatim}
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	./configure --can=serial
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\end{verbatim}
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The CAN serial driver implements a 1:1 serial connection between 2 CAN devices.
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For example, you can connect 2 CANFestival applications via a NULL modem cable.
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Also with this driver comes a software hub, for up to 16 CANFestival apps to 
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be connected on a single PC, with an optional connection to another CAN driver.
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Note that only the serial driver is supported at this time.  The hub uses ptys 
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(pseudo ttys) available on a *nix like system.
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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 or RTAI.
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\paragraph{VScom}
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\begin{verbatim}
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	./configure --can=vscom
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\end{verbatim}
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The VSCAN API archive will be automatically downloaded and decompressed (unzip required). See \href{http://www.vscom.de/1_1_05.htm}{www.vscom.de} for available adapters.
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\subsubsection{LSS services}
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Canfestival optionally supports LSS services but they must be enabled.
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\begin{verbatim}
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	./configure --enable-lss
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\end{verbatim}
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Additionally, the FastScan LSS service can also be enabled.
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\begin{verbatim}
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	./configure --enable-lss --enable-lss-fs
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\end{verbatim}
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\subsection{Testing your CanFestival installation}
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\subsubsection{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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If the LSS services are enabled the sample provided in /example/TestMasterSlaveLSS will be also installed. It behaves the same as TestMasterSlave except that there are 2 slave nodes without a valid nodeID so the the initializations is done via  the LSS services. If FastScan optional service is enabled the example will use it. 
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\subsubsection{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
393
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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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   507
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diff changeset
   508
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diff changeset
   509
\paragraph{A single node with PcanLight and Peak CAN -USB adapter}
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diff changeset
   510
394
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diff changeset
   511
Download the PCAN-Light Zip file for your HW ( URL from download
393
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diff changeset
   512
page ):
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diff changeset
   513
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   514
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   515
\begin{verbatim}
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diff changeset
   516
	wget http://www.peak -system.com/files/usb.zip
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parents: 393
diff changeset
   517
\end{verbatim}
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parents: 393
diff changeset
   518
393
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diff changeset
   519
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   520
Extract its content into your cygwin home (it will create a {}``Disk''
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   521
directory):
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
   522
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   523
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   524
\begin{verbatim}
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diff changeset
   525
	unzip usb.zip
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diff changeset
   526
\end{verbatim}
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diff changeset
   527
393
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diff changeset
   528
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   529
Configure CanFestival3 providing path to the desired PcanLight implementation:
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diff changeset
   530
394
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diff changeset
   531
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   532
\begin{verbatim}
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diff changeset
   533
	cd CanFestival -3
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diff changeset
   534
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
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   535
	export PCAN_HEADER=Pcan_usb.h
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   536
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_usb.lib
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diff changeset
   537
	./configure --can=peak_win32
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diff changeset
   538
	make
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diff changeset
   539
\end{verbatim}
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diff changeset
   540
393
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diff changeset
   541
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   542
In order to test, you have to use another CanFestival node, connect
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diff changeset
   543
with a CAN cable.
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diff changeset
   544
394
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diff changeset
   545
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   546
\begin{verbatim}
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diff changeset
   547
	cp ~/Disk/PCAN-Light/Pcan_usb.dll .
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diff changeset
   548
	./examples/TestMasterSlave/TestMasterSlave \
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diff changeset
   549
	-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll \
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   550
	-S 500K -M none
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diff changeset
   551
\end{verbatim}
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diff changeset
   552
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   553
05d95c45b388 Manual convertion -> latex -> pdf
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   554
Then, on the other node :
05d95c45b388 Manual convertion -> latex -> pdf
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   555
394
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diff changeset
   556
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   557
\begin{verbatim}
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diff changeset
   558
	./TestMasterSlave -l my_driver.so -S none -M 500K
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diff changeset
   559
\end{verbatim}
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diff changeset
   560
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   561
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   562
Now messages are being exchanged between master and slave node.
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   563
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   564
\paragraph{Two nodes with PcanLight and Peak dual PCMCIA -CAN adapter}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   565
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   566
Download the PCAN-Light Zip file for your HW ( URL from download
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   567
page ):
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
   568
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   569
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   570
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   571
	wget http://www.peak-system.com/files/pccard.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   572
\end{verbatim}
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parents: 393
diff changeset
   573
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   574
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   575
Extract its content into your cygwin home (it will create a {}``Disk''
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   576
directory):
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   577
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   578
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   579
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   580
	unzip pccard.zip
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parents: 393
diff changeset
   581
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   582
208
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
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   583
05d95c45b388 Manual convertion -> latex -> pdf
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   584
The configure CanFestival3 providing path to the desired PcanLight
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   585
implementation:
05d95c45b388 Manual convertion -> latex -> pdf
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parents:
diff changeset
   586
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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   587
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   588
\begin{verbatim}
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diff changeset
   589
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
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diff changeset
   590
	export PCAN_HEADER=Pcan_pcc.h
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diff changeset
   591
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_pcc.lib
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diff changeset
   592
	export PCAN2_HEADER=Pcan_2pcc.h
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diff changeset
   593
	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
   594
\end{verbatim}
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diff changeset
   595
208
05d95c45b388 Manual convertion -> latex -> pdf
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   596
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   597
In order to test, just connect together both CAN ports of the PCMCIA
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   598
card. Don{\textquotesingle}t forget 120ohms terminator.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   599
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   600
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   601
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   602
	cp ~/Disk/PCAN-Light/Pcan_pcc.dll .
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   603
	cp ~/Disk/PCAN-Light/Pcan_2pcc.dll .
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   604
	./examples/TestMasterSlave/TestMasterSlave \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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diff changeset
   605
	   -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
   606
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
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parents: 393
diff changeset
   607
208
05d95c45b388 Manual convertion -> latex -> pdf
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   608
05d95c45b388 Manual convertion -> latex -> pdf
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   609
Messages are then exchanged between master and slave node, both inside
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   610
TestMasterSlave{\textquotesingle}s process.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   611
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   612
\subsection{Visual Studio C++}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
   613
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   614
\subsubsection{Requirements}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   615
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   616
Minimal Cygwin installation is required at configuration time in order
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   617
to create specific header files (config.h and cancfg.h). Once this
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   618
files created, cygwin is not necessary any more.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   619
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   620
Project and solution files have been created and tested with Visual
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   621
Studio Express 2005. Be sure to have installed Microsoft Platform
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   622
SDK, as recommended at the end of Visual Studio installation.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   623
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   624
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   625
\subsubsection{Configuration with cygwin}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   626
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
   627
Follow instructions given at \hyperlink{Cygwin configuration and compilation}{Cygwin
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   628
configuration and compilation}, but do neither call make nor do tests,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   629
just do configuration steps. This will create headers files accordingly
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   630
to your configuration parameters, and the desired CAN hardware.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   631
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   632
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   633
\subsubsection{Compilation with Visual Studio}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   634
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   635
You can either load independent {}``{*}.vcproj'' project files
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   636
along your own projects in your own solution or load the provided
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   637
{}``CanFestival -3.vc8.sln'' solution files directly.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   638
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   639
Build CanFestival -3 project first.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   640
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
   641
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   642
\paragraph{PcanLight and the can\_peak\_win32 project.}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   643
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   644
Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   645
to can\_peak\_win32 \ \ project before build of the DLL.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   646
208
05d95c45b388 Manual convertion -> latex -> pdf
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diff changeset
   647
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   648
\subsubsection{Testing}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   649
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   650
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
   651
Debug directory, and run the test program:
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   652
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   653
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   654
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   655
	TestMasterSlave.exe -l can_peak_win32.dll
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   656
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   657
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   658
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   659
\subsection{MSYS}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   660
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   661
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   662
\subsubsection{Requirements}
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
Download from : http://sourceforge.net/project/showfiles.php?group\_id=2435
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   665
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   666
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   667
\item MSYS-1.0.10.exe 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   668
\item MinGW-5.1.3.exe 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   669
\item mingwPORT (which contains wget-1.9.1) 
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   670
\end{enumerate}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   671
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
   672
and follow instructions in order to install driver on your system.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   673
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
   674
device. Open a MSYS terminal, and follow those instructions:\\
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   675
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   676
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   677
\begin{itemize}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   678
\item extract wget-1.9.1-mingwPORT.tar.bz2 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   679
\item copy wget.exe in c:\textbackslash{} msys\textbackslash{} 1.0\textbackslash{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   680
bin\textbackslash{} 
282
6afe145df950 Updated manual for msys/mingw build
greg
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diff changeset
   681
\item start MSYS and check the file /etc/fstab contain the line c:/MinGW
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   682
/mingw 
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   683
\end{itemize}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   684
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   685
\subsubsection{MSYS configuration and compilation}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   686
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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diff changeset
   687
Instructions for compilation are nearly the same as CYGWIN part.
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   688
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   689
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   690
\paragraph{A single node with PcanLight and Peak CAN-USB adapter}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   691
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   692
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
   693
):
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   694
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
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diff changeset
   695
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   696
	wget http://www.peak-system.com/files/usb.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   697
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   698
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   699
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
   700
Disk\char`\"{} directory):
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   701
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   702
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   703
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   704
	unzip usb.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   705
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   706
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   707
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   708
Configure CanFestival3 providing path to the desired PcanLight implementation:
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   709
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   710
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   711
	cd CanFestival-3
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   712
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   713
	export PCAN_HEADER=Pcan_usb.h
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   714
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_usb.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   715
	./configure --can=peak_win32
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   716
	make
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   717
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   718
282
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greg
parents: 249
diff changeset
   719
In order to test, you have to use another CanFestival node, connect
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   720
with a CAN cable.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   721
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   722
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   723
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   724
	cp ~/Disk/PCAN-Light/Pcan_usb.dll .
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   725
	./examples/TestMasterSlave/TestMasterSlave \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   726
	  -l drivers/can_peak_win32/cygcan_peak_win32.dll \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   727
	  -S 500K -M none
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   728
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   729
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   730
Then, on the other node :
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   731
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   732
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   733
	./TestMasterSlave -l my_driver.so -S none -M 500K -m 0
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   734
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   735
Now messages are being exchanged between master and slave node.
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   736
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   737
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   738
\paragraph{Two nodes with PcanLight and Peak dual PCMCIA-CAN adapter}
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   739
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   740
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
   741
):
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   742
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   743
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   744
	wget http://www.peak-system.com/files/pccard.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   745
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   746
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
   747
Disk\char`\"{} directory):
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   748
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   749
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   750
	unzip pccard.zip
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   751
\end{verbatim}
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   752
The configure CanFestival3 providing path to the desired PcanLight
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   753
implementation:
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   754
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   755
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   756
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   757
	export PCAN_HEADER=Pcan_pcc.h}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   758
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_pcc.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   759
	export PCAN2_HEADER=Pcan_2pcc.h
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   760
	export PCAN2_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_2pcc.lib
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   761
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   762
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   763
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
   764
card. Don't forget 120ohms terminator.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   765
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   766
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   767
	cp~/Disk/PCAN-Light/Pcan_pcc.dll ~.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   768
	cp ~/Disk/PCAN-Light/Pcan_2pcc.dll ~.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   769
	./examples/TestMasterSlave/TestMasterSlave \
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   770
		-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll -m 0 -s 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   771
\end{verbatim}
282
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   772
Messages are then exchanged between master and slave node, both inside
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   773
TestMasterSlave's process.
6afe145df950 Updated manual for msys/mingw build
greg
parents: 249
diff changeset
   774
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   775
\section{Motorola HCS12}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   776
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   777
The examples have been tested on a MC9S12DG255 mounted on a Elektronikladen
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   778
HCS12 T -board.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   779
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   780
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
   781
and HCS12 microcontroller. For a HC12, you must adapt the driver that
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   782
we provide for \ the HCS12.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   783
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   784
For the difference MSCAN HC12/HCS12, see the Motorola application
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   785
note AN2011/D.
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   786
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   787
Configure switch:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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
	--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
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   793
To do a \canopen node running on a microncontroller Motorola MC9S12DP256,
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   794
you need :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   795
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   796
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   797
\item The compiler GNU gcc for HC11, HC12, HCS12 : m6811 -elf. \\
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   798
 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
   799
\item A board with this chip. We are using the T -board from Electronikladen. 
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   800
\item At least about 40 kBytes of program memory. 
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   801
\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
   802
debugger). 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   803
\end{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   804
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   805
\subsection{Running a HCS12 node}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   806
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   807
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   808
\subsubsection{Compiling Canfestival:}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   809
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   810
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   811
	./configure --target=hcs12
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   812
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   813
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   814
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   815
\subsubsection{Compiling and building an example}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   816
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   817
Enter in the folder of an HCS12 example,
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   818
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   819
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   820
	make all
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   821
\end{verbatim}
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{Flashing the memory :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   825
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   826
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
   827
you can load the bash file : trace32\_flash\_programmer.cmm. It loads
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   828
directly the elf file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   829
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   830
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   831
\subsubsection{Connecting to a serial RS232 console :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   832
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   833
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
   834
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
   835
you can use minicom. Connecting to a console is useful to read the
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   836
messages, but not required.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   837
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   838
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   839
\subsubsection{Connecting to the CAN network :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   840
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   841
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
   842
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
   843
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   844
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   845
\subsubsection{starting the node :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   846
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   847
Press the reset of your HCS12 board.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   848
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   849
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   850
\section{Example and test program:}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   851
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   852
The {}``examples'' directory contains some test program you can
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   853
use as example for your own developments.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   854
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   855
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   856
\subsection{TestMasterSlave}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   857
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   858
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   859
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   860
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   861
  *  TestMasterSlave                                           *
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
  *  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
   864
  *  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
   865
  *  communicate together, exchanging periodically NMT, SYNC,  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   866
  *  SDO and PDO. Master configure heartbeat producer time     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   867
  *  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
   868
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   869
  *   Usage:                                                   *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   870
  *   ./TestMasterSlave  [OPTIONS]                             *
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
  *   OPTIONS:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   873
  *     -l : Can library ["libcanfestival_can_virtual.so"]     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   874
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   875
  *    Slave:                                                  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   876
  *     -s : bus name ["0"]                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   877
  *     -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
   878
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   879
  *    Master:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   880
  *     -m : bus name ["1"]                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   881
  *     -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
   882
  *                                                            *
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
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   885
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   886
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   887
Notes aboute use of voncise DCF :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   888
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   889
In this example, Master configure heartbeat producer time
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   890
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
   891
profile.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   892
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   893
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
   894
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
   895
(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
   896
the configuration belongs.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   897
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   898
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
   899
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
   900
this structure :
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
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   903
\begin{verbatim}
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
	 (UNS32) nb of entries
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   906
	 (UNS16) index parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   907
	 (UNS8) sub -index parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   908
	 (UNS32) size data parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   909
	 (DOMAIN) data parameter 1
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   910
	 (UNS16) index parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   911
	 (UNS8) sub -index parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   912
	 (UNS32) size data parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   913
	 (DOMAIN) data parameter 2
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   914
	      ....
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   915
	 (UNS16) index parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   916
	 (UNS8) sub -index parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   917
	 (UNS32) size data parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   918
	 (DOMAIN) data parameter n
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   919
	 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   920
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   921
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   922
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   923
So the binary value stream to configure heartbeat producer
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   924
time must be :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   925
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   926
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   927
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   928
	0100000017100002000000e803
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   929
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   930
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   931
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   932
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
   933
in Pre\_operational state.
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   934
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   935
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   936
\subsection{gene\_SYNC\_HCS12 :}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   937
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   938
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
   939
It demonstrate implementation on HCS12 based board.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   940
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   941
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   942
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   943
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   944
391
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents: 284
diff changeset
   945
\subsection{kerneltest :}
7802a7d5584f Accepted Vladimir Chren linux kernelspace port patch.
etisserant
parents: 284
diff changeset
   946
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   947
Example based on TestMasterSlave slightly modified to suit kernel
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   948
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
   949
space sending kernel messages (displayed by dmesg for example). It
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   950
is designed as external kernel module implemented as character device.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   951
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
   952
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
   953
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
   954
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
   955
another separate module 'canfestival.ko' implementing CanOpen stack
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   956
which exports requisite functions. Canfestival.ko module is then dependent
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   957
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
   958
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
   959
automatically by kernel. To run the example type: 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   960
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   961
	sh run.sh
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   962
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   963
It will insert required modules, start console, and after quitting
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   964
console it'll remove modules from kernel.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   965
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   966
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   967
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   968
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   969
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
   970
\subsection{TestMasterMicroMod }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
   971
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   972
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   973
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   974
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   975
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   976
  *  TestMasterMicroMod                                        *
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
  *  A simple example for PC.                                  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   979
  *  A CanOpen master that control a MicroMod module:          *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   980
  *  - setup module TPDO 1 transmit type                       *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   981
  *  - setup module RPDO 1 transmit type                       *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   982
  *  - setup module hearbeatbeat period                        *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   983
  *  - disable others TPDOs                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   984
  *  - set state to operational                                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   985
  *  - send periodic SYNC                                      *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   986
  *  - send periodic RPDO 1 to Micromod (digital output)       *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   987
  *  - listen Micromod's TPDO 1 (digital input)                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   988
  *  - Mapping RPDO 1 bit per bit (digital input)              *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   989
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   990
  *   Usage:                                                   *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   991
  *   ./TestMasterMicroMod  [OPTIONS]                          *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   992
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   993
  *   OPTIONS:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   994
  *     -l : Can library ["libcanfestival_can_virtual.so"]     *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   995
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   996
  *    Slave:                                                  *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   997
  *     -i : Slave Node id format [0x01 , 0x7F]                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   998
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
   999
  *    Master:                                                 *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1000
  *     -m : bus name ["1"]                                    *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1001
  *     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1002
  *                                                            *
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1003
  **************************************************************
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1004
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1005
517
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1006
\subsection{TestMasterSlaveLSS}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1007
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1008
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1009
\begin{verbatim}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1010
**************************************************************
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1011
*  TestMasterSlaveLSS                                        *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1012
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1013
*  A LSS example for PC. It does implement 3 CanOpen         *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1014
*  nodes in the same process. A master and 2 slaves. All     *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1015
*  communicate together, exchanging periodically NMT, SYNC,  *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1016
*  SDO and PDO. Master configure heartbeat producer time     *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1017
*  at 1000 ms for the slaves by concise DCF.                 *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1018
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1019
*   Usage:                                                   *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1020
*   ./TestMasterSlaveLSS  [OPTIONS]                          *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1021
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1022
*   OPTIONS:                                                 *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1023
*     -l : Can library ["libcanfestival_can_virtual.so"]     *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1024
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1025
*    SlaveA:                                                 *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1026
*     -a : bus name ["0"]                                    *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1027
*     -A : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1028
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1029
*    SlaveB:                                                 *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1030
*     -b : bus name ["1"]                                    *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1031
*     -B : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1032
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1033
*    Master:                                                 *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1034
*     -m : bus name ["2"]                                    *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1035
*     -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable)  *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1036
*                                                            *
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1037
**************************************************************
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1038
\end{verbatim}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1039
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1040
The function used to request LSS services is \textit{configNetworkNode}. It works similar to \textit{writeNetworkDict} and its model is the following:
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1041
\begin{verbatim}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1042
UNS8 configNetworkNode (CO_Data* d, UNS8 command, void *dat1, void* dat2, 
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1043
LSSCallback_t Callback)
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1044
\end{verbatim}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1045
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1046
\subsection{FastScan}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1047
FastScan is a special LSS service that allow the dynamically identification of the slave nodes even if they do not have a valid nodeID. This identification is based on the LSS address, composed by vendor ID, product code, revision number and serial number (refer to the DS305 for more information). The LSS address can be partially known or fully unknown. To represent this fact in Canfestival, we use the structure \textit{lss\_fs\_transfer\_t}. The parameter \textit{FS\_LSS\_ID} is an array of four elements which represents the four elements of the LSS address. The other parameter, \textit{FS\_BitChecked}, is also an array and it represents how many bits of each LSS address element are UNKNOWN. The next example is taken from \textit{TestMasterSlaveLSS}, where only the last two digits (8 bits) of vendor ID and product code are unknown and revision number and serial number are totally unknown. 
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1048
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1049
\begin{verbatim}
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1050
lss_fs_transfer_t lss_fs;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1051
/* The VendorID and ProductCode are partialy known, */
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1052
/* except the last two digits (8 bits). */
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1053
lss_fs.FS_LSS_ID[0]=Vendor_ID;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1054
lss_fs.FS_BitChecked[0]=8;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1055
lss_fs.FS_LSS_ID[1]=Product_Code;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1056
lss_fs.FS_BitChecked[1]=8;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1057
/* serialNumber and RevisionNumber are unknown, */
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1058
/* i.e. the 8 digits (32bits) are unknown. */
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1059
lss_fs.FS_BitChecked[2]=32;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1060
lss_fs.FS_BitChecked[3]=32;
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1061
res=configNetworkNode(&d,LSS_IDENT_FASTSCAN,&lss_fs,0,CheckLSSAndContinue);
003679edc437 FastScan review
groke6
parents: 464
diff changeset
  1062
\end{verbatim}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1063
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1064
\section{Developing a new node}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1065
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1066
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
  1067
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
  1068
your node object dictionary.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1069
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1070
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
  1071
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
  1072
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
  1073
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
  1074
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1075
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1076
\subsection{Using Dictionary Editor GUI}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1077
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1078
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
  1079
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
  1080
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1081
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1082
\subsubsection{Installation and usage on Linux}
393
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
You first have to download and install Gnosis XML modules. This is
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1085
automated by a Makefile rule.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1086
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1087
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1088
	cd objdictgen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1089
	make
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1090
\end{verbatim}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1091
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1092
Now start the editor.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1093
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1094
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1095
	python objdictedit.py [od files...]
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1096
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1097
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1098
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1099
\subsubsection{Installation and usage on Windows}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1100
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1101
Install Python (at least version 2.4) and wxPython (at least version
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1102
2.6.3.2).
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1103
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1104
Cygwin users can install Gnosis XML utils the same as Linux use. Just
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1105
call make.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1106
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1107
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1108
	cd objdictgen
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1109
	make
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1110
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1111
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1112
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
  1113
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1114
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1115
	Gnosis Utils:
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1116
	http://freshmeat.net/projects/gnosisxml/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1117
	http://www.gnosis.cx/download/
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1118
	Get latest version.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1119
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1120
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1121
Download CanFestival archive and uncompress it. Use windows file explorer
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1122
to go into CanFestival3\textbackslash{}objdicgten, and double -click
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1123
on objdictedit.py.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1124
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1125
\subsubsection{About}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1126
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1127
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
  1128
the Model-View-Controller design pattern. It depends on WxPython to
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1129
display view on any supported platform.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1130
393
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=7cm]{Pictures/10000201000001FC000001E5D65E8766} 
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{Main view}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1137
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1138
Top list let you choose dictionary section, bottom left list is the
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1139
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
  1140
sub -indexes.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1141
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1142
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1143
\includegraphics[width=12cm]{Pictures/10000201000003E7000001C7B0296577} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1144
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1145
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1146
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1147
\includegraphics[width=3cm]{Pictures/10000000000000B6000000DF1EDD1E73} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1148
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1149
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1150
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1151
\includegraphics[width=3cm]{Pictures/10000000000000AC000000C9C3F53FA6} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1152
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1153
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1154
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1155
\includegraphics[width=3cm]{Pictures/100000000000006D000000A31EC8CB54} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1156
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1157
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1158
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1159
\includegraphics[width=3cm]{Pictures/10000000000000AA0000006014F74635} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1160
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1161
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1162
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1163
\subsubsection{New node}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1164
440
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1165
Edit your node name and type. Choose your inherited specific profile.
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1166
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1167
\begin{center}
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1168
\includegraphics[width=11cm]{Pictures/new_node} 
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1169
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1170
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1171
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1172
\subsubsection{Node info}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1173
440
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1174
Edit your node name and type.
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1175
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1176
\begin{center}
dfcec7403169 Fixes in manual ( removed Node ID setting in objdiectedit screenshots)
etisserant
parents: 394
diff changeset
  1177
\includegraphics[width=7cm]{Pictures/node_info} 
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1178
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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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
\subsubsection{Profile editor}
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
Chose the used profile to edit.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1184
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1185
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1186
\includegraphics[width=4cm]{Pictures/10000000000000AB000000C88F594413} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1187
\par\end{center}
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
parents: 392
diff changeset
  1189
Pick up optional chosen profile entries.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1190
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1191
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1192
\includegraphics[width=11cm]{Pictures/10000201000002DE000001D82D89C224} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1193
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1194
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1195
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1196
\subsubsection{User types}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1197
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1198
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
  1199
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1200
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1201
\includegraphics[width=11cm]{Pictures/10000201000001C40000010766961D7F} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1202
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1203
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1204
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1205
\subsubsection{Mapped variable}
393
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
Add your own specific dictionary entries and associated mapped variables.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1208
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1209
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1210
\includegraphics[width=11cm]{Pictures/10000201000001C4000000DD129D4661} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1211
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1212
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1213
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1214
\subsubsection{Integrated help}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1215
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1216
Using F1 key, you can get context sensitive help.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1217
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1218
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1219
\includegraphics[width=12cm]{Pictures/10000201000002F30000020B23ED7F67} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1220
\par\end{center}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1221
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1222
In order to do that, official 301\_v04000201.pdf file must be placed
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1223
into doc/ directory, and xpdf must be present on your system.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1224
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1225
F2 key open HTML CanFestival help.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1226
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1227
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1228
\includegraphics[width=12cm]{Pictures/10000201000003440000025ACC3FD2F1} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1229
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1230
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1231
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1232
\subsection{Generating the object Dictionary}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1233
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1234
Once object dictionary has been edited and saved, you have to generate
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1235
object dictionary C code for your CanFestival node.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1236
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1237
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1238
\subsubsection{With GUI}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1239
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1240
Menu entry {}``File/Build Dictionary''.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1241
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1242
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1243
\includegraphics[width=4cm]{Pictures/10000201000000B7000000C66AF89CD5} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1244
\par\end{center}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1245
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1246
Choose C file to create or overwrite. Header file will be also created
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1247
with the same prefix as C file.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1248
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1249
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1250
\subsubsection{With command line}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1251
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1252
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1253
	Usage of objdictgen.py :
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1254
	python objdictgen.py XMLFilePath CfilePath
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1255
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1256
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1257
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1258
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1259
\section{FAQ}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1260
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1261
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1262
\subsection{General}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1263
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1264
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1265
\subsubsection{Does the code compiles on Windows ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1266
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1267
Yes, with both Cygwin and Visual Studio C++. 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1268
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1269
Because \canopen layer is coded with C, put a compilation option
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1270
/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
  1271
about that.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1272
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1273
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1274
\subsubsection{How to fit the library to an other microcontr�ler ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1275
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1276
First, be sure that you have at least 40K bytes of program memory,
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1277
and about 2k of RAM.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1278
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1279
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
  1280
model on bundled interfaces provided in drivers/ and create your own
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1281
interface. You also have to update Makefile.in files for target specific
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1282
cflags and options. Choose {--}target= configure switch to compile
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1283
your specific interface.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1284
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1285
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
  1286
users will use it and provide feedback, tests and enhancements.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1287
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1288
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1289
\subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1290
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1291
Thanks to Philippe Foureys (IUT of Valence), a slave node have been
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1292
tested with the National Instrument \canopen Conformance Test. It
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1293
passed the test with success.
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1294
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1295
Some very small unconformity have been found in very unusual situations,
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1296
for example in the SDO code response to wrong messages.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1297
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1298
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1299
\subsection{LINUX}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1300
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1301
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1302
\subsubsection{How to use a Peaksystem CAN board ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1303
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1304
Just install peak driver and then compile and install Canfestival.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1305
Peak driver is detected at compile time.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1306
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1307
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1308
\subsubsection{How to use an unsupported CAN board ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1309
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1310
You have to install the specific driver on your system, with necessary
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1311
libs and headers.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1312
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1313
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
  1314
to your driver API.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1315
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1316
Execute configure script and choose --can=mydriver
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1317
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1318
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1319
\subsection{Win32}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1320
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1321
Compatibility:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1322
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1323
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1324
\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
  1325
for WindowsXP \ with ANSI and UNICODE configurations and for WindowsCE
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1326
5.0. 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1327
\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
  1328
critical projects. 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1329
\end{enumerate}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1330
Additional Features:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1331
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1332
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1333
\item Non -integral integers support implementation UNS24, UNS40, UNS48
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1334
etc. 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1335
\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
  1336
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
  1337
diagnostic lines in VisualStudio.NET 200X Debug Output Window. 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1338
\end{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1339
Custom size integral types such as INTEGER24, UNS40, INTEGER56 etc.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1340
have been defined as 64 bits integers. You will need to replace sizeof(TYPE)
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1341
operators to sizeof\_TYPE definitions in generated code, i.e. replace
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1342
sizeof(UNS40) with sizeof\_UNS40.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1343
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1344
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1345
\subsection{HCS12}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1346
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1347
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1348
\subsubsection{Which board are you using ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1349
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1350
A T -board from elektronikladen with a MC9S12DP256 or MC9S12DG256.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1351
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1352
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1353
\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
  1354
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1355
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
  1356
from Philippe Foureys. :
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1357
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1358
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1359
\paragraph{Interrupt functions}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1360
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1361
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1362
\subparagraph{Code for GCC:
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1363
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1364
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1365
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1366
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1367
	// prototype
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1368
	void __attribute__((interrupt))timer3Hdl(void):
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1369
	// function
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1370
	void __attribute__((interrupt))timer3Hdl(void){...}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1371
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1372
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1373
	
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1374
\subparagraph{Code for CodeWarrior
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1375
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1376
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1377
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1378
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1379
	// protoype
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1380
	void interrupt timer3Hdl(void);
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1381
	// function
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1382
	pragma CODE_SEG__NEAR_SEG_NON_BANKED
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1383
	void interrupt timer3Hdl(void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1384
	{...}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1385
	pragma CODE_SEG_DEFAULT\end{verbatim}
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
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1388
\paragraph{Interrupt lock, unlock
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
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1392
\subparagraph{Code for GCC
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
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1395
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1396
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1397
 void unlock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1398
 {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1399
   __asm__ __volatile__("cli");
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1400
 }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1401
 void lock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1402
 {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1403
   unsigned short mask;
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1404
   __asm__ __volatile__("tpa\n\tsei":"=d"(mask));
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
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1407
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1408
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1409
\subparagraph{Code for CodeWarrior}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1410
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1411
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1412
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1413
void unlock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1414
	{
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1415
	  __asm("cli");
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1416
	}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1417
	void lock (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1418
	{
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1419
	  unsigned short mask;
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1420
	  __asm
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1421
	 {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1422
	  tpa:tsei:"=d"(mask);
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1423
	 }
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
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1426
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1427
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1428
\paragraph{Initialize function}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1429
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
\subparagraph{Code for GCC}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1432
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1433
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1434
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1435
void initCanHCS12 (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1436
{  
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1437
  //Init the HCS12 microcontroler for CanOpen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1438
  initHCS12();
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1439
   // Init the HCS12  CAN driver
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1440
  const canBusInit bi0 = {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1441
    0,    /* no low power                 */ 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1442
    0,    /* no time stamp                */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1443
    1,    /* enable MSCAN                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1444
    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
  1445
    0,    /* no loop back                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1446
    0,    /* no listen only               */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1447
    0,    /* no low pass filter for wk up */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1448
  CAN_Baudrates[CAN_BAUDRATE_250K],
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1449
    {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1450
      0x00,    /* Filter on 16 bits.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1451
                  See Motorola Block Guide V02.14 fig 4-3 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1452
      0x00, 0xFF, /* filter 0 hight accept all msg      */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1453
      0x00, 0xFF, /* filter 0 low accept all msg        */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1454
      0x00, 0xFF, /* filter 1 hight filter all of  msg  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1455
      0x00, 0xFF, /* filter 1 low filter all of  msg    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1456
      0x00, 0xFF, /* filter 2 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1457
      0x00, 0xFF, /* filter 2 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1458
      0x00, 0xFF, /* filter 3 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1459
      0x00, 0xFF, /* filter 3 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1460
    }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1461
};
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1462
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1463
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1464
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1465
\subparagraph{Code for CodeWarrior
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1466
}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1467
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1468
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1469
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1470
void initCanHCS12 (void)
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1471
{  
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1472
  //Init the HCS12 microcontroler for CanOpen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1473
  initHCS12();
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1474
   // Init the HCS12  CAN driver
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1475
  const canBusInit bi0 = {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1476
    0,    /* no low power                 */ 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1477
    0,    /* no time stamp                */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1478
    1,    /* enable MSCAN                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1479
    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
  1480
    0,    /* no loop back                 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1481
    0,    /* no listen only               */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1482
    0,    /* no low pass filter for wk up */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1483
    {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1484
     1, /* clksrc */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1485
     3, /* brp    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1486
     0, /* sjw    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1487
     0, /* samp   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1488
     1, /* tseg2  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1489
     12,/* tseg1  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1490
    },
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1491
    {
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1492
      0x00,    /* Filter on 16 bits.
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1493
                 See Motorola Block Guide V02.14 fig 4-3 */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1494
      0x00, 0xFF, /* filter 0 hight accept all msg      */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1495
      0x00, 0xFF, /* filter 0 low accept all msg        */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1496
      0x00, 0xFF, /* filter 1 hight filter all of  msg  */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1497
      0x00, 0xFF, /* filter 1 low filter all of  msg    */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1498
      0x00, 0xFF, /* filter 2 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1499
      0x00, 0xFF, /* filter 2 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1500
      0x00, 0xFF, /* filter 3 hight filter most of  msg */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1501
      0x00, 0xFF, /* filter 3 low filter most of  msg   */
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1502
    }
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1503
};
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1504
\end{verbatim}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1505
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1506
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1507
\subsubsection{Does the code works in banked memory ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1508
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1509
No. Today it seems that the port of gcc is bogged for using the banked
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1510
memory. So, unfortunately, we are limited to 48 Kbytes of memory code.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1511
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
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  1512
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1513
\subsubsection{What GCC version are you using ?}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1514
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1515
We are using the stable RPM release 2.2 :
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1516
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1517
\begin{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1518
\item GNU Gcc 3.0.4. Build 20030501 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1519
\item Newlib 1.10.0 Build 20030421 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1520
\item GNU Binutils 2.12.1 Build 20030427 
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1521
\end{enumerate}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1522
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1523
\section{Documentation resources}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1524
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1525
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1526
\subsection{CIA : Can in Automation }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1527
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1528
\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
  1529
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1530
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1531
\subsection{Resources and training in \canopen 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1532
}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1533
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1534
\href{http://www.esacademy.com/}{http://www.esacademy.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1535
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1536
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1537
\subsection{Elektronikladen HCS12 T -board }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1538
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1539
\href{http://www.elektronikladen.de/en_hcs12tb.html}{http://www.elektronikladen.de/en\_hcs12tb.html}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1540
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1541
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1542
\subsection{Gnu gcc compiler for HC12 }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1543
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1544
\href{http://m68hc11.serveftp.org/m68hc11_port.php}{http://m68hc11.serveftp.org/m68hc11\_port.php}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1545
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1546
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1547
\subsection{Motorola documentation on HC12 }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1548
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1549
\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
  1550
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1551
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1552
\subsection{Lauterbach debugger for HC12 }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1553
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1554
\href{http://www.lauterbach.com/}{http://www.lauterbach.com}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1555
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1556
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1557
\subsection{Python language }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1558
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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diff changeset
  1559
\href{http://www.python.org/}{http://www.python.org}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1560
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1561
\clearpage{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1562
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
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diff changeset
  1563
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1564
\section{About the project}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1565
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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  1566
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1567
\subsection{Contributors }
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1568
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1569
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1570
\includegraphics[width=10cm]{Pictures/1000020100000258000000832C6FFAB4} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1571
\par\end{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1572
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1573
Unit� mixte de recherche INRETS -LCPC
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1574
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1575
sur les Interractions V�hicule -Infrastructure -Conducteur
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1576
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1577
14, route de la mini�re
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1578
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1579
78000 Versailles
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1580
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1581
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1582
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1583
Tel : +33 1 40 43 29 01
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1584
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1585
\href{http://www.inrets.fr/ur/livic}{http://www.inrets.fr/ur/livic}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1586
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1587
\textbf{Contributors :} Francis DUPIN
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1588
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1589
Camille BOSSARD
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1590
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1591
Laurent ROMIEUX
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1592
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1593
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1594
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1595
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1596
\begin{center}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1597
\includegraphics[width=10cm]{Pictures/100002010000013A0000004A96B0C1FF} 
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1598
\par\end{center}
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1599
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1600
LOLITECH
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1601
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1602
204, rue du Haut du Pin
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1603
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1604
88470 Saint -Michel sur Meurthe
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1605
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1606
FRANCE
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1607
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1608
Tel : +33 3 29 52 95 67
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1609
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1610
\href{http://www.lolitech.fr/}{http://www.lolitech.fr}
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1611
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1612
\textbf{Contributors :} Edouard TISSERANT (Original author)
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1613
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1614
Laurent BESSARD
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1615
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1616
\bigskip{}
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1617
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1618
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1619
Many thanks to the other contributors for their great work:
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1620
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1621
Raphael ZULLIGER
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1622
448
732c33c2d8a7 CAN over Serial link (TTY) interface, with serial hub software. Thanks to James Steward.
etisserant
parents: 440
diff changeset
  1623
David DUMINY (st� A6R)
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1624
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1625
Zakaria BELAMRI
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
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parents: 392
diff changeset
  1626
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1627
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1628
\subsection{Getting support}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1629
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1630
Send your feedback and bug reports to \href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival-devel@lists.sourceforge.net}.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1631
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1632
For commercial support, \ training and specific integration and developments,
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1633
please ask LOLITECH (see contributors).
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
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  1634
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
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  1635
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1636
\subsection{Contributing}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
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  1637
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1638
You are free to contribute your specific interfaces back to the project.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1639
This way, you can hope to get support from CanFestival users community.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1640
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1641
Please send your patch to \href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1642
-devel@lists.sourceforge.net}.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1643
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1644
Feel free to create some new predefined DS -4xx profiles ({*}.prf)
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1645
in objdictgen/config, as much as possible respectful to the official
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1646
specifications.
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
diff changeset
  1647
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
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  1648
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1649
\subsection{License}
393
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1650
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1651
All the project is licensed with LGPL. This mean you can link CanFestival
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1652
with any code without being obliged to publish it.
05ad3ba0201d Big cleanup in manual. Used Lyx for that.
etisserant
parents: 392
diff changeset
  1653
394
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1654
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1655
\begin{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1656
#This file is part of CanFestival, a library implementing CanOpen Stack. 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1657
# 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1658
#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1659
# 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1660
#See COPYING file for copyrights details. 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1661
# 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1662
#This library is free software; you can redistribute it and/or 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1663
#modify it under the terms of the GNU Lesser General Public 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1664
#License as published by the Free Software Foundation; either 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1665
#version 2.1 of the License, or (at your option) any later version. 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1666
# 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1667
#This library is distributed in the hope that it will be useful, 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1668
#but WITHOUT ANY WARRANTY; without even the implied warranty of 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1669
#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1670
#Lesser General Public License for more details. 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1671
# 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1672
#You should have received a copy of the GNU Lesser General Public 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1673
#License along with this library; if not, write to the Free Software 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1674
#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA 
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1675
\end{verbatim}
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1676
b8755668c9e2 Many changes in manual.tex. Now nearly human readable.
etisserant
parents: 393
diff changeset
  1677
208
05d95c45b388 Manual convertion -> latex -> pdf
nico
parents:
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  1678
\end{document}