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    28 %%%%\%%%%%%%% titre, auteurs, date, etc...%%%%%%%%%%%%%%%%%%

    29 

    30 \title{\Huge Documentation}

    31 \author{Edouard TISSERANT}

    32 \date{\today}

    33 

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   137 \begin{document}

   138 {\centering\sffamily

   139 CanFestival3. Version 3.0\newline

   140 The CANOpen stack manual

   141 \par}

   142 

   143 \setcounter{tocdepth}{2}

   144 \renewcommand\contentsname{Table of contents}

   145 \tableofcontents

   146 \section{Introduction}

   147 This document describe the CANOpen layer.CanFestival is an OpenSource

   148 (LGPL) CANOpen framework.

   149 

   150 \subsection{The CanFestival project}

   151 This project, initiated by Edouard TISSERANT in 2001, as grown thanks to

   152 Francis DUPIN and other contributors.

   153 

   154 Today, CanFestival focuses on providing an ANSI{}-C platform independent

   155 CANOpen stack that can be implemented as master or slave nodes on PCs,

   156 Real{}-time IPCs, and Microcontrollers.

   157 

   158 CanFestival is a project supported by Lolitech.

   159 

   160 \subsection{What is CANopen}

   161 CANopen is a CAN based high level protocol. It defines some protocols to

   162 :

   163 

   164 \liststyleLi

   165 \begin{enumerate}

   166 \item Configure a CAN network.

   167 \item Transmit data to a specific node or in broadcast.

   168 \item Administrate the network. For example detecting a not responding

   169 node.

   170 \end{enumerate}

   171 The documentation can be found in the Can in automation website :

   172 

   173 \href{http://www.can-cia.de/canopen}{http://www.can{}-cia.de/canopen}

   174 

   175 The most important document about CANopen is the normative CiA Draft

   176 Standard 301, version 4.02. You can now download with no cost the

   177 specification in Can in automation website.

   178 

   179 To continue reading this document, let us assume that you have read some

   180 papers introducing CANopen.

   181 

   182 \section{CanFestival Features}

   183 \subsection{Tools }

   184 The CANopen library is coming with some tools :

   185 

   186 \liststyleLii

   187 \begin{enumerate}

   188 \item Object Dictionary editor GUI. WxPython Model{}-View{}-Controler

   189 based GUI, that help a lot in generating object dictionary source code

   190 for each node.

   191 \item A configure script, that let you chose compile time options such

   192 as target CPU/HOST, CAN and TIMER drivers.\newline

   193 This script have not been generated with autoconf, it have been made

   194 keeping micro{}-controller target in mind.

   195 \end{enumerate}

   196 \subsection{Standard conformance}

   197 \paragraph{Multi{}-Platform}

   198 \liststyleLiii

   199 \begin{enumerate}

   200 \item Library source code is C{}-ANSI.

   201 \item Driver and examples coding conventions merely depend on target

   202 specific contributor/compiler.

   203 \item Unix compatible interfaces and examples should compile and run on

   204 any Unix system (tested on GNU/Linux and GNU/FreeBSD).

   205 \end{enumerate}

   206 \paragraph{CanOpen conformance}

   207 {\bfseries\upshape

   208 DS{}-301}

   209 

   210 \liststyleLiv

   211 \begin{enumerate}

   212 \item Should conform to DS301. V.4.02 13 february 2002.

   213 \item Master and Slave functionality implemented.

   214 \item Sending SYNC implemented.

   215 \item 1 SDO server per node. (update: more than one possible. To be more

   216 tested)

   217 \item Unlimited SDO client.

   218 \item SDO transmission mode : normal, expedited download and upload.

   219 \item Unlimited PDO receive.

   220 \item Unlimited PDO transmit.

   221 \item Object Data type implemented : 8, 16, 32 bits values, and fixed

   222 length strings.

   223 \item Slave state full implemented.

   224 \item NMT to change slave{\textquotesingle}s state implemented.

   225 \item PDO transmission mode : on request, every reception of 0 to n

   226 SYNC, on event.

   227 \item NMT Heartbeat implemented : A node can be either heartbeat

   228 producer or receiver.

   229 \item NMT NodeGuard implemented : Not fully implemented.

   230 \item TIME (time Stamp) : Not implemented.

   231 \item EMCY (emergency objects) : Not implemented.

   232 \item PDO Mapping bit per bit implemented.

   233 \end{enumerate}

   234 {\bfseries\upshape

   235 DS{}-302}

   236 

   237 \liststyleLiv

   238 \begin{enumerate}

   239 \item Concise \ DFC : implemented.

   240 \end{enumerate}

   241 \section{How to start}

   242 \subsection{Host requirements}

   243 What you need on your development workstation.

   244 

   245 \subsubsection{Object Dictionary Editor GUI}

   246 \liststyleLv

   247 \begin{enumerate}

   248 \item Python, with 

   249 \item wxPyhon modules installed (at least version 2.6.3). 

   250 \item Gnosis xml tools. (Optional can also be installed locally to the

   251 project automatically will the help of a Makefile. Please see

   252 \hyperlink{a91UsingDictionaryEditorGUIoutline}{9.1) Using Dictionary

   253 Editor GUI} )

   254 \end{enumerate}

   255 \subsubsection[\ Linux and Unix{}-likes]{\ Linux and Unix{}-likes}

   256 \liststyleLv

   257 \begin{enumerate}

   258 \item Linux, FreeBSD, Cygwin or any Unix environment with GNU toolchain.

   259 \item The GNU C compiler (gcc) or any other ANSI{}-C compiler for your

   260 target platform.

   261 \item Xpdf, and the official 301\_v04000201.pdf file in order to get GUI

   262 context sensitive help. Download the ds301 at

   263 \href{http://www.can-cia.org/downloads/ciaspecifications/?1390}{http://www.can{}-cia.org/downloads/ciaspecifications/?1390}.

   264 \item GNU Make

   265 \item Bash and sed

   266 \end{enumerate}

   267 \subsubsection{Windows (for native win32 target)}

   268 \liststyleLv

   269 \begin{enumerate}

   270 \item Visual Studio Express 2005 or worst.

   271 \item Microsoft platform SDK (requires Genuine Advantage)

   272 \item Cygwin (for configuration only)

   273 \end{enumerate}

   274 \subsection{How to get CanFestival}

   275 Please always use CVS, this is the best way to get the most reactive

   276 support from the developer community :

   277 

   278 cvs {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival

   279 login\newline

   280 (type return, without entering a password) 

   281 

   282 Then, enter : \newline

   283 cvs {}-z3 {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival co

   284 {}-P CanFestival{}-3

   285 

   286 \section{Understanding Canfestival}

   287 \subsection{CanFestival Project tree layout}

   288 Simplified directory structure.

   289 

   290 {\ttfamily\bfseries

   291 ./src ANSI{}-C source of CANOpen stack}

   292 

   293 {\ttfamily\bfseries

   294 \ /include Exportables Header files}

   295 

   296 {\ttfamily\bfseries

   297 ./drivers Interfaces to specific platforms/HW}

   298 

   299 {\ttfamily

   300 ./drivers/unix Linux and Cygwin OS interface}

   301 

   302 {\ttfamily

   303 ./drivers/win32 Native Win32 OS interface}

   304 

   305 {\ttfamily

   306 ./drivers/timers\_xeno Xenomai timers/threads (Linux only)}

   307 

   308 {\ttfamily

   309 ./drivers/timers\_unix Posix timers/threads (Linux, Cygwin)}

   310 

   311 {\ttfamily

   312 ./drivers/can\_peak\_linux PeakSystem CAN library interface}

   313 

   314 {\ttfamily

   315 ./drivers/can\_peak\_win32 PeakSystem PCAN{}-Light interface}

   316 

   317 {\ttfamily

   318 ./drivers/can\_uvccm\_win32 Acacetus{\textquotesingle}s RS232

   319 ``CAN{}-uVCCM'' interface}

   320 

   321 {\ttfamily

   322 ./drivers/can\_virtual Fake CAN network (Linux, Cygwin)}

   323 

   324 {\ttfamily

   325 ./drivers/hcs12 HCS12 full target interface}

   326 

   327 {\ttfamily\bfseries

   328 ./examples Examples}

   329 

   330 {\ttfamily

   331 ./examples/TestMasterSlave 2 nodes, NMT SYNC SDO PDO, win32+unix}

   332 

   333 {\ttfamily

   334 ./examples/TestMasterMicroMod 1 node, control Peak I/O Module, unix}

   335 

   336 {\ttfamily

   337 ./examples/gene\_SYNC\_HCS12 Just send periodic SYNC on HCS12}

   338 

   339 {\ttfamily

   340 ./examples/win32test Ask some DS301 infos to a node (\textbf{win32)}}

   341 

   342 {\ttfamily\bfseries

   343 ./objdictgen Object Dictionary editor GUI}

   344 

   345 {\ttfamily

   346 ./objdictgen/config Pre{}-defined OD profiles}

   347 

   348 {\ttfamily

   349 ./objdictgen/examples Some examples/test OD}

   350 

   351 {\ttfamily\bfseries

   352 ./doc Project and CanOpen doc}

   353 

   354 \subsection{Implement CanFestival in your application}

   355  

   356  \begin{center}

   357    \includegraphics[width=20cm]{Pictures/10000201000003F9000002CF880931E7.png}

   358 \end{center}

   359 

   360 \bigskip

   361 

   362 \subsection{CanFestival CAN interfaces}

   363 Because most CAN controllers and drivers implement FIFOs, CanFestival

   364 consider sending message as a non bloking operation.

   365 

   366 In order to prevent reentrent calls to the stack, messages reception is

   367 implemented differently on {\textmu}C and OS.:

   368 

   369 \liststyleLvi

   370 \begin{enumerate}

   371 \item {\textmu}C must provide interuption masking for timer and can

   372 receive IT\newline

   373  \begin{center}

   374    \includegraphics[width=20cm]{Pictures/10000201000003CA0000016604E6A5EF.png}

   375 \end{center}

   376 \item OS must provide a receive thread, a timer thread and a mutex. CAN

   377 reception is a bloking operation.\newline

   378 \begin{center}

   379    \includegraphics[width=20cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}

   380 \end{center}

   381 \end{enumerate}

   382 \subsection{CanFestival events scheduling}

   383 A CanOpen node must be able to take delayed actions.

   384 

   385 As exemples, periodic sync emission, heartbeat production or SDO timeout

   386 need to set some alarms that will be called later and do the job.

   387 

   388 {\textmu}C generaly do not have enough free timers to handle all the

   389 CanOpen needs directly. Moreover, CanFestival internal data may be

   390 corrupt by reentrant calls. 

   391 

   392 CanFestival implement a micro{}-scheduler (timer.c). It uses only one

   393 timer to mimic many timers. It manage an alarm table, and call alarms

   394 at desired time.

   395 

   396 \begin{center}

   397    \includegraphics[width=20cm]{Pictures/100000000000022C000000DEDAD2140C.png}

   398 \end{center}

   399 

   400 Scheduler can handle short clock value ranges limitation found on some

   401 {\textmu}C. As an example, value range for a 16bit clock counter with

   402 4{\textmu}s tick is crossed within 0.26 seconds... Long alarms must be

   403 segmented.

   404 

   405 Chronogram illustrate a long alarm (A) and a short periodic alarm (B),

   406 with a A value {\textgreater} clock range {\textgreater} B value.

   407 Values t0...t8 are successive setTimer call parameter values. t1

   408 illustrates an intermediate call to TimeDispatch, caused by a delay

   409 longer than clock range. Because of long alarm segmentation, at the end

   410 of t1, TimeDispatch call will not trig any alarm callback.

   411 

   412 \begin{center}

   413    \includegraphics[width=20cm]{Pictures/1000000000000396000000FFC42573DA.png}

   414 \end{center}

   415 

   416 \section{Linux Target}

   417 Linux target is default configure target.

   418 

   419 \subsection{Linux Compilation and installation}

   420 Call ./configure {--}help to see all available compile time options.

   421 

   422 After invoking ./configure with your platform specific switches, just

   423 type make.

   424 

   425 {\ttfamily

   426 ./configure [options]}

   427 

   428 {\ttfamily

   429 make}

   430 

   431 {\ttfamily

   432 \textstyleTeletype{make install}}

   433 

   434 \subsubsection{Standard Linux node}

   435 Configure switch:

   436 

   437 {\ttfamily

   438  {}-{}-timers=unix}

   439 

   440 To do a CANopen node running on PC{}-Linux, you need :

   441 

   442 \liststyleLvii

   443 \begin{enumerate}

   444 \item A working linux distribution

   445 \item One or more Peak system PC CAN interface and the last Peak Linux

   446 driver installed.

   447 \end{enumerate}

   448 \subsubsection{Real{}-Time Linux node}

   449 Configure switch:

   450 

   451 {\ttfamily

   452  {}-{}-timers=xeno}

   453 

   454 To do a CANopen node running on PC{}-Linux, you need :

   455 

   456 \liststyleLviii

   457 \begin{enumerate}

   458 \item A working Linux distribution patched with XENOMAI 2.1 or greater.

   459 \item One or more Peak system PC CAN interface and the last Peak Real

   460 Time Linux driver installed.

   461 \end{enumerate}

   462 \subsubsection{CAN devices}

   463 Curently supported CAN devices and corresponding configure switch:

   464 

   465 \paragraph{Peak systems}

   466 Configure switch:

   467 

   468 {\ttfamily

   469 {}-{}-can=peak\_linux}

   470 

   471 PeakSystems CAN interface is automatically chosen as default CAN

   472 interface if libpcan is present in the system.

   473 

   474 Please download driver at

   475 \href{http://www.peak-system.com/linux}{http://www.peak{}-system.com/linux}

   476 and follow instructions in order to install driver on your system.

   477 

   478 \paragraph{Socket{}-Can (http://socketcan.berlios.de)}

   479 Configure switch:

   480 

   481 {\ttfamily

   482 {}-{}-can=socket}

   483 

   484 \paragraph{LinCan}

   485 Configure switch:

   486 

   487 {\ttfamily

   488 {}-{}-can=lincan}

   489 

   490 \paragraph{Virtual CAN interfaces (for test/debug)}

   491 Configure switch:

   492 

   493 {\ttfamily

   494 {}-{}-can=virtual}

   495 

   496 Virtual CAN interface use Unix pipes to emulate a virtual CAN network.

   497 Each message issued from a node is repeat to all other nodes. Currently

   498 only works with nodes running in the same process, and does not support

   499 work with Xenomai.

   500 

   501 \subsection{Testing your CanFestival installation}

   502 Sample provided in /example/TestMasterSlave is installed into your

   503 system during installation.

   504 

   505 {\ttfamily

   506 TestMasterSlave}

   507 

   508 Default can driver library is libcanfestival\_can\_virtual.so., which

   509 will simply pass CAN messages through Unix pipes between Master and

   510 Slave. 

   511 

   512 You may also want to specify different can interface and define some CAN

   513 ports. An other example using Peak{\textquotesingle}s dual PCMCIA

   514 (configure and install with {--}can=peak) :

   515 

   516 {\ttfamily

   517 TestMasterSlave {}-l libcanfestival\_can\_peak.so {}-s 40 {}-m 41}

   518 

   519 \section{Windows Targets}

   520 CanFestival can be compiled and run on Windows platform. It is possible

   521 to use both Cygwin and win32 native runtime environment.

   522 

   523 \subsection{Object Dictionary Editor GUI installation.}

   524 Please refer to

   525 \hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using Dictionary

   526 Editor GUI}

   527 

   528 \subsection{CYGWIN}

   529 \subsubsection{Requirements}

   530 Cygwin have to be installed with those packages :

   531 

   532 \liststyleLix

   533 \begin{enumerate}

   534 \item gcc

   535 \item unzip

   536 \item wget

   537 \item make

   538 \end{enumerate}

   539 Currently, the only supported CAN devices are PeakSystems ones, with

   540 PcanLight driver and library. 

   541 

   542 Please download driver at

   543 \href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak{}-system.com/themen/download\_gb.html}

   544 \ and follow instructions in order to install driver on your system.

   545 

   546 Install Cygwin as required, and the driver for your Peak CAN device.

   547 

   548 Open a Cygwin terminal, and follow those instructions:

   549 

   550 \subsubsection{Cygwin configuration and compilation}

   551 \paragraph{A single node with PcanLight and Peak CAN{}-USB adapter}

   552 Download the PCAN{}-Light Zip file for your HW ( URL from download page

   553 ): 

   554 

   555 {\ttfamily

   556 wget http://www.peak{}-system.com/files/usb.zip}

   557 

   558 Extract its content into your cygwin home (it will create a ``Disk''

   559 directory):

   560 

   561 {\ttfamily

   562 unzip usb.zip}

   563 

   564 Configure CanFestival3 providing path to the desired PcanLight

   565 implementation:

   566 

   567 {\ttfamily

   568 cd CanFestival{}-3}

   569 

   570 {\ttfamily

   571 export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/}

   572 

   573 {\ttfamily

   574 export PCAN\_HEADER=Pcan\_usb.h}

   575 

   576 {\ttfamily

   577 export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}

   578 C++/Pcan\_usb.lib}

   579 

   580 {\ttfamily

   581 ./configure {}-{--}can=peak\_win32}

   582 

   583 {\ttfamily

   584 make}

   585 

   586 In order to test, you have to use another CanFestival node, connect with

   587 a CAN cable.

   588 

   589 {\ttfamily

   590 cp \~{}/Disk/PCAN{}-Light/Pcan\_usb.dll .}

   591 

   592 {\ttfamily

   593 ./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}

   594 

   595 {\ttfamily

   596   {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll

   597 {\textbackslash}}

   598 

   599 {\ttfamily

   600   {}-S 500K {}-M none}

   601 

   602 Then, on the other node :

   603 

   604 {\ttfamily

   605 ./TestMasterSlave {}-l my\_driver.so {}-S none {}-M 500K}

   606 

   607 Now messages are beeing exchanged between master and slave node.

   608 

   609 \paragraph{Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}

   610 Download the PCAN{}-Light Zip file for your HW ( URL from download page

   611 ): 

   612 

   613 {\ttfamily

   614 wget http://www.peak{}-system.com/files/pccard.zip}

   615 

   616 Extract its content into your cygwin home (it will create a ``Disk''

   617 directory):

   618 

   619 {\ttfamily

   620 unzip pccard.zip}

   621 

   622 The configure CanFestival3 providing path to the desired PcanLight

   623 implementation:

   624 

   625 {\ttfamily

   626 export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/\newline

   627 export PCAN\_HEADER=Pcan\_pcc.h\newline

   628 export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}

   629 C++/Pcan\_pcc.lib\newline

   630 export PCAN2\_HEADER=Pcan\_2pcc.\newline

   631 export PCAN2\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}

   632 C++/Pcan\_2pcc.lib}

   633 

   634 In order to test, just connect together both CAN ports of the PCMCIA

   635 card. Don{\textquotesingle}t forget 120ohms terminator.

   636 

   637 {\ttfamily

   638 cp \~{}/Disk/PCAN{}-Light/Pcan\_pcc.dll .}

   639 

   640 {\ttfamily

   641 cp \~{}/Disk/PCAN{}-Light/Pcan\_2pcc.dll .}

   642 

   643 {\ttfamily

   644 ./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}

   645 

   646 {\ttfamily

   647   {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll}

   648 

   649 Messages are then exchanged between master and slave node, both inside

   650 TestMasterSlave{\textquotesingle}s process.

   651 

   652 \subsection{Visual Studio C++}

   653 \subsubsection{Requirements}

   654 Minimal Cygwin installation is required at configuration time in order

   655 to create specific header files (config.h and cancfg.h). Once this

   656 files created, cygwin is not necessary any more.

   657 

   658 Project and solution files have been created and tested with Visual

   659 Studio Express 2005. Be sure to have installed Microsoft Platform SDK,

   660 as recommended at the end of Visual Studio installation.

   661 

   662 \subsubsection{Configuration with cygwin}

   663 Follow instructions given at

   664 \hyperlink{a422Cygwinconfigurationandcompilationoutline}{4.2.2)Cygwin

   665 configuration and compilation}, but do neither call make nor do tests,

   666 just do configuration steps. This will create headers files accordingly

   667 to your configuration parameters, and the desired CAN hardware.

   668 

   669 \subsubsection{Compilation with Visual Studio}

   670 You can either load independents ``*.vcproj'' project files along your

   671 own projects in your own solution or load the provided

   672 ``CanFestival{}-3.vc8.sln'' solution files directly.

   673 

   674 Build CanFestival{}-3 project first.

   675 

   676 \paragraph{PcanLight and the can\_peak\_win32 project.}

   677 Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added

   678 to can\_peak\_win32 \ \ project before build of the DLL.

   679 

   680 \subsubsection{Testing}

   681 Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or Debug

   682 directory, and run the test program:

   683 

   684 {\ttfamily

   685 TestMasterSlave.exe {}-l can\_peak\_win32.dll}

   686 

   687 \section{Motorola HCS12}

   688 The examples have been tested on a MC9S12DG255 mounted on a

   689 Elektronikladen HCS12 T{}-board.

   690 

   691 Beware that there are a few differences in the MSCAN module of the

   692 68HC12 and HCS12 microcontroller. For a HC12, you must adapt the driver

   693 that we provide for \ the HCS12.

   694 

   695 For the difference MSCAN HC12/HCS12, see the Motorola application note

   696 AN2011/D.

   697 

   698 Configure switch:

   699 

   700 {\ttfamily

   701  {}-{}-target=hcs12}

   702 

   703 To do a CANopen node running on a microncontroller Motorola MC9S12DP256,

   704 you need :

   705 

   706 \liststyleLx

   707 \begin{enumerate}

   708 \item The compiler GNU gcc for HC11, HC12, HCS12 : m6811{}-elf. \newline

   709 Download the \textbf{release 3.1} at :

   710 \ \href{http://m68hc11.serveftp.org/m68hc11_pkg_rpm.php}{http://m68hc11.serveftp.org/m68hc11\_pkg\_rpm.php}

   711 

   712 \item A board with this chip. We are using the T{}-board from

   713 Electronikladden. 

   714 \item At least about 40 kBytes of program memory.

   715 \item A tool to flash the memory. (We are using the hight cost

   716 Lauterbach debugger).

   717 \end{enumerate}

   718 \subsection{Running a HCS12 node}

   719 \subsubsection{Compiling Canfestival:}

   720 {\ttfamily

   721 ./configure {--}target=hcs12}

   722 

   723 \subsubsection{Compiling and building an example}

   724 Enter in the folder of an HCS12 example, 

   725 

   726 {\ttfamily

   727 make all}

   728 

   729 \subsubsection{Flashing the memory :}

   730 Use your prefered loader ! If you are using a debugger Lauterbach, you

   731 can load the bash file : trace32\_flash\_programmer.cmm. It loads

   732 directly the elf file.

   733 

   734 \subsubsection{Connecting to a serial RS232 console :}

   735 Connect the portS(TxD0) of the HCS12 to a console configured at 19200

   736 bauds 8N1, via a Max232 chip to adapt the electricals levels. On Linux,

   737 you can use minicom. Connecting to a console is usefull to read the

   738 messages, but not required.

   739 

   740 \subsubsection{Connecting to the CAN network :}

   741 Connect the port CAN0 (pin PM0, PM1) to the network via a CAN

   742 controller. On our board, the CAN controler is a PCA82C250 chip.

   743 

   744 \subsubsection{starting the node :}

   745 Press the reset of your HCS12 board.

   746 

   747 \section{Example and test program:}

   748 The ``examples'' directory contains some test program you can use as

   749 example for your own developments.

   750 

   751 \subsection{TestMasterSlave}

   752 {\ttfamily

   753 **************************************************************}

   754 

   755 {\ttfamily

   756 * \ TestMasterSlave

   757 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   758 

   759 {\ttfamily

   760 *

   761 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   762 

   763 {\ttfamily

   764 * \ A simple example for PC. It does implement 2 CanOpen \ \ \ \ \ *}

   765 

   766 {\ttfamily

   767 * \ nodes in the same process. A master and a slave. Both \ \ \ \ *}

   768 

   769 {\ttfamily

   770 * \ communicate together, exchanging periodically NMT, SYNC, \ *}

   771 

   772 {\ttfamily

   773 * \ SDO and PDO. Master configure heartbeat producer time \ \ \ \ *}

   774 

   775 {\ttfamily

   776 * \ at 1000 ms for slave node{}-id 0x02 by concise DCF.

   777 \ \ \ \ \ \ \ \ *}

   778 

   779 {\ttfamily

   780 *

   781 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   782 

   783 {\ttfamily

   784 * \ \ Usage:

   785 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   786 

   787 {\ttfamily

   788 * \ \ ./TestMasterSlave \ [OPTIONS]

   789 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   790 

   791 {\ttfamily

   792 *

   793 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   794 

   795 {\ttfamily

   796 * \ \ OPTIONS:

   797 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   798 

   799 {\ttfamily

   800 * \ \ \ \ {}-l : Can library

   801 [{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]

   802 \ \ \ \ *}

   803 

   804 {\ttfamily

   805 *

   806 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   807 

   808 {\ttfamily

   809 * \ \ \ Slave:

   810 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   811 

   812 {\ttfamily

   813 * \ \ \ \ {}-s : bus name [{\textquotedbl}0{\textquotedbl}]

   814 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   815 

   816 {\ttfamily

   817 * \ \ \ \ {}-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \ *}

   818 

   819 {\ttfamily

   820 *

   821 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   822 

   823 {\ttfamily

   824 * \ \ \ Master:

   825 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   826 

   827 {\ttfamily

   828 * \ \ \ \ {}-m : bus name [{\textquotedbl}1{\textquotedbl}]

   829 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   830 

   831 {\ttfamily

   832 * \ \ \ \ {}-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \ *}

   833 

   834 {\ttfamily

   835 *

   836 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   837 

   838 {\ttfamily

   839 **************************************************************}

   840 

   841 

   842 \bigskip

   843 

   844 {\sffamily

   845 Notes for Concise DCF :}

   846 

   847 

   848 \bigskip

   849 

   850 {\sffamily

   851  In this example, Master configure \ heartbeat producer time at 1000 ms

   852 for slave node{}-id 0x02 by concise DCF according DS{}-302 profile. }

   853 

   854 {\sffamily

   855  }

   856 

   857 {\sffamily

   858  Index 0x1F22 , sub{}-index 0x00 of the master OD, correspond to the

   859 number of entries. This equal to the maximum possible nodeId (127).

   860 Each sub{}-index points to the Node{}-ID of the device, to which the

   861 configuration belongs. }

   862 

   863 

   864 \bigskip

   865 

   866 {\sffamily

   867  To add more parameters configurations to the slave, the value at

   868 sub{}-index 0x02 must be a binary stream (little{}-endian) following

   869 this structure :}

   870 

   871 {\sffamily

   872     }

   873 

   874 {\sffamily

   875 [ nb of entries / index parameter 1 / sub{}-index parameter 1 \ / size

   876 data parameter 1 \ / data parameter 1 / index parameter n / ...]}

   877 

   878 {\sffamily

   879 \ \ \ \ \ \ (UNS32) \ \ \ \ \ \ \ \ \ \ \ \ (UNS16)  (UNS8)  

   880 \ \ \ \ \ \ \ \ \ \ \ (UNS32)   \ \ \ (DOMAIN)}

   881 

   882 {\sffamily

   883  }

   884 

   885 {\sffamily

   886  So the binary value stream to configure heartbeat producer time must be

   887 : }

   888 

   889 

   890 \bigskip

   891 

   892 {\sffamily

   893     0100000017100002000000e803}

   894 

   895 

   896 \bigskip

   897 

   898 {\sffamily

   899 The slave node is configured just before the Master entering in

   900 Pre\_operational state.}

   901 

   902 \subsection{gene\_SYNC\_HCS12 :}

   903 This is a simple CanOpen node that only send cyclic SYNC message. It

   904 demonstrate implementation on HCS12 based board.

   905 

   906 

   907 \bigskip

   908 

   909 \subsection{TestMasterMicroMod }

   910 {\ttfamily

   911 **************************************************************}

   912 

   913 {\ttfamily

   914 * \ TestMasterMicroMod

   915 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   916 

   917 {\ttfamily

   918 *

   919 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   920 

   921 {\ttfamily

   922 * \ A simple example for PC.

   923 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   924 

   925 {\ttfamily

   926 * \ A CanOpen master that control a MicroMod module:

   927 \ \ \ \ \ \ \ \ \ *}

   928 

   929 {\ttfamily

   930 * \ {}- setup module TPDO 1 transmit type

   931 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   932 

   933 {\ttfamily

   934 * \ {}- setup module RPDO 1 transmit type

   935 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   936 

   937 {\ttfamily

   938 * \ {}- setup module hearbeatbeat period

   939 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   940 

   941 {\ttfamily

   942 * \ {}- disable others TPDOs

   943 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   944 

   945 {\ttfamily

   946 * \ {}- set state to operational

   947 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   948 

   949 {\ttfamily

   950 * \ {}- send periodic SYNC

   951 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   952 

   953 {\ttfamily

   954 * \ {}- send periodic RPDO 1 to Micromod (digital output) \ \ \ \ \ \ *}

   955 

   956 {\ttfamily

   957 * \ {}- listen Micromod{\textquotesingle}s TPDO 1 (digital input)

   958 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   959 

   960 {\ttfamily

   961 * \ {}- Mapping RPDO 1 bit per bit (digital input)

   962 \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   963 

   964 {\ttfamily

   965 *

   966 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   967 

   968 {\ttfamily

   969 * \ \ Usage:

   970 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   971 

   972 {\ttfamily

   973 * \ \ ./TestMasterMicroMod \ [OPTIONS]

   974 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   975 

   976 {\ttfamily

   977 *

   978 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   979 

   980 {\ttfamily

   981 * \ \ OPTIONS:

   982 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   983 

   984 {\ttfamily

   985 * \ \ \ \ {}-l : Can library

   986 [{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]

   987 \ \ \ \ *}

   988 

   989 {\ttfamily

   990 *

   991 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   992 

   993 {\ttfamily

   994 * \ \ \ Slave:

   995 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

   996 

   997 {\ttfamily

   998 * \ \ \ \ {}-i : Slave Node id format [0x01 , 0x7F]

   999 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

  1000 

  1001 {\ttfamily

  1002 *

  1003 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

  1004 

  1005 {\ttfamily

  1006 * \ \ \ Master:

  1007 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

  1008 

  1009 {\ttfamily

  1010 * \ \ \ \ {}-m : bus name [{\textquotedbl}1{\textquotedbl}]

  1011 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

  1012 

  1013 {\ttfamily

  1014 * \ \ \ \ {}-M : 1M,500K,250K,125K,100K,50K,20K,10K

  1015 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

  1016 

  1017 {\ttfamily

  1018 *

  1019 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}

  1020 

  1021 {\ttfamily

  1022 **************************************************************}

  1023 

  1024 \section{Developing a new node}

  1025 Using provided examples as a base for your new node is generally a good

  1026 idea. You can also use the provided *.od files as a base for your node

  1027 object dictionary.

  1028 

  1029 Creating a new CanOpen node implies to define the Object Dictionary of

  1030 this node. For that, developer have to provide a C file. This C file

  1031 contains the definition of all dictionary entries, and some kind of

  1032 index table that helps the stack to access some entries directly.

  1033 

  1034 \subsection{Using Dictionary Editor GUI}

  1035 The Object Dictionary Editor is a WxPython based GUI that is used to

  1036 create the C file needed to create a new CanOpen node. 

  1037 

  1038 \subsubsection{Installation and usage on Linux}

  1039 You first have to download and install Gnosis XML modules. This is

  1040 automated by a Makefile rule.

  1041 

  1042 {\ttfamily

  1043 cd objdictgen}

  1044 

  1045 {\ttfamily

  1046 make}

  1047 

  1048 Now start the editor.

  1049 

  1050 {\ttfamily

  1051 python objdictedit.py [od files...]}

  1052 

  1053 \subsubsection{Installation and usage on Windows}

  1054 Install Python (at least version 2.4) and wxPython (at least version

  1055 2.6.3.2).

  1056 

  1057 Cygwin users can install Gnosis XML utils the same as Linux use. Just

  1058 call make.

  1059 

  1060 {\ttfamily

  1061 cd objdictgen}

  1062 

  1063 {\ttfamily

  1064 make}

  1065 

  1066 Others will have to download and intall Gnosis XML by hand :

  1067 

  1068 {\ttfamily

  1069 Gnosis Utils:}

  1070 

  1071 {\ttfamily

  1072 http://freshmeat.net/projects/gnosisxml/}

  1073 

  1074 {\ttfamily

  1075 http://www.gnosis.cx/download/Gnosis\_Utils.More/Gnosis\_Utils{}-1.2.1.win32{}-py24.exe}

  1076 

  1077 {\ttfamily

  1078 Get latest version.}

  1079 

  1080 Download CanFestival archive and uncompress it. Use windows file

  1081 explorer to go into CanFestival3{\textbackslash}objdicgten, and

  1082 double{}-click on objdictedit.py.

  1083 

  1084 \subsubsection{About}

  1085 The Object Dictionary editor GUI is a python application that use the

  1086 Model{}-View{}-Controller design pattern. It depends on WxPython to

  1087 display view on any supported platform.

  1088 

  1089  \begin{center}

  1090    \includegraphics[width=15cm]{Pictures/10000201000001FC000001E5D65E8766.png}

  1091 \end{center}

  1092 

  1093 \subsubsection{Main view}

  1094 Top list let you choose dictionary section, bottom left list is the

  1095 selected index in that dictionary, and bottom right list are edited

  1096 sub{}-indexes.

  1097 

  1098  \begin{center}

  1099    \includegraphics[width=5cm]{Pictures/10000201000001FC000001E5D65E8766.png}

  1100 \end{center}

  1101 

  1102  \begin{center}

  1103    \includegraphics[width=5cm]{Pictures/10000000000000B6000000DF1EDD1E73.png}

  1104 \end{center}

  1105   \begin{center}

  1106    \includegraphics[width=5cm]{Pictures/10000000000000AC000000C9C3F53FA6.png}

  1107 \end{center}

  1108  \begin{center}

  1109    \includegraphics[width=5cm]{Pictures/100000000000006D000000A31EC8CB54.png}

  1110 \end{center}

  1111   \begin{center}

  1112    \includegraphics[width=5cm]{Pictures/10000000000000AA0000006014F74635.png}

  1113 \end{center}

  1114 

  1115 \subsubsection{New node}

  1116 Edit your node name, ID and type. Choose your inherited specific

  1117 profile.

  1118 

  1119  \begin{center}

  1120    \includegraphics[width=15cm]{Pictures/10000201000001CB0000015F4FC09B68.png}

  1121 \end{center}

  1122 

  1123 \subsubsection{Node info}

  1124 Edit your node name, ID and type.

  1125 

  1126  \begin{center}

  1127    \includegraphics[width=10cm]{Pictures/10000201000001010000011DA724D25C.png}

  1128 \end{center}

  1129 

  1130 \subsubsection{Profile editor}

  1131 Chose the used profile to edit.\newline

  1132  \begin{center}

  1133    \includegraphics[width=15cm]{Pictures/10000000000000AB000000C88F594413.png}

  1134 \end{center}

  1135 

  1136 Pick up optional chosen profile entries.\newline