855 \subsection{CANOpenShell}

   856 

   857 This example provides a node that can execute some user commands through stdin. 

   858 

   859 With this example you can:

   860 \begin{enumerate}

   861 \item scan network (reset all nodes and display node's bootup message)

   862 \item start / stop /reset a remote node

   863 \item get informations about a remote node

   864 \item read / write a specific entry of a remote node

   865 \end{enumerate}

   866 

   867 The node can be started as a master node or a slave node. The only difference is 

   868 that when is started as a master, all nodes on the network are reseted.

   869 

   870 Be careful, the first command must be the "load" command.

   871 

   872 \begin{verbatim}

   873 	****************************************************************************

   874 	*  CANOpenShell                                                            *

   875 	*                                                                          *

   876   	*   MANDATORY COMMAND (must be the first command)                          *

   877 	*     load#CanLibraryPath,channel,baudrate,nodeid,type (0:slave, 1:master) *

   878 	*                                                                          *

   879 	*   NETWORK: (if nodeid=0x00 : broadcast)                                  *

   880 	*     ssta#nodeid : Start a node                                           *

   881 	*     ssto#nodeid : Stop a node                                            *

   882 	*     srst#nodeid : Reset a node                                           *

   883 	*     scan : Reset all nodes and print message when bootup                 *

   884 	*     wait#seconds : Sleep for n seconds                                   *

   885 	*                                                                          *

   886 	*   SDO: (size in bytes)                                                   *

   887 	*     info#nodeid                                                          *

   888 	*     rsdo#nodeid,index,subindex : read sdo                                *

   889 	*        ex : rsdo#42,1018,01                                              *

   890 	*     wsdo#nodeid,index,subindex,size,data : write sdo                     *

   891 	*        ex : wsdo#42,6200,01,01,FF                                        *

   892 	*                                                                          *

   893 	*   Note: All numbers are hex                                              *

   894 	*                                                                          *

   895 	*     help : Display this menu                                             *

   896 	*     quit : Quit application                                              *

   897 	****************************************************************************

   898 \end{verbatim}

   899 

   900 Minimal launch command :

   901 \begin{verbatim}

   902 	./CANOpenShell load#libcanfestival_can_peak_linux.so,32,125K,8,0

   903 \end{verbatim}

   904 This command start the node as a slave with nodeid 8 at 125K on channel 32.

   905 

   906 Advanced launch command :

   907 \begin{verbatim}

   908 	./CANOpenShell load#libcanfestival_can_peak_linux.so,32,125K,8,1 \

   909 	 help \

   910 	 wait#5 \

   911 	 wsdo#42,6200,01,01,FF

   912 \end{verbatim}

   913 This command starts the node as a master with nodeid 8 at 125K on channel 32, 

   914 displays help menu, wait 5 seconds for node's NMT bootup, 

   915 and write FF value at index 6200, subindex 01 to the remote node with id 42.