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1 Generator of Canopen SYNC message (cobid = 0x80) |
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2 --------------------------------------------- |
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3 francis.dupin@inrets.fr |
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4 27 Janv 2005 |
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5 |
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6 Node for Microcontroler MC9S12DP256 |
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7 on board T-board (http://www.elektronikladen.de |
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8 |
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9 ============= |
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10 Node N° 0x03 |
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11 ============= |
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12 |
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13 This node generate only the SYNC signal. |
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14 (cob-id : 0x80) |
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15 |
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16 To test this node |
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17 ----------------- |
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18 Reset it : |
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19 It is sending : |
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20 cobid : 0x703 |
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21 data : 00 |
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22 |
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23 1 - Wants to generate SYNC every 10 milliseconds |
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24 |
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25 1a - put the value (4 bytes) : 0x00002710 in its dictionary |
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26 index 0x1006, subindex 0x00 : |
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27 |
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28 CAN message (SDO) : |
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29 cobid : 0x603 |
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30 data : 23 06 10 00 10 27 00 00 |
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31 (put 23 to transmit a data of 4 bytes |
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32 27 3 bytes |
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33 2B 2 bytes |
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34 2F 1 byte |
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35 ) |
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36 |
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37 The node is responding : |
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38 cobid : 0x583 |
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39 data : 60 06 10 00 00 00 00 00 |
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40 |
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41 1b - put the value (4 bytes) : 0x40000080 at index 0x1005, subindex 0x00 |
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42 to start the SYNC : |
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43 cobid : 0x603 |
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44 data : 23 05 10 00 80 00 00 40 |
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45 |
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46 The node is responding : |
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47 cobid : 0x583 |
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48 data : 60 05 10 00 00 00 00 00 |
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49 |
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50 2 - Put the node in operational mode |
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51 CAN message (NMT) : |
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52 cobid : 0x00 |
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53 data : 01 03 |
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54 |
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55 The node is sending the SYNC every 10 ms |
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56 |
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57 |
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58 Nota |
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59 ----- |
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60 To stop the SYNC : 2 methods |
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61 |
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62 1 - put 0x00000000 at index 1006 subindex 0 |
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63 2 - put 0x00000080 at index 1005 subindex 0 |
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64 |
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65 |
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66 |
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67 |
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68 |