1 \documentclass[12pt,twoside]{article}

     1 \documentclass[a4paper,12pt]{book}

    29 

    17 \title{\Huge The CanFestival CANOpen stack manual}

    30 \title{\Huge Documentation}

    35 \newcommand\textstyleTeletype[1]{\texttt{#1}}

    22 %\newcommand\textstyleTeletype[1]{\texttt{#1}}

   122 % Pages styles (master pages)

   109 

   123 \makeatletter

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   132 }

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   134 \pagestyle{Standard}

   135 \setlength\tabcolsep{1mm}

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   138 {\centering\sffamily

   111 

   139 CanFestival3. Version 3.0\newline

   112 {\centering\sffamily\Huge The CanFestival CANOpen stack manual.}

   140 The CANOpen stack manual

   113 

   141 \par}

   114 \renewcommand\contentsname{CanFestival v3.0 Manual}

   142 

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

   118 CanFestival is an OpenSource (LGPL and GPL) CANOpen framework.

   148 (LGPL) CANOpen framework.

   239 \item Concise \ DFC : implemented.

   209 \item Concise \space DFC : implemented.

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

   225 \subsubsection[\space Linux and Unix{}-likes]{\space Linux and Unix{}-likes}

   262 context sensitive help. Download the ds301 at

   232 context sensitive help. Download the ds301 at\newline

   294 \ /include Exportables Header files}

   264 \space /include Exportables Header files}

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

   327    \includegraphics[width=12cm]{Pictures/10000201000003F9000002CF880931E7.png}

   374    \includegraphics[width=16cm]{Pictures/10000201000003CA0000016604E6A5EF.png}

   344    \includegraphics[width=12cm]{Pictures/10000201000003CA0000016604E6A5EF.png}

   379    \includegraphics[width=16cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}

   349    \includegraphics[width=12cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}

   397    \includegraphics[width=13cm]{Pictures/100000000000022C000000DEDAD2140C.png}

   367    \includegraphics[width=12cm]{Pictures/100000000000022C000000DEDAD2140C.png}

   413    \includegraphics[width=18cm]{Pictures/1000000000000396000000FFC42573DA.png}

   383    \includegraphics[width=12cm]{Pictures/1000000000000396000000FFC42573DA.png}

   432 \textstyleTeletype{make install}}

   402 make install}

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

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

   663 Follow instructions given at

   633 Follow instructions given at 

   664 \hyperlink{a422Cygwinconfigurationandcompilationoutline}{4.2.2)Cygwin

   634 \hyperlink{Cygwin configuration and compilation}{Cygwin

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

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

   693 that we provide for \ the HCS12.

   663 that we provide for \space the HCS12.

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

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

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

   723 **************************************************************\space}

   754 

   724 

   755 {\ttfamily

   725 {\ttfamily

   756 * \ TestMasterSlave

   726 * \space TestMasterSlave

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

   727 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

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

   731 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   762 

   732 

   763 {\ttfamily

   733 {\ttfamily

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

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

   765 

   735 

   766 {\ttfamily

   736 {\ttfamily

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

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

   768 

   738 

   769 {\ttfamily

   739 {\ttfamily

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

   740 * \space communicate together, exchanging periodically NMT, SYNC, \space *}

   771 

   741 

   772 {\ttfamily

   742 {\ttfamily

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

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

   774 

   744 

   775 {\ttfamily

   745 {\ttfamily

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

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

   777 \ \ \ \ \ \ \ \ *}

   747 \space \space \space \space \space \space \space \space *}

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

   751 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   782 

   752 

   783 {\ttfamily

   753 {\ttfamily

   784 * \ \ Usage:

   754 * \space \space Usage:

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

   755 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   786 

   756 

   787 {\ttfamily

   757 {\ttfamily

   788 * \ \ ./TestMasterSlave \ [OPTIONS]

   758 * \space \space ./TestMasterSlave \space [OPTIONS]

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

   759 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

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

   763 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   794 

   764 

   795 {\ttfamily

   765 {\ttfamily

   796 * \ \ OPTIONS:

   766 * \space \space OPTIONS:

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

   767 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   798 

   768 

   799 {\ttfamily

   769 {\ttfamily

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

   770 * \space \space \space \space {}-l : Can library

   802 \ \ \ \ *}

   772 \space \space \space \space *}

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

   776 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   807 

   777 

   808 {\ttfamily

   778 {\ttfamily

   809 * \ \ \ Slave:

   779 * \space \space \space Slave:

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

   780 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   811 

   781 

   812 {\ttfamily

   782 {\ttfamily

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

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

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

   784 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   815 

   785 

   816 {\ttfamily

   786 {\ttfamily

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

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

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

   791 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   822 

   792 

   823 {\ttfamily

   793 {\ttfamily

   824 * \ \ \ Master:

   794 * \space \space \space Master:

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

   795 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   826 

   796 

   827 {\ttfamily

   797 {\ttfamily

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

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

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

   799 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   830 

   800 

   831 {\ttfamily

   801 {\ttfamily

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

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

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

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

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

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

   869 this structure :}

   839 this structure :\newline

   870 

   840 \{

   871 {\sffamily

   841 (UNS32) nb of entries\newline

   872     }

   842 (UNS16) index parameter 1\newline

   873 

   843 (UNS8) sub{}-index parameter 1\newline

   874 {\sffamily

   844 (UNS32) size data parameter 1\newline

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

   845 (DOMAIN) data parameter 1\newline

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

   846 (UNS16) index parameter 2\newline

   877 

   847 (UNS8) sub{}-index parameter 2\newline

   878 {\sffamily

   848 (UNS32) size data parameter 2\newline

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

   849 (DOMAIN) data parameter 2\newline

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

   850 \space \space \space \space \space ....\newline

   881 

   851 (UNS16) index parameter n\newline

   882 {\sffamily

   852 (UNS8) sub{}-index parameter n\newline

   883  }

   853 (UNS32) size data parameter n\newline

   854 (DOMAIN) data parameter n\newline

   855 \}

   856 }

   887 : }

   860 :\newline

   888 

   889 

   890 \bigskip

   891 

   892 {\sffamily

   914 * \ TestMasterMicroMod

   879 * \space TestMasterMicroMod

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

   880 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

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

   884 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   920 

   885 

   921 {\ttfamily

   886 {\ttfamily

   922 * \ A simple example for PC.

   887 * \space A simple example for PC.

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

   888 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   924 

   889 

   925 {\ttfamily

   890 {\ttfamily

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

   891 * \space A CanOpen master that control a MicroMod module:

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

   892 \space \space \space \space \space \space \space \space \space *}

   928 

   893 

   929 {\ttfamily

   894 {\ttfamily

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

   895 * \space {}- setup module TPDO 1 transmit type

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

   896 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   932 

   897 

   933 {\ttfamily

   898 {\ttfamily

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

   899 * \space {}- setup module RPDO 1 transmit type

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

   900 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   936 

   901 

   937 {\ttfamily

   902 {\ttfamily

   938 * \ {}- setup module hearbeatbeat period

   903 * \space {}- setup module hearbeatbeat period

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

   904 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   940 

   905 

   941 {\ttfamily

   906 {\ttfamily

   942 * \ {}- disable others TPDOs

   907 * \space {}- disable others TPDOs

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

   908 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   944 

   909 

   945 {\ttfamily

   910 {\ttfamily

   946 * \ {}- set state to operational

   911 * \space {}- set state to operational

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

   912 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   948 

   913 

   949 {\ttfamily

   914 {\ttfamily

   950 * \ {}- send periodic SYNC

   915 * \space {}- send periodic SYNC

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

   916 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   952 

   917 

   953 {\ttfamily

   918 {\ttfamily

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

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

   955 

   920 

   956 {\ttfamily

   921 {\ttfamily

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

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

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

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

   959 

   924 

   960 {\ttfamily

   925 {\ttfamily

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

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

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

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

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

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

   967 

   932 

   968 {\ttfamily

   933 {\ttfamily

   969 * \ \ Usage:

   934 * \space \space Usage:

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

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

   971 

   936 

   972 {\ttfamily

   937 {\ttfamily

   973 * \ \ ./TestMasterMicroMod \ [OPTIONS]

   938 * \space \space ./TestMasterMicroMod \space [OPTIONS]

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

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

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

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

   979 

   944 

   980 {\ttfamily

   945 {\ttfamily

   981 * \ \ OPTIONS:

   946 * \space \space OPTIONS:

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

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

   983 

   948 

   984 {\ttfamily

   949 {\ttfamily

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

   950 * \space \space \space \space {}-l : Can library

   987 \ \ \ \ *}

   952 \space \space \space \space *}

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

   956 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   992 

   957 

   993 {\ttfamily

   958 {\ttfamily

   994 * \ \ \ Slave:

   959 * \space \space \space Slave:

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

   960 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

   996 

   961 

   997 {\ttfamily

   962 {\ttfamily

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

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

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

   964 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

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

   968 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

  1004 

   969 

  1005 {\ttfamily

   970 {\ttfamily

  1006 * \ \ \ Master:

   971 * \space \space \space Master:

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

   972 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

  1008 

   973 

  1009 {\ttfamily

   974 {\ttfamily

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

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

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

   976 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

  1012 

   977 

  1013 {\ttfamily

   978 {\ttfamily

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

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

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

   980 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

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

   984 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}

  1099    \includegraphics[width=14cm]{Pictures/10000201000003E7000001C7B0296577.png}

  1064    \includegraphics[width=12cm]{Pictures/10000201000003E7000001C7B0296577.png}

  1157    \includegraphics[width=15cm]{Pictures/10000201000002F30000020B23ED7F67.png}

  1122    \includegraphics[width=12cm]{Pictures/10000201000002F30000020B23ED7F67.png}

  1165    \includegraphics[width=15cm]{Pictures/10000201000003440000025ACC3FD2F1.png}

  1130    \includegraphics[width=12cm]{Pictures/10000201000003440000025ACC3FD2F1.png}

  1238 2005.NET for WindowsXP \ with ANSI and UNICODE configurations and for

  1203 2005.NET for WindowsXP \space with ANSI and UNICODE configurations and for

  1294   \ \_\_asm\_\_

  1259   \space \_\_asm\_\_

  1299   \ unsigned short mask;\newline

  1264   \space unsigned short mask;\newline

  1300   \ \_\_asm\_\_

  1265   \space \_\_asm\_\_

  1308   \ \_\_asm({\textquotedbl}cli{\textquotedbl});\newline

  1273   \space \_\_asm({\textquotedbl}cli{\textquotedbl});\newline

  1312   \ unsigned short mask;\newline

  1277   \space unsigned short mask;\newline

  1313   \ \_\_asm\newline

  1278   \space \_\_asm\newline

  1315   \ tpa:tsei:{\textquotedbl}=d{\textquotedbl}(mask);\newline

  1280   \space tpa:tsei:{\textquotedbl}=d{\textquotedbl}(mask);\newline

  1323  \{ \ \newline

  1288  \{ \space \newline

  1324   \ //Init the HCS12 microcontroler for CanOpen \newline

  1289   \space //Init the HCS12 microcontroler for CanOpen \newline

  1325   \ initHCS12();\newline

  1290   \space initHCS12();\newline

  1326   \ \ // Init the HCS12 \ CAN driver\newline

  1291   \space \space // Init the HCS12 \space CAN driver\newline

  1327   \ const canBusInit bi0 = \{\newline

  1292   \space const canBusInit bi0 = \{\newline

  1328   \ \ \ 0, \ \ \ /* no low power \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */

  1293   \space \space \space 0, \space \space \space /* no low power \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */

  1330   \ \ \ 0, \ \ \ /* no time stamp

  1295   \space \space \space 0, \space \space \space /* no time stamp

  1331 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1296 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1332   \ \ \ 1, \ \ \ /* enable MSCAN

  1297   \space \space \space 1, \space \space \space /* enable MSCAN

  1333 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1298 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1334   \ \ \ 0, \ \ \ /* clock source : oscillator (In fact, it is not used)

  1299   \space \space \space 0, \space \space \space /* clock source : oscillator (In fact, it is not used)

  1335 \ \ */\newline

  1300 \space \space */\newline

  1336   \ \ \ 0, \ \ \ /* no loop back

  1301   \space \space \space 0, \space \space \space /* no loop back

  1337 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1302 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1338   \ \ \ 0, \ \ \ /* no listen only

  1303   \space \space \space 0, \space \space \space /* no listen only

  1339 \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1304 \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1340   \ \ \ 0, \ \ \ /* no low pass filter for wk up */\newline

  1305   \space \space \space 0, \space \space \space /* no low pass filter for wk up */\newline

  1341   \ CAN\_Baudrates[CAN\_BAUDRATE\_250K],\newline

  1306   \space CAN\_Baudrates[CAN\_BAUDRATE\_250K],\newline

  1342   \ \ \ \{\newline

  1307   \space \space \space \{\newline

  1343   \ \ \ \ \ 0x00, \ \ \ /* Filter on 16 bits.\newline

  1308   \space \space \space \space \space 0x00, \space \space \space /* Filter on 16 bits.\newline

  1344   \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ See Motorola Block Guide V02.14 fig

  1309   \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space See Motorola Block Guide V02.14 fig

  1346   \ \ \ \ \ 0x00, 0xFF, /* filter 0 hight accept all msg

  1311   \space \space \space \space \space 0x00, 0xFF, /* filter 0 hight accept all msg

  1347 \ \ \ \ \ */\newline

  1312 \space \space \space \space \space */\newline

  1348   \ \ \ \ \ 0x00, 0xFF, /* filter 0 low accept all msg

  1313   \space \space \space \space \space 0x00, 0xFF, /* filter 0 low accept all msg

  1349 \ \ \ \ \ \ \ */\newline

  1314 \space \space \space \space \space \space \space */\newline

  1350   \ \ \ \ \ 0x00, 0xFF, /* filter 1 hight filter all of \ msg

  1315   \space \space \space \space \space 0x00, 0xFF, /* filter 1 hight filter all of \space msg

  1351 \ */\newline

  1316 \space */\newline

  1352   \ \ \ \ \ 0x00, 0xFF, /* filter 1 low filter all of \ msg

  1317   \space \space \space \space \space 0x00, 0xFF, /* filter 1 low filter all of \space msg

  1353 \ \ \ */\newline

  1318 \space \space \space */\newline

  1354   \ \ \ \ \ 0x00, 0xFF, /* filter 2 hight filter most of \ msg

  1319   \space \space \space \space \space 0x00, 0xFF, /* filter 2 hight filter most of \space msg

  1356   \ \ \ \ \ 0x00, 0xFF, /* filter 2 low filter most of \ msg

  1321   \space \space \space \space \space 0x00, 0xFF, /* filter 2 low filter most of \space msg

  1357 \ \ */\newline

  1322 \space \space */\newline

  1358   \ \ \ \ \ 0x00, 0xFF, /* filter 3 hight filter most of \ msg

  1323   \space \space \space \space \space 0x00, 0xFF, /* filter 3 hight filter most of \space msg

  1360   \ \ \ \ \ 0x00, 0xFF, /* filter 3 low filter most of \ msg

  1325   \space \space \space \space \space 0x00, 0xFF, /* filter 3 low filter most of \space msg

  1361 \ \ */\newline

  1326 \space \space */\newline

  1362   \ \ \ \}\newline

  1327   \space \space \space \}\newline

  1363   \ \};}

  1328   \space \};}

  1368  \{ \ \newline

  1333  \{ \space \newline

  1369   \ //Init the HCS12 microcontroler for CanOpen \newline

  1334   \space //Init the HCS12 microcontroler for CanOpen \newline

  1370   \ initHCS12();\newline

  1335   \space initHCS12();\newline

  1371   \ \ // Init the HCS12 \ CAN driver\newline

  1336   \space \space // Init the HCS12 \space CAN driver\newline

  1372   \ const canBusInit bi0 = \{\newline

  1337   \space const canBusInit bi0 = \{\newline

  1373   \ \ \ 0, \ \ \ /* no low power \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */

  1338   \space \space \space 0, \space \space \space /* no low power \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */

  1375   \ \ \ 0, \ \ \ /* no time stamp

  1340   \space \space \space 0, \space \space \space /* no time stamp

  1376 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1341 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1377   \ \ \ 1, \ \ \ /* enable MSCAN

  1342   \space \space \space 1, \space \space \space /* enable MSCAN

  1378 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1343 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1379   \ \ \ 0, \ \ \ /* clock source : oscillator (In fact, it is not used)

  1344   \space \space \space 0, \space \space \space /* clock source : oscillator (In fact, it is not used)

  1380 \ \ */\newline

  1345 \space \space */\newline

  1381   \ \ \ 0, \ \ \ /* no loop back

  1346   \space \space \space 0, \space \space \space /* no loop back

  1382 \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1347 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1383   \ \ \ 0, \ \ \ /* no listen only

  1348   \space \space \space 0, \space \space \space /* no listen only

  1384 \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline

  1349 \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline

  1385   \ \ \ 0, \ \ \ /* no low pass filter for wk up */\newline

  1350   \space \space \space 0, \space \space \space /* no low pass filter for wk up */\newline

  1386   \ \ \ \{\newline

  1351   \space \space \space \{\newline

  1387   \ \ \ \ 1, /* clksrc */\newline

  1352   \space \space \space \space 1, /* clksrc */\newline

  1388   \ \ \ \ 3, /* brp \ \ \ */\newline

  1353   \space \space \space \space 3, /* brp \space \space \space */\newline

  1389   \ \ \ \ 0, /* sjw \ \ \ */\newline

  1354   \space \space \space \space 0, /* sjw \space \space \space */\newline

  1390   \ \ \ \ 0, /* samp \ \ */\newline

  1355   \space \space \space \space 0, /* samp \space \space */\newline

  1391   \ \ \ \ 1, /* tseg2 \ */\newline

  1356   \space \space \space \space 1, /* tseg2 \space */\newline

  1392   \ \ \ \ 12,/* tseg1 \ */\newline

  1357   \space \space \space \space 12,/* tseg1 \space */\newline

  1393   \ \ \ \},\newline

  1358   \space \space \space \},\newline

  1394   \ \ \ \{\newline

  1359   \space \space \space \{\newline

  1395   \ \ \ \ \ 0x00, \ \ \ /* Filter on 16 bits.\newline

  1360   \space \space \space \space \space 0x00, \space \space \space /* Filter on 16 bits.\newline

  1396   \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ See Motorola Block Guide V02.14 fig

  1361   \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space See Motorola Block Guide V02.14 fig

  1398   \ \ \ \ \ 0x00, 0xFF, /* filter 0 hight accept all msg

  1363   \space \space \space \space \space 0x00, 0xFF, /* filter 0 hight accept all msg

  1399 \ \ \ \ \ */\newline

  1364 \space \space \space \space \space */\newline

  1400   \ \ \ \ \ 0x00, 0xFF, /* filter 0 low accept all msg

  1365   \space \space \space \space \space 0x00, 0xFF, /* filter 0 low accept all msg

  1401 \ \ \ \ \ \ \ */\newline

  1366 \space \space \space \space \space \space \space */\newline

  1402   \ \ \ \ \ 0x00, 0xFF, /* filter 1 hight filter all of \ msg

  1367   \space \space \space \space \space 0x00, 0xFF, /* filter 1 hight filter all of \space msg

  1403 \ */\newline

  1368 \space */\newline

  1404   \ \ \ \ \ 0x00, 0xFF, /* filter 1 low filter all of \ msg

  1369   \space \space \space \space \space 0x00, 0xFF, /* filter 1 low filter all of \space msg

  1405 \ \ \ */\newline

  1370 \space \space \space */\newline

  1406   \ \ \ \ \ 0x00, 0xFF, /* filter 2 hight filter most of \ msg

  1371   \space \space \space \space \space 0x00, 0xFF, /* filter 2 hight filter most of \space msg

  1408   \ \ \ \ \ 0x00, 0xFF, /* filter 2 low filter most of \ msg

  1373   \space \space \space \space \space 0x00, 0xFF, /* filter 2 low filter most of \space msg

  1409 \ \ */\newline

  1374 \space \space */\newline

  1410   \ \ \ \ \ 0x00, 0xFF, /* filter 3 hight filter most of \ msg

  1375   \space \space \space \space \space 0x00, 0xFF, /* filter 3 hight filter most of \space msg

  1412   \ \ \ \ \ 0x00, 0xFF, /* filter 3 low filter most of \ msg

  1377   \space \space \space \space \space 0x00, 0xFF, /* filter 3 low filter most of \space msg

  1413 \ \ */\newline

  1378 \space \space */\newline

  1414   \ \ \ \}\newline

  1379   \space \space \space \}\newline

  1415   \ \};}

  1380   \space \};}

  1416 

  1417 \subsubsection{Who to use warnings and errors messages ?}

  1418 \paragraph{Warnings messages}

  1419 \begin{longtable}[c]{|p{0.8476598in}|p{0.7761598in}|p{1.0268599in}|p{-0.026640158in}|p{1.0386599in}|p{1.2247599in}|p{1.1761599in}|}

  1420 \hline

  1421 {\bfseries

  1422 DEBUG\_WAR\_CONSOLE \_ON}

  1423 &

  1424 {\bfseries

  1425 DEBUG \_CAN}

  1426 &

  1427 {\bfseries

  1428 PrintMsg{}-WarTo{}-Console}

  1429 &

  1430 

  1431 \bigskip

  1432 &

  1433 {\bfseries

  1434 Printing long message on console }

  1435 &

  1436 \textbf{Printing short message on console.} (number and value only) 

  1437 &

  1438 \textbf{Sending number and value in a PDO}., only if the node is a

  1439 slave, in operational state. 

  1440 \\\hline

  1441 \endhead

  1442 DEF

  1443 &

  1444 DEF

  1445 &

  1446 1

  1447 &

  1448 

  1449 \bigskip

  1450 &

  1451 

  1452 \bigskip

  1453 &

  1454 yes

  1455 &

  1456 

  1457 \bigskip

  1458 \\\hline

  1459 DEF

  1460 &

  1461 DEF

  1462 &

  1463 0

  1464 &

  1465 

  1466 \bigskip

  1467 &

  1468 yes

  1469 &

  1470 

  1471 \bigskip

  1472 &

  1473 

  1474 \bigskip

  1475 \\\hline

  1476 DEF

  1477 &

  1478 UNDEF

  1479 &

  1480 1

  1481 &

  1482 

  1483 \bigskip

  1484 &

  1485 

  1486 \bigskip

  1487 &

  1488 

  1489 \bigskip

  1490 &

  1491 

  1492 \bigskip

  1493 \\\hline

  1494 DEF

  1495 &

  1496 UNDEF

  1497 &

  1498 0

  1499 &

  1500 

  1501 \bigskip

  1502 &

  1503 

  1504 \bigskip

  1505 &

  1506 

  1507 \bigskip

  1508 &

  1509 

  1510 \bigskip

  1511 \\\hline

  1512 UNDEF

  1513 &

  1514 X

  1515 &

  1516 X

  1517 &

  1518 

  1519 \bigskip

  1520 &

  1521 

  1522 \bigskip

  1523 &

  1524 

  1525 \bigskip

  1526 &

  1527 

  1528 \bigskip

  1529 \\\hline

  1530 \end{longtable}

  1531 

  1532 \bigskip

  1533 

  1534 \paragraph{Errors messages}

  1535 \begin{longtable}[c]{|p{0.8476598in}|p{0.7351598in}|p{0.6511598in}|p{0.7865598in}|p{-0.026640158in}|p{0.8087598in}|p{0.9955599in}|p{1.1858599in}|}

  1536 \hline

  1537 {\bfseries

  1538 DEBUG\_ERR\_CONSOLE \_ON}

  1539 &

  1540 {\bfseries

  1541 DEBUG \_CAN}

  1542 &

  1543 {\bfseries

  1544 PDO \_ERROR }

  1545 &

  1546 {\bfseries

  1547 PrintMsg{}-ErrTo{}-Console}

  1548 &

  1549 

  1550 \bigskip

  1551 &

  1552 {\bfseries

  1553 Printing long message on console}

  1554 &

  1555 \textbf{Printing short message on console.} (number and value only) 

  1556 &

  1557 \textbf{Sending number and value in a PDO}., only if the node is a

  1558 slave, in operational state. 

  1559 \\\hline

  1560 \endhead

  1561 DEF

  1562 &

  1563 DEF

  1564 &

  1565 X

  1566 &

  1567 1

  1568 &

  1569 

  1570 \bigskip

  1571 &

  1572 

  1573 \bigskip

  1574 &

  1575 yes

  1576 &

  1577 yes

  1578 \\\hline

  1579 DEF

  1580 &

  1581 DEF

  1582 &

  1583 X

  1584 &

  1585 0

  1586 &

  1587 

  1588 \bigskip

  1589 &

  1590 yes

  1591 &

  1592 

  1593 \bigskip

  1594 &

  1595 yes

  1596 \\\hline

  1597 DEF

  1598 &

  1599 UNDEF

  1600 &

  1601 X

  1602 &

  1603 1

  1604 &

  1605 

  1606 \bigskip

  1607 &

  1608 

  1609 \bigskip

  1610 &

  1611 

  1612 \bigskip

  1613 &

  1614 yes

  1615 \\\hline

  1616 DEF

  1617 &

  1618 UNDEF

  1619 &

  1620 X

  1621 &

  1622 0

  1623 &

  1624 

  1625 \bigskip

  1626 &

  1627 

  1628 \bigskip

  1629 &

  1630 

  1631 \bigskip

  1632 &

  1633 yes

  1634 \\\hline

  1635 UNDEF

  1636 &

  1637 X

  1638 &

  1639 DEF

  1640 &

  1641 X

  1642 &

  1643 

  1644 \bigskip

  1645 &

  1646 

  1647 \bigskip

  1648 &

  1649 

  1650 \bigskip

  1651 &

  1652 yes

  1653 \\\hline

  1654 UNDEF

  1655 &

  1656 X

  1657 &

  1658 UNDEF

  1659 &

  1660 X

  1661 &

  1662 

  1663 \bigskip

  1664 &

  1665 

  1666 \bigskip

  1667 &

  1668 

  1669 \bigskip

  1670 &

  1671 

  1672 \bigskip

  1673 \\\hline

  1674 \end{longtable}

  1675 

  1676 \bigskip

  1691 \section{Documentation resources}

  1395 \section{Documentation resources\newline}

  1692 \paragraph{CIA : Can in Automation}

  1396 \paragraph{CIA : Can in Automation\newline}

  1693 Many documentation on CANopen.

  1397 Many documentation on CANopen.\newline

  1694 

  1697 \paragraph{Resources and training in CANopen}

  1400 \paragraph{Resources and training in CANopen\newline}

  1700 \paragraph{Elektronikladen HCS12 T{}-board}

  1403 \paragraph{Elektronikladen HCS12 T{}-board\newline}

  1703 \paragraph{Gnu gcc compiler for HC12}

  1406 \paragraph{Gnu gcc compiler for HC12\newline}

  1706 \paragraph{Motorola documentation on HC12}

  1409 \paragraph{Motorola documentation on HC12\newline}

  1709 \paragraph{Lauterbach debugger for HC12}

  1412 \paragraph{Lauterbach debugger for HC12\newline}

  1712 \paragraph{Python language}

  1415 \paragraph{Python language\newline}

  1781 For commercial support, \ training and specific integration and

  1484 For commercial support, \space training and specific integration and

  1818 \#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \ See the GNU

  1521 \#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \space See the GNU

  1827 \ 02111{}-1307 \ USA }

  1530 \space 02111{}-1307 \space USA }