1 \select@language {english}

     2 \contentsline {section}{\numberline {1 -}Introduction}{2}{section.1}

     3 \contentsline {subsection}{\numberline {1.1)}The CanFestival project}{2}{subsection.1.1}

     4 \contentsline {subsection}{\numberline {1.2)}What is CANopen}{2}{subsection.1.2}

     5 \contentsline {section}{\numberline {2 -}CanFestival Features}{2}{section.2}

     6 \contentsline {subsection}{\numberline {2.1)}Tools }{2}{subsection.2.1}

     7 \contentsline {subsection}{\numberline {2.2)}Standard conformance}{3}{subsection.2.2}

     8 \contentsline {paragraph}{\numberline {a)}Multi{}-Platform}{3}{paragraph.2.2.0.1}

     9 \contentsline {paragraph}{\numberline {b)}CanOpen conformance}{3}{paragraph.2.2.0.2}

    10 \contentsline {section}{\numberline {3 -}How to start}{3}{section.3}

    11 \contentsline {subsection}{\numberline {3.1)}Host requirements}{3}{subsection.3.1}

    12 \contentsline {subsubsection}{\numberline {3.1.1)}Object Dictionary Editor GUI}{4}{subsubsection.3.1.1}

    13 \contentsline {subsubsection}{\numberline {3.1.2)}\ Linux and Unix{}-likes}{4}{subsubsection.3.1.2}

    14 \contentsline {subsubsection}{\numberline {3.1.3)}Windows (for native win32 target)}{4}{subsubsection.3.1.3}

    15 \contentsline {subsection}{\numberline {3.2)}How to get CanFestival}{4}{subsection.3.2}

    16 \contentsline {section}{\numberline {4 -}Understanding Canfestival}{4}{section.4}

    17 \contentsline {subsection}{\numberline {4.1)}CanFestival Project tree layout}{4}{subsection.4.1}

    18 \contentsline {subsection}{\numberline {4.2)}Implement CanFestival in your application}{5}{subsection.4.2}

    19 \contentsline {subsection}{\numberline {4.3)}CanFestival CAN interfaces}{5}{subsection.4.3}

    20 \contentsline {subsection}{\numberline {4.4)}CanFestival events scheduling}{6}{subsection.4.4}

    21 \contentsline {section}{\numberline {5 -}Linux Target}{7}{section.5}

    22 \contentsline {subsection}{\numberline {5.1)}Linux Compilation and installation}{7}{subsection.5.1}

    23 \contentsline {subsubsection}{\numberline {5.1.1)}Standard Linux node}{7}{subsubsection.5.1.1}

    24 \contentsline {subsubsection}{\numberline {5.1.2)}Real{}-Time Linux node}{8}{subsubsection.5.1.2}

    25 \contentsline {subsubsection}{\numberline {5.1.3)}CAN devices}{8}{subsubsection.5.1.3}

    26 \contentsline {paragraph}{\numberline {a)}Peak systems}{8}{paragraph.5.1.3.1}

    27 \contentsline {paragraph}{\numberline {b)}Socket{}-Can (http://socketcan.berlios.de)}{8}{paragraph.5.1.3.2}

    28 \contentsline {paragraph}{\numberline {c)}LinCan}{8}{paragraph.5.1.3.3}

    29 \contentsline {paragraph}{\numberline {d)}Virtual CAN interfaces (for test/debug)}{8}{paragraph.5.1.3.4}

    30 \contentsline {subsection}{\numberline {5.2)}Testing your CanFestival installation}{8}{subsection.5.2}

    31 \contentsline {section}{\numberline {6 -}Windows Targets}{8}{section.6}

    32 \contentsline {subsection}{\numberline {6.1)}Object Dictionary Editor GUI installation.}{8}{subsection.6.1}

    33 \contentsline {subsection}{\numberline {6.2)}CYGWIN}{9}{subsection.6.2}

    34 \contentsline {subsubsection}{\numberline {6.2.1)}Requirements}{9}{subsubsection.6.2.1}

    35 \contentsline {subsubsection}{\numberline {6.2.2)}Cygwin configuration and compilation}{9}{subsubsection.6.2.2}

    36 \contentsline {paragraph}{\numberline {a)}A single node with PcanLight and Peak CAN{}-USB adapter}{9}{paragraph.6.2.2.1}

    37 \contentsline {paragraph}{\numberline {b)}Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}{9}{paragraph.6.2.2.2}

    38 \contentsline {subsection}{\numberline {6.3)}Visual Studio C++}{10}{subsection.6.3}

    39 \contentsline {subsubsection}{\numberline {6.3.1)}Requirements}{10}{subsubsection.6.3.1}

    40 \contentsline {subsubsection}{\numberline {6.3.2)}Configuration with cygwin}{10}{subsubsection.6.3.2}

    41 \contentsline {subsubsection}{\numberline {6.3.3)}Compilation with Visual Studio}{10}{subsubsection.6.3.3}

    42 \contentsline {paragraph}{\numberline {a)}PcanLight and the can\_peak\_win32 project.}{10}{paragraph.6.3.3.1}

    43 \contentsline {subsubsection}{\numberline {6.3.4)}Testing}{10}{subsubsection.6.3.4}

    44 \contentsline {section}{\numberline {7 -}Motorola HCS12}{10}{section.7}

    45 \contentsline {subsection}{\numberline {7.1)}Running a HCS12 node}{11}{subsection.7.1}

    46 \contentsline {subsubsection}{\numberline {7.1.1)}Compiling Canfestival:}{11}{subsubsection.7.1.1}

    47 \contentsline {subsubsection}{\numberline {7.1.2)}Compiling and building an example}{11}{subsubsection.7.1.2}

    48 \contentsline {subsubsection}{\numberline {7.1.3)}Flashing the memory :}{11}{subsubsection.7.1.3}

    49 \contentsline {subsubsection}{\numberline {7.1.4)}Connecting to a serial RS232 console :}{11}{subsubsection.7.1.4}

    50 \contentsline {subsubsection}{\numberline {7.1.5)}Connecting to the CAN network :}{11}{subsubsection.7.1.5}

    51 \contentsline {subsubsection}{\numberline {7.1.6)}starting the node :}{11}{subsubsection.7.1.6}

    52 \contentsline {section}{\numberline {8 -}Example and test program:}{11}{section.8}

    53 \contentsline {subsection}{\numberline {8.1)}TestMasterSlave}{11}{subsection.8.1}

    54 \contentsline {subsection}{\numberline {8.2)}gene\_SYNC\_HCS12 :}{12}{subsection.8.2}

    55 \contentsline {subsection}{\numberline {8.3)}TestMasterMicroMod }{12}{subsection.8.3}

    56 \contentsline {section}{\numberline {9 -}Developing a new node}{13}{section.9}

    57 \contentsline {subsection}{\numberline {9.1)}Using Dictionary Editor GUI}{13}{subsection.9.1}

    58 \contentsline {subsubsection}{\numberline {9.1.1)}Installation and usage on Linux}{13}{subsubsection.9.1.1}

    59 \contentsline {subsubsection}{\numberline {9.1.2)}Installation and usage on Windows}{13}{subsubsection.9.1.2}

    60 \contentsline {subsubsection}{\numberline {9.1.3)}About}{14}{subsubsection.9.1.3}

    61 \contentsline {subsubsection}{\numberline {9.1.4)}Main view}{14}{subsubsection.9.1.4}

    62 \contentsline {subsubsection}{\numberline {9.1.5)}New node}{15}{subsubsection.9.1.5}

    63 \contentsline {subsubsection}{\numberline {9.1.6)}Node info}{15}{subsubsection.9.1.6}

    64 \contentsline {subsubsection}{\numberline {9.1.7)}Profile editor}{16}{subsubsection.9.1.7}

    65 \contentsline {subsubsection}{\numberline {9.1.8)}User types}{16}{subsubsection.9.1.8}

    66 \contentsline {subsubsection}{\numberline {9.1.9)}Mapped variable}{17}{subsubsection.9.1.9}

    67 \contentsline {subsubsection}{\numberline {9.1.10)}Integrated help}{17}{subsubsection.9.1.10}

    68 \contentsline {subsection}{\numberline {9.2)}Generating the object Dictionary}{19}{subsection.9.2}

    69 \contentsline {subsubsection}{\numberline {9.2.1)}With GUI}{19}{subsubsection.9.2.1}

    70 \contentsline {subsubsection}{\numberline {9.2.2)}With command line}{19}{subsubsection.9.2.2}

    71 \contentsline {section}{\numberline {10 -}FAQ}{19}{section.10}

    72 \contentsline {subsection}{\numberline {10.1)}General}{19}{subsection.10.1}

    73 \contentsline {subsubsection}{\numberline {10.1.1)}Does the code compiles on Windows ?}{19}{subsubsection.10.1.1}

    74 \contentsline {subsubsection}{\numberline {10.1.2)}How to fit the library to an other microcontr\^oler ?}{19}{subsubsection.10.1.2}

    75 \contentsline {subsubsection}{\numberline {10.1.3)}Is CanFestival3 conform to DS301 v.4.02 ?}{19}{subsubsection.10.1.3}

    76 \contentsline {subsection}{\numberline {10.2)}LINUX}{20}{subsection.10.2}

    77 \contentsline {subsubsection}{\numberline {10.2.1)}How to use a Peaksystem CAN board ?}{20}{subsubsection.10.2.1}

    78 \contentsline {subsubsection}{\numberline {10.2.2)}How to use an unsupported CAN board ?}{20}{subsubsection.10.2.2}

    79 \contentsline {subsection}{\numberline {10.3)}Win32}{20}{subsection.10.3}

    80 \contentsline {subsection}{\numberline {10.4)}HCS12}{20}{subsection.10.4}

    81 \contentsline {subsubsection}{\numberline {10.4.1)}Which board are you using ?}{20}{subsubsection.10.4.1}

    82 \contentsline {subsubsection}{\numberline {10.4.2)}Does the code compile with an other compiler than GNU gcc ?}{20}{subsubsection.10.4.2}

    83 \contentsline {paragraph}{\numberline {a)}Interrupt functions}{20}{paragraph.10.4.2.1}

    84 \contentsline {subparagraph}{\numberline {i)}Code for GCC:}{20}{subparagraph.10.4.2.1.1}

    85 \contentsline {subparagraph}{\numberline {ii)}Code for CodeWarrior}{21}{subparagraph.10.4.2.1.2}

    86 \contentsline {paragraph}{\numberline {b)}Interrupt lock, unlock}{21}{paragraph.10.4.2.2}

    87 \contentsline {subparagraph}{\numberline {i)}Code for GCC}{21}{subparagraph.10.4.2.2.1}

    88 \contentsline {subparagraph}{\numberline {ii)}Code for CodeWarrior}{21}{subparagraph.10.4.2.2.2}

    89 \contentsline {paragraph}{\numberline {c)}Initialize function}{21}{paragraph.10.4.2.3}

    90 \contentsline {subparagraph}{\numberline {i)}Code for GCC}{21}{subparagraph.10.4.2.3.1}

    91 \contentsline {subparagraph}{\numberline {ii)}Code for CodeWarrior}{22}{subparagraph.10.4.2.3.2}

    92 \contentsline {subsubsection}{\numberline {10.4.3)}Who to use warnings and errors messages ?}{22}{subsubsection.10.4.3}

    93 \contentsline {paragraph}{\numberline {a)}Warnings messages}{23}{table.1}

    94 \contentsline {paragraph}{\numberline {b)}Errors messages}{23}{table.2}

    95 \contentsline {subsubsection}{\numberline {10.4.4)}Does the code works in banked memory ?}{23}{subsubsection.10.4.4}

    96 \contentsline {subsubsection}{\numberline {10.4.5)}What GCC version are you using ?}{24}{subsubsection.10.4.5}

    97 \contentsline {section}{\numberline {11 -}Documentation resources}{24}{section.11}

    98 \contentsline {paragraph}{\numberline {a)}CIA : Can in Automation}{24}{paragraph.11.0.5.1}

    99 \contentsline {paragraph}{\numberline {b)}Resources and training in CANopen}{24}{paragraph.11.0.5.2}

   100 \contentsline {paragraph}{\numberline {c)}Elektronikladen HCS12 T{}-board}{24}{paragraph.11.0.5.3}

   101 \contentsline {paragraph}{\numberline {d)}Gnu gcc compiler for HC12}{24}{paragraph.11.0.5.4}

   102 \contentsline {paragraph}{\numberline {e)}Motorola documentation on HC12}{24}{paragraph.11.0.5.5}

   103 \contentsline {paragraph}{\numberline {f)}Lauterbach debugger for HC12}{24}{paragraph.11.0.5.6}

   104 \contentsline {paragraph}{\numberline {g)}Python language}{24}{paragraph.11.0.5.7}

   105 \contentsline {section}{\numberline {12 -}About the project}{25}{section.12}

   106 \contentsline {subsection}{\numberline {12.1)}Contributors }{25}{subsection.12.1}

   107 \contentsline {subsection}{\numberline {12.2)}Getting support}{25}{subsection.12.2}

   108 \contentsline {subsection}{\numberline {12.3)}Contributing}{25}{subsection.12.3}

   109 \contentsline {subsection}{\numberline {12.4)}License}{26}{subsection.12.4}