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1 \select@language {english} |
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2 \contentsline {section}{\numberline {1 -}Introduction}{2}{section.1} |
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3 \contentsline {subsection}{\numberline {1.1)}The CanFestival project}{2}{subsection.1.1} |
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4 \contentsline {subsection}{\numberline {1.2)}What is CANopen}{2}{subsection.1.2} |
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5 \contentsline {section}{\numberline {2 -}CanFestival Features}{2}{section.2} |
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6 \contentsline {subsection}{\numberline {2.1)}Tools }{2}{subsection.2.1} |
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7 \contentsline {subsection}{\numberline {2.2)}Standard conformance}{3}{subsection.2.2} |
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8 \contentsline {paragraph}{\numberline {a)}Multi{}-Platform}{3}{paragraph.2.2.0.1} |
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9 \contentsline {paragraph}{\numberline {b)}CanOpen conformance}{3}{paragraph.2.2.0.2} |
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10 \contentsline {section}{\numberline {3 -}How to start}{3}{section.3} |
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11 \contentsline {subsection}{\numberline {3.1)}Host requirements}{3}{subsection.3.1} |
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12 \contentsline {subsubsection}{\numberline {3.1.1)}Object Dictionary Editor GUI}{4}{subsubsection.3.1.1} |
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13 \contentsline {subsubsection}{\numberline {3.1.2)}\ Linux and Unix{}-likes}{4}{subsubsection.3.1.2} |
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14 \contentsline {subsubsection}{\numberline {3.1.3)}Windows (for native win32 target)}{4}{subsubsection.3.1.3} |
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15 \contentsline {subsection}{\numberline {3.2)}How to get CanFestival}{4}{subsection.3.2} |
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16 \contentsline {section}{\numberline {4 -}Understanding Canfestival}{4}{section.4} |
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17 \contentsline {subsection}{\numberline {4.1)}CanFestival Project tree layout}{4}{subsection.4.1} |
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18 \contentsline {subsection}{\numberline {4.2)}Implement CanFestival in your application}{5}{subsection.4.2} |
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19 \contentsline {subsection}{\numberline {4.3)}CanFestival CAN interfaces}{5}{subsection.4.3} |
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20 \contentsline {subsection}{\numberline {4.4)}CanFestival events scheduling}{6}{subsection.4.4} |
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21 \contentsline {section}{\numberline {5 -}Linux Target}{7}{section.5} |
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22 \contentsline {subsection}{\numberline {5.1)}Linux Compilation and installation}{7}{subsection.5.1} |
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23 \contentsline {subsubsection}{\numberline {5.1.1)}Standard Linux node}{7}{subsubsection.5.1.1} |
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24 \contentsline {subsubsection}{\numberline {5.1.2)}Real{}-Time Linux node}{8}{subsubsection.5.1.2} |
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25 \contentsline {subsubsection}{\numberline {5.1.3)}CAN devices}{8}{subsubsection.5.1.3} |
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26 \contentsline {paragraph}{\numberline {a)}Peak systems}{8}{paragraph.5.1.3.1} |
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27 \contentsline {paragraph}{\numberline {b)}Socket{}-Can (http://socketcan.berlios.de)}{8}{paragraph.5.1.3.2} |
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28 \contentsline {paragraph}{\numberline {c)}LinCan}{8}{paragraph.5.1.3.3} |
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29 \contentsline {paragraph}{\numberline {d)}Virtual CAN interfaces (for test/debug)}{8}{paragraph.5.1.3.4} |
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30 \contentsline {subsection}{\numberline {5.2)}Testing your CanFestival installation}{8}{subsection.5.2} |
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31 \contentsline {section}{\numberline {6 -}Windows Targets}{8}{section.6} |
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32 \contentsline {subsection}{\numberline {6.1)}Object Dictionary Editor GUI installation.}{8}{subsection.6.1} |
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33 \contentsline {subsection}{\numberline {6.2)}CYGWIN}{9}{subsection.6.2} |
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34 \contentsline {subsubsection}{\numberline {6.2.1)}Requirements}{9}{subsubsection.6.2.1} |
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35 \contentsline {subsubsection}{\numberline {6.2.2)}Cygwin configuration and compilation}{9}{subsubsection.6.2.2} |
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36 \contentsline {paragraph}{\numberline {a)}A single node with PcanLight and Peak CAN{}-USB adapter}{9}{paragraph.6.2.2.1} |
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37 \contentsline {paragraph}{\numberline {b)}Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}{9}{paragraph.6.2.2.2} |
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38 \contentsline {subsection}{\numberline {6.3)}Visual Studio C++}{10}{subsection.6.3} |
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39 \contentsline {subsubsection}{\numberline {6.3.1)}Requirements}{10}{subsubsection.6.3.1} |
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40 \contentsline {subsubsection}{\numberline {6.3.2)}Configuration with cygwin}{10}{subsubsection.6.3.2} |
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41 \contentsline {subsubsection}{\numberline {6.3.3)}Compilation with Visual Studio}{10}{subsubsection.6.3.3} |
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42 \contentsline {paragraph}{\numberline {a)}PcanLight and the can\_peak\_win32 project.}{10}{paragraph.6.3.3.1} |
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43 \contentsline {subsubsection}{\numberline {6.3.4)}Testing}{10}{subsubsection.6.3.4} |
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44 \contentsline {section}{\numberline {7 -}Motorola HCS12}{10}{section.7} |
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45 \contentsline {subsection}{\numberline {7.1)}Running a HCS12 node}{11}{subsection.7.1} |
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46 \contentsline {subsubsection}{\numberline {7.1.1)}Compiling Canfestival:}{11}{subsubsection.7.1.1} |
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47 \contentsline {subsubsection}{\numberline {7.1.2)}Compiling and building an example}{11}{subsubsection.7.1.2} |
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48 \contentsline {subsubsection}{\numberline {7.1.3)}Flashing the memory :}{11}{subsubsection.7.1.3} |
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49 \contentsline {subsubsection}{\numberline {7.1.4)}Connecting to a serial RS232 console :}{11}{subsubsection.7.1.4} |
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50 \contentsline {subsubsection}{\numberline {7.1.5)}Connecting to the CAN network :}{11}{subsubsection.7.1.5} |
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51 \contentsline {subsubsection}{\numberline {7.1.6)}starting the node :}{11}{subsubsection.7.1.6} |
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52 \contentsline {section}{\numberline {8 -}Example and test program:}{11}{section.8} |
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53 \contentsline {subsection}{\numberline {8.1)}TestMasterSlave}{11}{subsection.8.1} |
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54 \contentsline {subsection}{\numberline {8.2)}gene\_SYNC\_HCS12 :}{12}{subsection.8.2} |
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55 \contentsline {subsection}{\numberline {8.3)}TestMasterMicroMod }{12}{subsection.8.3} |
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56 \contentsline {section}{\numberline {9 -}Developing a new node}{13}{section.9} |
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57 \contentsline {subsection}{\numberline {9.1)}Using Dictionary Editor GUI}{13}{subsection.9.1} |
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58 \contentsline {subsubsection}{\numberline {9.1.1)}Installation and usage on Linux}{13}{subsubsection.9.1.1} |
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59 \contentsline {subsubsection}{\numberline {9.1.2)}Installation and usage on Windows}{13}{subsubsection.9.1.2} |
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60 \contentsline {subsubsection}{\numberline {9.1.3)}About}{14}{subsubsection.9.1.3} |
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61 \contentsline {subsubsection}{\numberline {9.1.4)}Main view}{14}{subsubsection.9.1.4} |
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62 \contentsline {subsubsection}{\numberline {9.1.5)}New node}{15}{subsubsection.9.1.5} |
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63 \contentsline {subsubsection}{\numberline {9.1.6)}Node info}{15}{subsubsection.9.1.6} |
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64 \contentsline {subsubsection}{\numberline {9.1.7)}Profile editor}{16}{subsubsection.9.1.7} |
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65 \contentsline {subsubsection}{\numberline {9.1.8)}User types}{16}{subsubsection.9.1.8} |
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66 \contentsline {subsubsection}{\numberline {9.1.9)}Mapped variable}{17}{subsubsection.9.1.9} |
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67 \contentsline {subsubsection}{\numberline {9.1.10)}Integrated help}{17}{subsubsection.9.1.10} |
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68 \contentsline {subsection}{\numberline {9.2)}Generating the object Dictionary}{19}{subsection.9.2} |
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69 \contentsline {subsubsection}{\numberline {9.2.1)}With GUI}{19}{subsubsection.9.2.1} |
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70 \contentsline {subsubsection}{\numberline {9.2.2)}With command line}{19}{subsubsection.9.2.2} |
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71 \contentsline {section}{\numberline {10 -}FAQ}{19}{section.10} |
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72 \contentsline {subsection}{\numberline {10.1)}General}{19}{subsection.10.1} |
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73 \contentsline {subsubsection}{\numberline {10.1.1)}Does the code compiles on Windows ?}{19}{subsubsection.10.1.1} |
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74 \contentsline {subsubsection}{\numberline {10.1.2)}How to fit the library to an other microcontr\^oler ?}{19}{subsubsection.10.1.2} |
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75 \contentsline {subsubsection}{\numberline {10.1.3)}Is CanFestival3 conform to DS301 v.4.02 ?}{19}{subsubsection.10.1.3} |
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76 \contentsline {subsection}{\numberline {10.2)}LINUX}{20}{subsection.10.2} |
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77 \contentsline {subsubsection}{\numberline {10.2.1)}How to use a Peaksystem CAN board ?}{20}{subsubsection.10.2.1} |
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78 \contentsline {subsubsection}{\numberline {10.2.2)}How to use an unsupported CAN board ?}{20}{subsubsection.10.2.2} |
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79 \contentsline {subsection}{\numberline {10.3)}Win32}{20}{subsection.10.3} |
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80 \contentsline {subsection}{\numberline {10.4)}HCS12}{20}{subsection.10.4} |
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81 \contentsline {subsubsection}{\numberline {10.4.1)}Which board are you using ?}{20}{subsubsection.10.4.1} |
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82 \contentsline {subsubsection}{\numberline {10.4.2)}Does the code compile with an other compiler than GNU gcc ?}{20}{subsubsection.10.4.2} |
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83 \contentsline {paragraph}{\numberline {a)}Interrupt functions}{20}{paragraph.10.4.2.1} |
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84 \contentsline {subparagraph}{\numberline {i)}Code for GCC:}{20}{subparagraph.10.4.2.1.1} |
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85 \contentsline {subparagraph}{\numberline {ii)}Code for CodeWarrior}{21}{subparagraph.10.4.2.1.2} |
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86 \contentsline {paragraph}{\numberline {b)}Interrupt lock, unlock}{21}{paragraph.10.4.2.2} |
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87 \contentsline {subparagraph}{\numberline {i)}Code for GCC}{21}{subparagraph.10.4.2.2.1} |
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88 \contentsline {subparagraph}{\numberline {ii)}Code for CodeWarrior}{21}{subparagraph.10.4.2.2.2} |
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89 \contentsline {paragraph}{\numberline {c)}Initialize function}{21}{paragraph.10.4.2.3} |
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90 \contentsline {subparagraph}{\numberline {i)}Code for GCC}{21}{subparagraph.10.4.2.3.1} |
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91 \contentsline {subparagraph}{\numberline {ii)}Code for CodeWarrior}{22}{subparagraph.10.4.2.3.2} |
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92 \contentsline {subsubsection}{\numberline {10.4.3)}Who to use warnings and errors messages ?}{22}{subsubsection.10.4.3} |
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93 \contentsline {paragraph}{\numberline {a)}Warnings messages}{23}{table.1} |
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94 \contentsline {paragraph}{\numberline {b)}Errors messages}{23}{table.2} |
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95 \contentsline {subsubsection}{\numberline {10.4.4)}Does the code works in banked memory ?}{23}{subsubsection.10.4.4} |
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96 \contentsline {subsubsection}{\numberline {10.4.5)}What GCC version are you using ?}{24}{subsubsection.10.4.5} |
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97 \contentsline {section}{\numberline {11 -}Documentation resources}{24}{section.11} |
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98 \contentsline {paragraph}{\numberline {a)}CIA : Can in Automation}{24}{paragraph.11.0.5.1} |
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99 \contentsline {paragraph}{\numberline {b)}Resources and training in CANopen}{24}{paragraph.11.0.5.2} |
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100 \contentsline {paragraph}{\numberline {c)}Elektronikladen HCS12 T{}-board}{24}{paragraph.11.0.5.3} |
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101 \contentsline {paragraph}{\numberline {d)}Gnu gcc compiler for HC12}{24}{paragraph.11.0.5.4} |
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102 \contentsline {paragraph}{\numberline {e)}Motorola documentation on HC12}{24}{paragraph.11.0.5.5} |
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103 \contentsline {paragraph}{\numberline {f)}Lauterbach debugger for HC12}{24}{paragraph.11.0.5.6} |
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104 \contentsline {paragraph}{\numberline {g)}Python language}{24}{paragraph.11.0.5.7} |
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105 \contentsline {section}{\numberline {12 -}About the project}{25}{section.12} |
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106 \contentsline {subsection}{\numberline {12.1)}Contributors }{25}{subsection.12.1} |
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107 \contentsline {subsection}{\numberline {12.2)}Getting support}{25}{subsection.12.2} |
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108 \contentsline {subsection}{\numberline {12.3)}Contributing}{25}{subsection.12.3} |
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109 \contentsline {subsection}{\numberline {12.4)}License}{26}{subsection.12.4} |