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+
+
+%%%%\%%%%%%%% titre, auteurs, date, etc...%%%%%%%%%%%%%%%%%%
+
+\title{\Huge Documentation}
+\author{Edouard TISSERANT}
+\date{\today}
+
+% Text styles
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+\makeatother
+\pagestyle{Standard}
+\setlength\tabcolsep{1mm}
+\renewcommand\arraystretch{1.3}
+\begin{document}
+{\centering\sffamily
+CanFestival3. Version 3.0\newline
+The CANOpen stack manual
+\par}
+
+\setcounter{tocdepth}{2}
+\renewcommand\contentsname{Table of contents}
+\tableofcontents
+\section{Introduction}
+This document describe the CANOpen layer.CanFestival is an OpenSource
+(LGPL) CANOpen framework.
+
+\subsection{The CanFestival project}
+This project, initiated by Edouard TISSERANT in 2001, as grown thanks to
+Francis DUPIN and other contributors.
+
+Today, CanFestival focuses on providing an ANSI{}-C platform independent
+CANOpen stack that can be implemented as master or slave nodes on PCs,
+Real{}-time IPCs, and Microcontrollers.
+
+CanFestival is a project supported by Lolitech.
+
+\subsection{What is CANopen}
+CANopen is a CAN based high level protocol. It defines some protocols to
+:
+
+\liststyleLi
+\begin{enumerate}
+\item Configure a CAN network.
+\item Transmit data to a specific node or in broadcast.
+\item Administrate the network. For example detecting a not responding
+node.
+\end{enumerate}
+The documentation can be found in the Can in automation website :
+
+\href{http://www.can-cia.de/canopen}{http://www.can{}-cia.de/canopen}
+
+The most important document about CANopen is the normative CiA Draft
+Standard 301, version 4.02. You can now download with no cost the
+specification in Can in automation website.
+
+To continue reading this document, let us assume that you have read some
+papers introducing CANopen.
+
+\section{CanFestival Features}
+\subsection{Tools }
+The CANopen library is coming with some tools :
+
+\liststyleLii
+\begin{enumerate}
+\item Object Dictionary editor GUI. WxPython Model{}-View{}-Controler
+based GUI, that help a lot in generating object dictionary source code
+for each node.
+\item A configure script, that let you chose compile time options such
+as target CPU/HOST, CAN and TIMER drivers.\newline
+This script have not been generated with autoconf, it have been made
+keeping micro{}-controller target in mind.
+\end{enumerate}
+\subsection{Standard conformance}
+\paragraph{Multi{}-Platform}
+\liststyleLiii
+\begin{enumerate}
+\item Library source code is C{}-ANSI.
+\item Driver and examples coding conventions merely depend on target
+specific contributor/compiler.
+\item Unix compatible interfaces and examples should compile and run on
+any Unix system (tested on GNU/Linux and GNU/FreeBSD).
+\end{enumerate}
+\paragraph{CanOpen conformance}
+{\bfseries\upshape
+DS{}-301}
+
+\liststyleLiv
+\begin{enumerate}
+\item Should conform to DS301. V.4.02 13 february 2002.
+\item Master and Slave functionality implemented.
+\item Sending SYNC implemented.
+\item 1 SDO server per node. (update: more than one possible. To be more
+tested)
+\item Unlimited SDO client.
+\item SDO transmission mode : normal, expedited download and upload.
+\item Unlimited PDO receive.
+\item Unlimited PDO transmit.
+\item Object Data type implemented : 8, 16, 32 bits values, and fixed
+length strings.
+\item Slave state full implemented.
+\item NMT to change slave{\textquotesingle}s state implemented.
+\item PDO transmission mode : on request, every reception of 0 to n
+SYNC, on event.
+\item NMT Heartbeat implemented : A node can be either heartbeat
+producer or receiver.
+\item NMT NodeGuard implemented : Not fully implemented.
+\item TIME (time Stamp) : Not implemented.
+\item EMCY (emergency objects) : Not implemented.
+\item PDO Mapping bit per bit implemented.
+\end{enumerate}
+{\bfseries\upshape
+DS{}-302}
+
+\liststyleLiv
+\begin{enumerate}
+\item Concise \ DFC : implemented.
+\end{enumerate}
+\section{How to start}
+\subsection{Host requirements}
+What you need on your development workstation.
+
+\subsubsection{Object Dictionary Editor GUI}
+\liststyleLv
+\begin{enumerate}
+\item Python, with 
+\item wxPyhon modules installed (at least version 2.6.3). 
+\item Gnosis xml tools. (Optional can also be installed locally to the
+project automatically will the help of a Makefile. Please see
+\hyperlink{a91UsingDictionaryEditorGUIoutline}{9.1) Using Dictionary
+Editor GUI} )
+\end{enumerate}
+\subsubsection[\ Linux and Unix{}-likes]{\ Linux and Unix{}-likes}
+\liststyleLv
+\begin{enumerate}
+\item Linux, FreeBSD, Cygwin or any Unix environment with GNU toolchain.
+\item The GNU C compiler (gcc) or any other ANSI{}-C compiler for your
+target platform.
+\item Xpdf, and the official 301\_v04000201.pdf file in order to get GUI
+context sensitive help. Download the ds301 at
+\href{http://www.can-cia.org/downloads/ciaspecifications/?1390}{http://www.can{}-cia.org/downloads/ciaspecifications/?1390}.
+\item GNU Make
+\item Bash and sed
+\end{enumerate}
+\subsubsection{Windows (for native win32 target)}
+\liststyleLv
+\begin{enumerate}
+\item Visual Studio Express 2005 or worst.
+\item Microsoft platform SDK (requires Genuine Advantage)
+\item Cygwin (for configuration only)
+\end{enumerate}
+\subsection{How to get CanFestival}
+Please always use CVS, this is the best way to get the most reactive
+support from the developer community :
+
+cvs {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival
+login\newline
+(type return, without entering a password) 
+
+Then, enter : \newline
+cvs {}-z3 {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival co
+{}-P CanFestival{}-3
+
+\section{Understanding Canfestival}
+\subsection{CanFestival Project tree layout}
+Simplified directory structure.
+
+{\ttfamily\bfseries
+./src ANSI{}-C source of CANOpen stack}
+
+{\ttfamily\bfseries
+\ /include Exportables Header files}
+
+{\ttfamily\bfseries
+./drivers Interfaces to specific platforms/HW}
+
+{\ttfamily
+./drivers/unix Linux and Cygwin OS interface}
+
+{\ttfamily
+./drivers/win32 Native Win32 OS interface}
+
+{\ttfamily
+./drivers/timers\_xeno Xenomai timers/threads (Linux only)}
+
+{\ttfamily
+./drivers/timers\_unix Posix timers/threads (Linux, Cygwin)}
+
+{\ttfamily
+./drivers/can\_peak\_linux PeakSystem CAN library interface}
+
+{\ttfamily
+./drivers/can\_peak\_win32 PeakSystem PCAN{}-Light interface}
+
+{\ttfamily
+./drivers/can\_uvccm\_win32 Acacetus{\textquotesingle}s RS232
+``CAN{}-uVCCM'' interface}
+
+{\ttfamily
+./drivers/can\_virtual Fake CAN network (Linux, Cygwin)}
+
+{\ttfamily
+./drivers/hcs12 HCS12 full target interface}
+
+{\ttfamily\bfseries
+./examples Examples}
+
+{\ttfamily
+./examples/TestMasterSlave 2 nodes, NMT SYNC SDO PDO, win32+unix}
+
+{\ttfamily
+./examples/TestMasterMicroMod 1 node, control Peak I/O Module, unix}
+
+{\ttfamily
+./examples/gene\_SYNC\_HCS12 Just send periodic SYNC on HCS12}
+
+{\ttfamily
+./examples/win32test Ask some DS301 infos to a node (\textbf{win32)}}
+
+{\ttfamily\bfseries
+./objdictgen Object Dictionary editor GUI}
+
+{\ttfamily
+./objdictgen/config Pre{}-defined OD profiles}
+
+{\ttfamily
+./objdictgen/examples Some examples/test OD}
+
+{\ttfamily\bfseries
+./doc Project and CanOpen doc}
+
+\subsection{Implement CanFestival in your application}
+ 
+ \begin{center}
+   \includegraphics[width=20cm]{Pictures/10000201000003F9000002CF880931E7.png}
+\end{center}
+
+\bigskip
+
+\subsection{CanFestival CAN interfaces}
+Because most CAN controllers and drivers implement FIFOs, CanFestival
+consider sending message as a non bloking operation.
+
+In order to prevent reentrent calls to the stack, messages reception is
+implemented differently on {\textmu}C and OS.:
+
+\liststyleLvi
+\begin{enumerate}
+\item {\textmu}C must provide interuption masking for timer and can
+receive IT\newline
+ \begin{center}
+   \includegraphics[width=20cm]{Pictures/10000201000003CA0000016604E6A5EF.png}
+\end{center}
+\item OS must provide a receive thread, a timer thread and a mutex. CAN
+reception is a bloking operation.\newline
+\begin{center}
+   \includegraphics[width=20cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}
+\end{center}
+\end{enumerate}
+\subsection{CanFestival events scheduling}
+A CanOpen node must be able to take delayed actions.
+
+As exemples, periodic sync emission, heartbeat production or SDO timeout
+need to set some alarms that will be called later and do the job.
+
+{\textmu}C generaly do not have enough free timers to handle all the
+CanOpen needs directly. Moreover, CanFestival internal data may be
+corrupt by reentrant calls. 
+
+CanFestival implement a micro{}-scheduler (timer.c). It uses only one
+timer to mimic many timers. It manage an alarm table, and call alarms
+at desired time.
+
+\begin{center}
+   \includegraphics[width=20cm]{Pictures/100000000000022C000000DEDAD2140C.png}
+\end{center}
+
+Scheduler can handle short clock value ranges limitation found on some
+{\textmu}C. As an example, value range for a 16bit clock counter with
+4{\textmu}s tick is crossed within 0.26 seconds... Long alarms must be
+segmented.
+
+Chronogram illustrate a long alarm (A) and a short periodic alarm (B),
+with a A value {\textgreater} clock range {\textgreater} B value.
+Values t0...t8 are successive setTimer call parameter values. t1
+illustrates an intermediate call to TimeDispatch, caused by a delay
+longer than clock range. Because of long alarm segmentation, at the end
+of t1, TimeDispatch call will not trig any alarm callback.
+
+\begin{center}
+   \includegraphics[width=20cm]{Pictures/1000000000000396000000FFC42573DA.png}
+\end{center}
+
+\section{Linux Target}
+Linux target is default configure target.
+
+\subsection{Linux Compilation and installation}
+Call ./configure {--}help to see all available compile time options.
+
+After invoking ./configure with your platform specific switches, just
+type make.
+
+{\ttfamily
+./configure [options]}
+
+{\ttfamily
+make}
+
+{\ttfamily
+\textstyleTeletype{make install}}
+
+\subsubsection{Standard Linux node}
+Configure switch:
+
+{\ttfamily
+ {}-{}-timers=unix}
+
+To do a CANopen node running on PC{}-Linux, you need :
+
+\liststyleLvii
+\begin{enumerate}
+\item A working linux distribution
+\item One or more Peak system PC CAN interface and the last Peak Linux
+driver installed.
+\end{enumerate}
+\subsubsection{Real{}-Time Linux node}
+Configure switch:
+
+{\ttfamily
+ {}-{}-timers=xeno}
+
+To do a CANopen node running on PC{}-Linux, you need :
+
+\liststyleLviii
+\begin{enumerate}
+\item A working Linux distribution patched with XENOMAI 2.1 or greater.
+\item One or more Peak system PC CAN interface and the last Peak Real
+Time Linux driver installed.
+\end{enumerate}
+\subsubsection{CAN devices}
+Curently supported CAN devices and corresponding configure switch:
+
+\paragraph{Peak systems}
+Configure switch:
+
+{\ttfamily
+{}-{}-can=peak\_linux}
+
+PeakSystems CAN interface is automatically chosen as default CAN
+interface if libpcan is present in the system.
+
+Please download driver at
+\href{http://www.peak-system.com/linux}{http://www.peak{}-system.com/linux}
+and follow instructions in order to install driver on your system.
+
+\paragraph{Socket{}-Can (http://socketcan.berlios.de)}
+Configure switch:
+
+{\ttfamily
+{}-{}-can=socket}
+
+\paragraph{LinCan}
+Configure switch:
+
+{\ttfamily
+{}-{}-can=lincan}
+
+\paragraph{Virtual CAN interfaces (for test/debug)}
+Configure switch:
+
+{\ttfamily
+{}-{}-can=virtual}
+
+Virtual CAN interface use Unix pipes to emulate a virtual CAN network.
+Each message issued from a node is repeat to all other nodes. Currently
+only works with nodes running in the same process, and does not support
+work with Xenomai.
+
+\subsection{Testing your CanFestival installation}
+Sample provided in /example/TestMasterSlave is installed into your
+system during installation.
+
+{\ttfamily
+TestMasterSlave}
+
+Default can driver library is libcanfestival\_can\_virtual.so., which
+will simply pass CAN messages through Unix pipes between Master and
+Slave. 
+
+You may also want to specify different can interface and define some CAN
+ports. An other example using Peak{\textquotesingle}s dual PCMCIA
+(configure and install with {--}can=peak) :
+
+{\ttfamily
+TestMasterSlave {}-l libcanfestival\_can\_peak.so {}-s 40 {}-m 41}
+
+\section{Windows Targets}
+CanFestival can be compiled and run on Windows platform. It is possible
+to use both Cygwin and win32 native runtime environment.
+
+\subsection{Object Dictionary Editor GUI installation.}
+Please refer to
+\hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using Dictionary
+Editor GUI}
+
+\subsection{CYGWIN}
+\subsubsection{Requirements}
+Cygwin have to be installed with those packages :
+
+\liststyleLix
+\begin{enumerate}
+\item gcc
+\item unzip
+\item wget
+\item make
+\end{enumerate}
+Currently, the only supported CAN devices are PeakSystems ones, with
+PcanLight driver and library. 
+
+Please download driver at
+\href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak{}-system.com/themen/download\_gb.html}
+\ and follow instructions in order to install driver on your system.
+
+Install Cygwin as required, and the driver for your Peak CAN device.
+
+Open a Cygwin terminal, and follow those instructions:
+
+\subsubsection{Cygwin configuration and compilation}
+\paragraph{A single node with PcanLight and Peak CAN{}-USB adapter}
+Download the PCAN{}-Light Zip file for your HW ( URL from download page
+): 
+
+{\ttfamily
+wget http://www.peak{}-system.com/files/usb.zip}
+
+Extract its content into your cygwin home (it will create a ``Disk''
+directory):
+
+{\ttfamily
+unzip usb.zip}
+
+Configure CanFestival3 providing path to the desired PcanLight
+implementation:
+
+{\ttfamily
+cd CanFestival{}-3}
+
+{\ttfamily
+export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/}
+
+{\ttfamily
+export PCAN\_HEADER=Pcan\_usb.h}
+
+{\ttfamily
+export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
+C++/Pcan\_usb.lib}
+
+{\ttfamily
+./configure {}-{--}can=peak\_win32}
+
+{\ttfamily
+make}
+
+In order to test, you have to use another CanFestival node, connect with
+a CAN cable.
+
+{\ttfamily
+cp \~{}/Disk/PCAN{}-Light/Pcan\_usb.dll .}
+
+{\ttfamily
+./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
+
+{\ttfamily
+  {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll
+{\textbackslash}}
+
+{\ttfamily
+  {}-S 500K {}-M none}
+
+Then, on the other node :
+
+{\ttfamily
+./TestMasterSlave {}-l my\_driver.so {}-S none {}-M 500K}
+
+Now messages are beeing exchanged between master and slave node.
+
+\paragraph{Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}
+Download the PCAN{}-Light Zip file for your HW ( URL from download page
+): 
+
+{\ttfamily
+wget http://www.peak{}-system.com/files/pccard.zip}
+
+Extract its content into your cygwin home (it will create a ``Disk''
+directory):
+
+{\ttfamily
+unzip pccard.zip}
+
+The configure CanFestival3 providing path to the desired PcanLight
+implementation:
+
+{\ttfamily
+export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/\newline
+export PCAN\_HEADER=Pcan\_pcc.h\newline
+export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
+C++/Pcan\_pcc.lib\newline
+export PCAN2\_HEADER=Pcan\_2pcc.\newline
+export PCAN2\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
+C++/Pcan\_2pcc.lib}
+
+In order to test, just connect together both CAN ports of the PCMCIA
+card. Don{\textquotesingle}t forget 120ohms terminator.
+
+{\ttfamily
+cp \~{}/Disk/PCAN{}-Light/Pcan\_pcc.dll .}
+
+{\ttfamily
+cp \~{}/Disk/PCAN{}-Light/Pcan\_2pcc.dll .}
+
+{\ttfamily
+./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
+
+{\ttfamily
+  {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll}
+
+Messages are then exchanged between master and slave node, both inside
+TestMasterSlave{\textquotesingle}s process.
+
+\subsection{Visual Studio C++}
+\subsubsection{Requirements}
+Minimal Cygwin installation is required at configuration time in order
+to create specific header files (config.h and cancfg.h). Once this
+files created, cygwin is not necessary any more.
+
+Project and solution files have been created and tested with Visual
+Studio Express 2005. Be sure to have installed Microsoft Platform SDK,
+as recommended at the end of Visual Studio installation.
+
+\subsubsection{Configuration with cygwin}
+Follow instructions given at
+\hyperlink{a422Cygwinconfigurationandcompilationoutline}{4.2.2)Cygwin
+configuration and compilation}, but do neither call make nor do tests,
+just do configuration steps. This will create headers files accordingly
+to your configuration parameters, and the desired CAN hardware.
+
+\subsubsection{Compilation with Visual Studio}
+You can either load independents ``*.vcproj'' project files along your
+own projects in your own solution or load the provided
+``CanFestival{}-3.vc8.sln'' solution files directly.
+
+Build CanFestival{}-3 project first.
+
+\paragraph{PcanLight and the can\_peak\_win32 project.}
+Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
+to can\_peak\_win32 \ \ project before build of the DLL.
+
+\subsubsection{Testing}
+Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or Debug
+directory, and run the test program:
+
+{\ttfamily
+TestMasterSlave.exe {}-l can\_peak\_win32.dll}
+
+\section{Motorola HCS12}
+The examples have been tested on a MC9S12DG255 mounted on a
+Elektronikladen HCS12 T{}-board.
+
+Beware that there are a few differences in the MSCAN module of the
+68HC12 and HCS12 microcontroller. For a HC12, you must adapt the driver
+that we provide for \ the HCS12.
+
+For the difference MSCAN HC12/HCS12, see the Motorola application note
+AN2011/D.
+
+Configure switch:
+
+{\ttfamily
+ {}-{}-target=hcs12}
+
+To do a CANopen node running on a microncontroller Motorola MC9S12DP256,
+you need :
+
+\liststyleLx
+\begin{enumerate}
+\item The compiler GNU gcc for HC11, HC12, HCS12 : m6811{}-elf. \newline
+Download the \textbf{release 3.1} at :
+\ \href{http://m68hc11.serveftp.org/m68hc11_pkg_rpm.php}{http://m68hc11.serveftp.org/m68hc11\_pkg\_rpm.php}
+
+\item A board with this chip. We are using the T{}-board from
+Electronikladden. 
+\item At least about 40 kBytes of program memory.
+\item A tool to flash the memory. (We are using the hight cost
+Lauterbach debugger).
+\end{enumerate}
+\subsection{Running a HCS12 node}
+\subsubsection{Compiling Canfestival:}
+{\ttfamily
+./configure {--}target=hcs12}
+
+\subsubsection{Compiling and building an example}
+Enter in the folder of an HCS12 example, 
+
+{\ttfamily
+make all}
+
+\subsubsection{Flashing the memory :}
+Use your prefered loader ! If you are using a debugger Lauterbach, you
+can load the bash file : trace32\_flash\_programmer.cmm. It loads
+directly the elf file.
+
+\subsubsection{Connecting to a serial RS232 console :}
+Connect the portS(TxD0) of the HCS12 to a console configured at 19200
+bauds 8N1, via a Max232 chip to adapt the electricals levels. On Linux,
+you can use minicom. Connecting to a console is usefull to read the
+messages, but not required.
+
+\subsubsection{Connecting to the CAN network :}
+Connect the port CAN0 (pin PM0, PM1) to the network via a CAN
+controller. On our board, the CAN controler is a PCA82C250 chip.
+
+\subsubsection{starting the node :}
+Press the reset of your HCS12 board.
+
+\section{Example and test program:}
+The ``examples'' directory contains some test program you can use as
+example for your own developments.
+
+\subsection{TestMasterSlave}
+{\ttfamily
+**************************************************************}
+
+{\ttfamily
+* \ TestMasterSlave
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ A simple example for PC. It does implement 2 CanOpen \ \ \ \ \ *}
+
+{\ttfamily
+* \ nodes in the same process. A master and a slave. Both \ \ \ \ *}
+
+{\ttfamily
+* \ communicate together, exchanging periodically NMT, SYNC, \ *}
+
+{\ttfamily
+* \ SDO and PDO. Master configure heartbeat producer time \ \ \ \ *}
+
+{\ttfamily
+* \ at 1000 ms for slave node{}-id 0x02 by concise DCF.
+\ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ Usage:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ ./TestMasterSlave \ [OPTIONS]
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ OPTIONS:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-l : Can library
+[{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
+\ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ Slave:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-s : bus name [{\textquotedbl}0{\textquotedbl}]
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ Master:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+**************************************************************}
+
+
+\bigskip
+
+{\sffamily
+Notes for Concise DCF :}
+
+
+\bigskip
+
+{\sffamily
+ In this example, Master configure \ heartbeat producer time at 1000 ms
+for slave node{}-id 0x02 by concise DCF according DS{}-302 profile. }
+
+{\sffamily
+ }
+
+{\sffamily
+ Index 0x1F22 , sub{}-index 0x00 of the master OD, correspond to the
+number of entries. This equal to the maximum possible nodeId (127).
+Each sub{}-index points to the Node{}-ID of the device, to which the
+configuration belongs. }
+
+
+\bigskip
+
+{\sffamily
+ To add more parameters configurations to the slave, the value at
+sub{}-index 0x02 must be a binary stream (little{}-endian) following
+this structure :}
+
+{\sffamily
+    }
+
+{\sffamily
+[ nb of entries / index parameter 1 / sub{}-index parameter 1 \ / size
+data parameter 1 \ / data parameter 1 / index parameter n / ...]}
+
+{\sffamily
+\ \ \ \ \ \ (UNS32) \ \ \ \ \ \ \ \ \ \ \ \ (UNS16)  (UNS8)  
+\ \ \ \ \ \ \ \ \ \ \ (UNS32)   \ \ \ (DOMAIN)}
+
+{\sffamily
+ }
+
+{\sffamily
+ So the binary value stream to configure heartbeat producer time must be
+: }
+
+
+\bigskip
+
+{\sffamily
+    0100000017100002000000e803}
+
+
+\bigskip
+
+{\sffamily
+The slave node is configured just before the Master entering in
+Pre\_operational state.}
+
+\subsection{gene\_SYNC\_HCS12 :}
+This is a simple CanOpen node that only send cyclic SYNC message. It
+demonstrate implementation on HCS12 based board.
+
+
+\bigskip
+
+\subsection{TestMasterMicroMod }
+{\ttfamily
+**************************************************************}
+
+{\ttfamily
+* \ TestMasterMicroMod
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ A simple example for PC.
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ A CanOpen master that control a MicroMod module:
+\ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- setup module TPDO 1 transmit type
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- setup module RPDO 1 transmit type
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- setup module hearbeatbeat period
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- disable others TPDOs
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- set state to operational
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- send periodic SYNC
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- send periodic RPDO 1 to Micromod (digital output) \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- listen Micromod{\textquotesingle}s TPDO 1 (digital input)
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ {}- Mapping RPDO 1 bit per bit (digital input)
+\ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ Usage:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ ./TestMasterMicroMod \ [OPTIONS]
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ OPTIONS:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-l : Can library
+[{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
+\ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ Slave:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-i : Slave Node id format [0x01 , 0x7F]
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ Master:
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+* \ \ \ \ {}-M : 1M,500K,250K,125K,100K,50K,20K,10K
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+*
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *}
+
+{\ttfamily
+**************************************************************}
+
+\section{Developing a new node}
+Using provided examples as a base for your new node is generally a good
+idea. You can also use the provided *.od files as a base for your node
+object dictionary.
+
+Creating a new CanOpen node implies to define the Object Dictionary of
+this node. For that, developer have to provide a C file. This C file
+contains the definition of all dictionary entries, and some kind of
+index table that helps the stack to access some entries directly.
+
+\subsection{Using Dictionary Editor GUI}
+The Object Dictionary Editor is a WxPython based GUI that is used to
+create the C file needed to create a new CanOpen node. 
+
+\subsubsection{Installation and usage on Linux}
+You first have to download and install Gnosis XML modules. This is
+automated by a Makefile rule.
+
+{\ttfamily
+cd objdictgen}
+
+{\ttfamily
+make}
+
+Now start the editor.
+
+{\ttfamily
+python objdictedit.py [od files...]}
+
+\subsubsection{Installation and usage on Windows}
+Install Python (at least version 2.4) and wxPython (at least version
+2.6.3.2).
+
+Cygwin users can install Gnosis XML utils the same as Linux use. Just
+call make.
+
+{\ttfamily
+cd objdictgen}
+
+{\ttfamily
+make}
+
+Others will have to download and intall Gnosis XML by hand :
+
+{\ttfamily
+Gnosis Utils:}
+
+{\ttfamily
+http://freshmeat.net/projects/gnosisxml/}
+
+{\ttfamily
+http://www.gnosis.cx/download/Gnosis\_Utils.More/Gnosis\_Utils{}-1.2.1.win32{}-py24.exe}
+
+{\ttfamily
+Get latest version.}
+
+Download CanFestival archive and uncompress it. Use windows file
+explorer to go into CanFestival3{\textbackslash}objdicgten, and
+double{}-click on objdictedit.py.
+
+\subsubsection{About}
+The Object Dictionary editor GUI is a python application that use the
+Model{}-View{}-Controller design pattern. It depends on WxPython to
+display view on any supported platform.
+
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000201000001FC000001E5D65E8766.png}
+\end{center}
+
+\subsubsection{Main view}
+Top list let you choose dictionary section, bottom left list is the
+selected index in that dictionary, and bottom right list are edited
+sub{}-indexes.
+
+ \begin{center}
+   \includegraphics[width=5cm]{Pictures/10000201000001FC000001E5D65E8766.png}
+\end{center}
+
+ \begin{center}
+   \includegraphics[width=5cm]{Pictures/10000000000000B6000000DF1EDD1E73.png}
+\end{center}
+  \begin{center}
+   \includegraphics[width=5cm]{Pictures/10000000000000AC000000C9C3F53FA6.png}
+\end{center}
+ \begin{center}
+   \includegraphics[width=5cm]{Pictures/100000000000006D000000A31EC8CB54.png}
+\end{center}
+  \begin{center}
+   \includegraphics[width=5cm]{Pictures/10000000000000AA0000006014F74635.png}
+\end{center}
+
+\subsubsection{New node}
+Edit your node name, ID and type. Choose your inherited specific
+profile.
+
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000201000001CB0000015F4FC09B68.png}
+\end{center}
+
+\subsubsection{Node info}
+Edit your node name, ID and type.
+
+ \begin{center}
+   \includegraphics[width=10cm]{Pictures/10000201000001010000011DA724D25C.png}
+\end{center}
+
+\subsubsection{Profile editor}
+Chose the used profile to edit.\newline
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000000000000AB000000C88F594413.png}
+\end{center}
+
+Pick up optional chosen profile entries.\newline
+ \begin{center}
+   \includegraphics[width=10cm]{Pictures/10000201000002DE000001D82D89C224.png}
+\end{center}
+
+\subsubsection{User types}
+Use User Types to implement value boundaries, and string lentgth\newline
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000201000001C40000010766961D7F.png}
+\end{center}
+
+\subsubsection{Mapped variable}
+Add your own specific dictionary entries and associated mapped
+variables.\newline
+ \begin{center}
+   \includegraphics[width=10cm]{Pictures/10000201000001C4000000DD129D4661.png}
+\end{center}
+
+\subsubsection{Integrated help}
+Using F1 key, you can get context sensitive help.\newline
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000201000002F30000020B23ED7F67.png}
+\end{center}
+
+In order to do that, official 301\_v04000201.pdf file must be placed
+into doc/ directory, and xpdf must be present on your system.
+
+F2 key open HTML CanFestival help.\newline
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000201000003440000025ACC3FD2F1.png}
+\end{center}
+
+\subsection{Generating the object Dictionary}
+Once object dictionary has been edited and saved, you have to generate
+object dictionary C code for your CanFestival node.
+
+\subsubsection{With GUI}
+Menu entry ``File/Build Dictionary''.
+
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/10000201000000B7000000C66AF89CD5.png}
+\end{center}
+
+Choose C file to create or overwrite. Header file will be also created
+with the same prefix as C file.
+
+\subsubsection{With command line}
+{\ttfamily
+Usage of objdictgen.py :\newline
+python objdictgen.py XMLFilePath CfilePath}
+
+\section{FAQ}
+\subsection{General}
+\subsubsection{Does the code compiles on Windows ?}
+Yes, with both Cygwin and Visual Studio C++.
+
+Because CANopen layer is coded with C, put a compilation option /TC or
+/TP if you plan to mix C++ files. See the MSDN documentation about
+that.
+
+\subsubsection{How to fit the library to an other microcontr\^oler ?}
+First, be sure that you have at least 40K bytes of program memory, and
+about 2k of RAM. 
+
+You have to create target specific interface to HW resources. Take model
+on bundled interfaces provided in drivers/ and create your own
+interface. You also have to update Makefile.in files for target
+specific cflags and options. Chose {--}targer= configure switch to
+compile your specific interface.
+
+You are welcome to contribute{}-back your own interfaces ! Other
+Canfestival users will use it and provide feedback, tests and
+enhancements.
+
+\subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
+Thanks to Philippe Foureys (IUT of Valence), a slave node have been
+tested with the National Instrument CanOpen Conformance Test. It passed
+the test with success.
+
+Some very small unconformity have been found in very unusual situations,
+for example in the SDO code response to wrong messages.
+
+\subsection{LINUX}
+\subsubsection{How to use a Peaksystem CAN board ?}
+Just install peak driver and then compile and install Canfestival. Peak
+driver is detected at compile time.
+
+\subsubsection{How to use an unsupported CAN board ?}
+You have to install the specific driver on your system, with necessary
+libs and headers. 
+
+Use can\_peak.c/h or can\_virtual.c/h as an example, and adapt it to
+your driver API.
+
+Execute configure script and choose {}-{}-can=mydriver
+
+\subsection{Win32}
+Compatibility:
+
+\liststyleLxi
+\begin{enumerate}
+\item Code was compiled MS VisualStudio 2003.NET and VisualStudio
+2005.NET for WindowsXP \ with ANSI and UNICODE configurations and for
+WindowsCE 5.0. 
+\item Some preliminary testing was done, but not enough to be used in
+mission critical projects.
+\end{enumerate}
+Additional Features:
+
+\liststyleLxii
+\begin{enumerate}
+\item Non{}-integral integers support implementation UNS24, UNS40, UNS48
+etc.
+\item When enable debug output with DEBUG\_WAR\_CONSOLE\_ON or
+DEBUG\_ERR\_CONSOLE\_ON, you can navigate in CanFestival source code by
+double clicking at diagnostic lines in VisualStudio.NET 200X Debug
+Output Window.
+\end{enumerate}
+Custom size integral types such as INTEGER24, UNS40, INTEGER56 etc. have
+been defined as 64 bits integers. You will need to replace sizeof(TYPE)
+operators to sizeof\_TYPE definitions in generated code, i.e. replace
+sizeof(UNS40) with sizeof\_UNS40.
+
+
+\bigskip
+
+\subsection{HCS12}
+\subsubsection{Which board are you using ?}
+A T{}-board from elektronikladen with a MC9S12DP256 or MC9S12DG256.
+
+\subsubsection{Does the code compile with an other compiler than GNU gcc
+?}
+It is known to work with Metrowerks CodeWarrior. Here are some tips from
+Philippe Foureys. :
+
+\paragraph{Interrupt functions}
+\subparagraph{Code for GCC:}
+{\ttfamily
+ // prototype\newline
+ void \_\_attribute\_\_((interrupt))timer3Hdl(void):\newline
+ // function\newline
+ void \_\_attribute\_\_((interrupt))timer3Hdl(void)\{...\}}
+
+\subparagraph{Code for CodeWarrior}
+{\ttfamily
+ // protoype\newline
+ void interrupt timer3Hdl(void);\newline
+ // function\newline
+ pragma CODE\_SEG\_\_NEAR\_SEG\_NON\_BANKED\newline
+ void interrupt timer3Hdl(void)\newline
+ \{...\}\newline
+ pragma CODE\_SEG\_DEFAULT}
+
+\paragraph{Interrupt lock, unlock}
+\subparagraph{Code for GCC}
+{\ttfamily
+ void unlock (void)\newline
+ \{\newline
+  \ \_\_asm\_\_
+\_\_volatile\_\_({\textquotedbl}cli{\textquotedbl});\newline
+ \}\newline
+ void lock (void)\newline
+ \{\newline
+  \ unsigned short mask;\newline
+  \ \_\_asm\_\_
+\_\_volatile\_\_({\textquotedbl}tpa{\textbackslash}n{\textbackslash}tsei{\textquotedbl}:{\textquotedbl}=d{\textquotedbl}(mask));\newline
+ \}}
+
+\subparagraph{Code for CodeWarrior}
+{\ttfamily
+void unlock (void)\newline
+ \{\newline
+  \ \_\_asm({\textquotedbl}cli{\textquotedbl});\newline
+ \}\newline
+ void lock (void)\newline
+ \{\newline
+  \ unsigned short mask;\newline
+  \ \_\_asm\newline
+  \{\newline
+  \ tpa:tsei:{\textquotedbl}=d{\textquotedbl}(mask);\newline
+  \}\newline
+ \}}
+
+\paragraph{Initialize function}
+\subparagraph{Code for GCC}
+{\ttfamily
+void initCanHCS12 (void)\newline
+ \{ \ \newline
+  \ //Init the HCS12 microcontroler for CanOpen \newline
+  \ initHCS12();\newline
+  \ \ // Init the HCS12 \ CAN driver\newline
+  \ const canBusInit bi0 = \{\newline
+  \ \ \ 0, \ \ \ /* no low power \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */
+\newline
+  \ \ \ 0, \ \ \ /* no time stamp
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 1, \ \ \ /* enable MSCAN
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 0, \ \ \ /* clock source : oscillator (In fact, it is not used)
+\ \ */\newline
+  \ \ \ 0, \ \ \ /* no loop back
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 0, \ \ \ /* no listen only
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 0, \ \ \ /* no low pass filter for wk up */\newline
+  \ CAN\_Baudrates[CAN\_BAUDRATE\_250K],\newline
+  \ \ \ \{\newline
+  \ \ \ \ \ 0x00, \ \ \ /* Filter on 16 bits.\newline
+  \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ See Motorola Block Guide V02.14 fig
+4{}-3 */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 0 hight accept all msg
+\ \ \ \ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 0 low accept all msg
+\ \ \ \ \ \ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 1 hight filter all of \ msg
+\ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 1 low filter all of \ msg
+\ \ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 2 hight filter most of \ msg
+*/\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 2 low filter most of \ msg
+\ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 3 hight filter most of \ msg
+*/\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 3 low filter most of \ msg
+\ \ */\newline
+  \ \ \ \}\newline
+  \ \};}
+
+\subparagraph{Code for CodeWarrior}
+{\ttfamily
+void initCanHCS12 (void)\newline
+ \{ \ \newline
+  \ //Init the HCS12 microcontroler for CanOpen \newline
+  \ initHCS12();\newline
+  \ \ // Init the HCS12 \ CAN driver\newline
+  \ const canBusInit bi0 = \{\newline
+  \ \ \ 0, \ \ \ /* no low power \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */
+\newline
+  \ \ \ 0, \ \ \ /* no time stamp
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 1, \ \ \ /* enable MSCAN
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 0, \ \ \ /* clock source : oscillator (In fact, it is not used)
+\ \ */\newline
+  \ \ \ 0, \ \ \ /* no loop back
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 0, \ \ \ /* no listen only
+\ \ \ \ \ \ \ \ \ \ \ \ \ \ */\newline
+  \ \ \ 0, \ \ \ /* no low pass filter for wk up */\newline
+  \ \ \ \{\newline
+  \ \ \ \ 1, /* clksrc */\newline
+  \ \ \ \ 3, /* brp \ \ \ */\newline
+  \ \ \ \ 0, /* sjw \ \ \ */\newline
+  \ \ \ \ 0, /* samp \ \ */\newline
+  \ \ \ \ 1, /* tseg2 \ */\newline
+  \ \ \ \ 12,/* tseg1 \ */\newline
+  \ \ \ \},\newline
+  \ \ \ \{\newline
+  \ \ \ \ \ 0x00, \ \ \ /* Filter on 16 bits.\newline
+  \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ See Motorola Block Guide V02.14 fig
+4{}-3 */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 0 hight accept all msg
+\ \ \ \ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 0 low accept all msg
+\ \ \ \ \ \ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 1 hight filter all of \ msg
+\ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 1 low filter all of \ msg
+\ \ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 2 hight filter most of \ msg
+*/\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 2 low filter most of \ msg
+\ \ */\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 3 hight filter most of \ msg
+*/\newline
+  \ \ \ \ \ 0x00, 0xFF, /* filter 3 low filter most of \ msg
+\ \ */\newline
+  \ \ \ \}\newline
+  \ \};}
+
+\subsubsection{Who to use warnings and errors messages ?}
+\paragraph{Warnings messages}
+\begin{longtable}[c]{|p{0.8476598in}|p{0.7761598in}|p{1.0268599in}|p{-0.026640158in}|p{1.0386599in}|p{1.2247599in}|p{1.1761599in}|}
+\hline
+{\bfseries
+DEBUG\_WAR\_CONSOLE \_ON}
+&
+{\bfseries
+DEBUG \_CAN}
+&
+{\bfseries
+PrintMsg{}-WarTo{}-Console}
+&
+
+\bigskip
+&
+{\bfseries
+Printing long message on console }
+&
+\textbf{Printing short message on console.} (number and value only) 
+&
+\textbf{Sending number and value in a PDO}., only if the node is a
+slave, in operational state. 
+\\\hline
+\endhead
+DEF
+&
+DEF
+&
+1
+&
+
+\bigskip
+&
+
+\bigskip
+&
+yes
+&
+
+\bigskip
+\\\hline
+DEF
+&
+DEF
+&
+0
+&
+
+\bigskip
+&
+yes
+&
+
+\bigskip
+&
+
+\bigskip
+\\\hline
+DEF
+&
+UNDEF
+&
+1
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+\\\hline
+DEF
+&
+UNDEF
+&
+0
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+\\\hline
+UNDEF
+&
+X
+&
+X
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+\\\hline
+\end{longtable}
+
+\bigskip
+
+\paragraph{Errors messages}
+\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}|}
+\hline
+{\bfseries
+DEBUG\_ERR\_CONSOLE \_ON}
+&
+{\bfseries
+DEBUG \_CAN}
+&
+{\bfseries
+PDO \_ERROR }
+&
+{\bfseries
+PrintMsg{}-ErrTo{}-Console}
+&
+
+\bigskip
+&
+{\bfseries
+Printing long message on console}
+&
+\textbf{Printing short message on console.} (number and value only) 
+&
+\textbf{Sending number and value in a PDO}., only if the node is a
+slave, in operational state. 
+\\\hline
+\endhead
+DEF
+&
+DEF
+&
+X
+&
+1
+&
+
+\bigskip
+&
+
+\bigskip
+&
+yes
+&
+yes
+\\\hline
+DEF
+&
+DEF
+&
+X
+&
+0
+&
+
+\bigskip
+&
+yes
+&
+
+\bigskip
+&
+yes
+\\\hline
+DEF
+&
+UNDEF
+&
+X
+&
+1
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+yes
+\\\hline
+DEF
+&
+UNDEF
+&
+X
+&
+0
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+yes
+\\\hline
+UNDEF
+&
+X
+&
+DEF
+&
+X
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+yes
+\\\hline
+UNDEF
+&
+X
+&
+UNDEF
+&
+X
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+&
+
+\bigskip
+\\\hline
+\end{longtable}
+
+\bigskip
+
+\subsubsection{Does the code works in banked memory ?}
+No. Today it seems that the port of gcc is bogged for using the banked
+memory. So, unfortunately, we are limited to 48 Kbytes of memory code.
+
+\subsubsection{What GCC version are you using ?}
+We are using the stable RPM release 2.2 :
+
+\liststyleLxiii
+\begin{enumerate}
+\item GNU Gcc 3.0.4. Build 20030501
+\item Newlib 1.10.0 Build 20030421
+\item GNU Binutils 2.12.1 Build 20030427
+\end{enumerate}
+\section{Documentation resources}
+\paragraph{CIA : Can in Automation}
+Many documentation on CANopen.
+
+\href{http://www.can-cia.de/}{http://www.can{}-cia.de}
+
+\paragraph{Resources and training in CANopen}
+\href{http://www.esacademy.com/}{http://www.esacademy.com}
+
+\paragraph{Elektronikladen HCS12 T{}-board}
+\href{http://www.elektronikladen.de/en_hcs12tb.html}{http://www.elektronikladen.de/en\_hcs12tb.html}
+
+\paragraph{Gnu gcc compiler for HC12}
+\href{http://m68hc11.serveftp.org/m68hc11_port.php}{http://m68hc11.serveftp.org/m68hc11\_port.php}
+
+\paragraph{Motorola documentation on HC12}
+\href{http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MC9S12DP256}{http://www.freescale.com/webapp/sps/site/prod\_summary.jsp?code=MC9S12DP256}
+
+\paragraph{Lauterbach debugger for HC12}
+\href{http://www.lauterbach.com/}{http://www.lauterbach.com}
+
+\paragraph{Python language}
+\href{http://www.python.org/}{http://www.python.org}
+
+\clearpage\section{About the project}
+\subsection{Contributors }
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/1000020100000258000000832C6FFAB4.png}
+\end{center}
+
+Unit\'e mixte de recherche INRETS{}-LCPC
+
+sur les Interractions V\'ehicule{}-Infrastructure{}-Conducteur
+
+14, route de la mini\`ere
+
+78000 Versailles
+
+FRANCE
+
+Tel : +33 1 40 43 29 01
+
+\href{http://www.inrets.fr/ur/livic}{http://www.inrets.fr/ur/livic}
+
+\textbf{Contributors :} Francis DUPIN
+
+   Camille BOSSARD
+
+   Laurent ROMIEUX
+
+
+\bigskip
+
+ \begin{center}
+   \includegraphics[width=15cm]{Pictures/100002010000013A0000004A96B0C1FF.png}
+\end{center}
+
+LOLITECH
+
+204, rue du Haut du Pin
+
+88470 Saint{}-Michel sur Meurthe
+
+FRANCE
+
+Tel : +33 3 29 52 95 67
+
+\href{http://www.lolitech.fr/}{http://www.lolitech.fr}
+
+{\bfseries
+Contributors : \textmd{Edouard TISSERANT (Original author)}}
+
+{\mdseries
+   Laurent BESSARD}
+
+
+\bigskip
+
+Many thanks to the other contributors for their great work:
+
+\textmd{   }Raphael ZULLIGER
+
+\textmd{   }David DUMINY (st\'e A6R)
+
+\textmd{   }Zakaria BELAMRI
+
+\subsection{Getting support}
+Send your feedback and bug reports to
+\href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
+
+For commercial support, \ training and specific integration and
+developments, please ask LOLITECH (see contributors).
+
+\subsection{Contributing}
+You are free to contribute your specific interfaces back to the project.
+This way, you can hope to get support from CanFestival users community.
+
+Please send your patch to
+\href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
+
+Feel free to create some new predefined DS{}-4xx profiles (*.prf) in
+objdictgen/config, as much as possible respectful to the official
+specifications.
+
+\subsection{License}
+All the project is licensed with LGPL. This mean you can link
+CanFestival with any code without being obliged to publish it.
+
+{\ttfamily
+\#This file is part of CanFestival, a library implementing CanOpen
+Stack. \newline
+\# \newline
+\#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
+\newline
+\# \newline
+\#See COPYING file for copyrights details. \newline
+\# \newline
+\#This library is free software; you can redistribute it and/or \newline
+\#modify it under the terms of the GNU Lesser General Public \newline
+\#License as published by the Free Software Foundation; either \newline
+\#version 2.1 of the License, or (at your option) any later version.
+\newline
+\# \newline
+\#This library is distributed in the hope that it will be useful,
+\newline
+\#but WITHOUT ANY WARRANTY; without even the implied warranty of
+\newline
+\#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \ See the GNU
+\newline
+\#Lesser General Public License for more details. \newline
+\# \newline
+\#You should have received a copy of the GNU Lesser General Public
+\newline
+\#License along with this library; if not, write to the Free Software
+\newline
+\#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
+\ 02111{}-1307 \ USA }
+
+
+\bigskip
+\end{document}