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+original version by: Nikos Drakos, CBLU, University of Leeds
+* revised and updated by: Marcus Hennecke, Ross Moore, Herb Swan
+* with significant contributions from:
+ Jens Lippmann, Marek Rouchal, Martin Wilck and others -->
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+<TITLE>TestMasterSlave</TITLE>
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+ HREF="node54.html">gene_SYNC_HCS12 :</A>
+<B> Up:</B> <A NAME="tex2html827"
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+<!--End of Navigation Panel-->
+
+<H2><A NAME="SECTION00091000000000000000">
+TestMasterSlave</A>
+</H2>
+<TT>**************************************************************</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>* simple example for PC. It does implement 2 CanOpen
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>* in the same process. A master and a slave. Both
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>* together, exchanging periodically NMT, SYNC, &sstarf#star;</TT>
+
+<P>
+<TT>* and PDO. Master configure heartbeat producer time
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>* @1000 ms for slave node-id 0x02 by concise DCF.
+
+<BR>
+<BR>
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>
+Usage:
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+<BR>./TestMasterSlave OPTIONS]
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>
+OPTIONS:
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+<BR>
+<BR>-l : Can library
+[libcanfestival_can_virtual.so]
+
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>:
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>
+<BR>-s : bus name [0]
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>
+<BR>-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>:
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>*</TT>
+
+<P>
+<TT>*
+<BR>
+<BR>-m : bus name [1]
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>*
+<BR>
+<BR>-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
+
+<P>
+<TT>*
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>&sstarf#star;</TT>
+
+<P>
+<TT>**************************************************************</TT>
+
+<P>
+
+<P><P>
+<BR>
+
+<P>
+<I CLASS="sans">Notes for Concise DCF :</I>
+
+<P>
+
+<P><P>
+<BR>
+
+<P>
+<I CLASS="sans"> In this example, Master configure producer time at 1000 ms
+for slave node-id 0x02 by concise DCF according DS-302 profile. </I>
+
+<P>
+
+
+<P>
+<I CLASS="sans"> 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. </I>
+
+<P>
+
+<P><P>
+<BR>
+
+<P>
+<I CLASS="sans"> To add more parameters configurations to the slave, the value at
+sub-index 0x02 must be a binary stream (little-endian) following
+this structure :</I>
+
+<P>
+
+
+<P>
+<I CLASS="sans">[ nb of entries / index parameter 1 / sub-index parameter 1 size
+data parameter 1 data parameter 1 / index parameter n / ...]</I>
+
+<P>
+<I CLASS="sans">
+<BR>
+<BR>
+<BR>(UNS32)
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>(UNS16) (UNS8)
+
+<BR>
+<BR>
+<BR>
+<BR>
+<BR>
+UNS32)
+<BR>
+DOMAIN)</I>
+
+<P>
+
+
+<P>
+<I CLASS="sans"> So the binary value stream to configure heartbeat producer time must be
+: </I>
+
+<P>
+
+<P><P>
+<BR>
+
+<P>
+<I CLASS="sans"> 0100000017100002000000e803</I>
+
+<P>
+
+<P><P>
+<BR>
+
+<P>
+<I CLASS="sans">The slave node is configured just before the Master entering in
+Pre_operational state.</I>
+
+<P>
+
+<DIV CLASS="navigation"><HR>
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