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-
-<H2><A NAME="SECTION00091000000000000000">
-TestMasterSlave</A>
-</H2>
-<TT>**************************************************************</TT>
-
-<P>
-<TT>*
-
-<BR>
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-<BR>*</TT>
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-<TT>*
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-<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>*
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-<BR>&sstarf#star;</TT>
-
-<P>
-<TT>*
-<BR>
-Usage:
-
-<BR>
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-<BR>
-<BR>
-<BR>*</TT>
-
-<P>
-<TT>*
-<BR>./TestMasterSlave OPTIONS]
-
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-<BR>*</TT>
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-<BR>&sstarf#star;</TT>
-
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-<TT>*
-<BR>
-OPTIONS:
-
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-<BR>*</TT>
-
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-<TT>*
-<BR>
-<BR>-l : Can library
-[libcanfestival_can_virtual.so]
-
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-<BR>*</TT>
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-<BR>&sstarf#star;</TT>
-
-<P>
-<TT>*
-<BR>:
-
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-<BR>
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-<BR>&sstarf#star;</TT>
-
-<P>
-<TT>*
-<BR>
-<BR>-s : bus name [0]
-
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-<BR>&sstarf#star;</TT>
-
-<P>
-<TT>*
-<BR>
-<BR>-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
-
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-<TT>*
-
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-<BR>&sstarf#star;</TT>
-
-<P>
-<TT>*
-<BR>:
-
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-<BR>
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-<BR>*</TT>
-
-<P>
-<TT>*
-<BR>
-<BR>-m : bus name [1]
-
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-<BR>&sstarf#star;</TT>
-
-<P>
-<TT>*
-<BR>
-<BR>-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
-
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-<TT>*
-
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-<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>
-
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