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<H2><A NAME="SECTION00091000000000000000">
TestMasterSlave</A>
</H2>
<TT>**************************************************************</TT>
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<TT>*
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<BR>&sstarf#star;</TT>
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<TT>* simple example for PC. It does implement 2 CanOpen
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<BR>&sstarf#star;</TT>
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<TT>* in the same process. A master and a slave. Both
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<TT>* together, exchanging periodically NMT, SYNC, &sstarf#star;</TT>
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<TT>* and PDO. Master configure heartbeat producer time
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<TT>* @1000 ms for slave node-id 0x02 by concise DCF.
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<TT>*
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Usage:
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<BR>*</TT>
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<TT>*
<BR>./TestMasterSlave OPTIONS]
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<TT>*
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OPTIONS:
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<TT>*
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<BR>-l : Can library
[libcanfestival_can_virtual.so]
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<TT>*
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<BR>-s : bus name [0]
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<BR>&sstarf#star;</TT>
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<TT>*
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<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>-m : bus name [1]
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<TT>*
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<BR>-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;</TT>
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<BR>&sstarf#star;</TT>
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<TT>**************************************************************</TT>
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<P><P>
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<P>
<I CLASS="sans">Notes for Concise DCF :</I>
<P>
<P><P>
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<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>
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<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>
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<P><P>
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<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>
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<I CLASS="sans">[ nb of entries / index parameter 1 / sub-index parameter 1 size
data parameter 1 data parameter 1 / index parameter n / ...]</I>
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<I CLASS="sans">
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<BR>(UNS32)
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<BR>(UNS16) (UNS8)
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UNS32)
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DOMAIN)</I>
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<I CLASS="sans"> So the binary value stream to configure heartbeat producer time must be
: </I>
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<P><P>
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<I CLASS="sans"> 0100000017100002000000e803</I>
<P>
<P><P>
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<I CLASS="sans">The slave node is configured just before the Master entering in
Pre_operational state.</I>
<P>
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