<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<!--Converted with LaTeX2HTML 2002-2-1 (1.71)
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 -->
<HTML>
<HEAD>
<TITLE>TestMasterSlave</TITLE>
<META NAME="description" CONTENT="TestMasterSlave">
<META NAME="keywords" CONTENT="manual">
<META NAME="resource-type" CONTENT="document">
<META NAME="distribution" CONTENT="global">
<META NAME="Generator" CONTENT="LaTeX2HTML v2002-2-1">
<META HTTP-EQUIV="Content-Style-Type" CONTENT="text/css">
<LINK REL="STYLESHEET" HREF="manual.css">
<LINK REL="next" HREF="node54.html">
<LINK REL="previous" HREF="node52.html">
<LINK REL="up" HREF="node52.html">
<LINK REL="next" HREF="node54.html">
</HEAD>
<BODY >
<DIV CLASS="navigation"><!--Navigation Panel-->
<A NAME="tex2html830"
HREF="node54.html">
<IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next"
SRC="/usr/share/latex2html/icons/next.png"></A>
<A NAME="tex2html826"
HREF="node52.html">
<IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up"
SRC="/usr/share/latex2html/icons/up.png"></A>
<A NAME="tex2html820"
HREF="node52.html">
<IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous"
SRC="/usr/share/latex2html/icons/prev.png"></A>
<A NAME="tex2html828"
HREF="node1.html">
<IMG WIDTH="65" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="contents"
SRC="/usr/share/latex2html/icons/contents.png"></A>
<BR>
<B> Next:</B> <A NAME="tex2html831"
HREF="node54.html">gene_SYNC_HCS12 :</A>
<B> Up:</B> <A NAME="tex2html827"
HREF="node52.html">Example and test program:</A>
<B> Previous:</B> <A NAME="tex2html821"
HREF="node52.html">Example and test program:</A>
<B> <A NAME="tex2html829"
HREF="node1.html">Contents</A></B>
<BR>
<BR></DIV>
<!--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>
<!--Navigation Panel-->
<A NAME="tex2html830"
HREF="node54.html">
<IMG WIDTH="37" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="next"
SRC="/usr/share/latex2html/icons/next.png"></A>
<A NAME="tex2html826"
HREF="node52.html">
<IMG WIDTH="26" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="up"
SRC="/usr/share/latex2html/icons/up.png"></A>
<A NAME="tex2html820"
HREF="node52.html">
<IMG WIDTH="63" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="previous"
SRC="/usr/share/latex2html/icons/prev.png"></A>
<A NAME="tex2html828"
HREF="node1.html">
<IMG WIDTH="65" HEIGHT="24" ALIGN="BOTTOM" BORDER="0" ALT="contents"
SRC="/usr/share/latex2html/icons/contents.png"></A>
<BR>
<B> Next:</B> <A NAME="tex2html831"
HREF="node54.html">gene_SYNC_HCS12 :</A>
<B> Up:</B> <A NAME="tex2html827"
HREF="node52.html">Example and test program:</A>
<B> Previous:</B> <A NAME="tex2html821"
HREF="node52.html">Example and test program:</A>
<B> <A NAME="tex2html829"
HREF="node1.html">Contents</A></B> </DIV>
<!--End of Navigation Panel-->
<ADDRESS>
epimerde
2007-06-05
</ADDRESS>
</BODY>
</HTML>