doc/manual/en/html/node53.html
author nico
Tue, 05 Jun 2007 18:43:21 +0200
changeset 210 6b5a4c21e061
child 211 2a4c2ca03555
permissions -rw-r--r--
Manual and Documentation finish
<!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>
 &nbsp; <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>
 &nbsp; <B>  <A NAME="tex2html829"
  HREF="node1.html">Contents</A></B> </DIV>
<!--End of Navigation Panel-->
<ADDRESS>
epimerde
2007-06-05
</ADDRESS>
</BODY>
</HTML>