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doc/manual/en/html/node55.html
author etisserant
Mon, 02 Jul 2007 18:22:58 +0200
changeset 236 905677ed00f3
parent 215 f49e5a6b7804
permissions -rw-r--r--
Full preliminary implementation of TPDO transmit type:
- SYNC (N) (1-240)
- RTR only + SYNC (252)
- RTR only (253)
- EVENT, with timer and inhibit time (254 and 255)

User app have to call sendPDOevent(d) to eventually signal mapped data changes.
Callbacks added to 0x140N, TPDO comm parameters for on the fly timers values change.
TestMasterSlave updated. 
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<H2><A NAME="SECTION00093000000000000000">
TestMasterMicroMod </A>
</H2>
<TT>**************************************************************</TT>

<P>
<TT>* 

<BR>
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<BR>&sstarf#star;</TT>

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<TT>*

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<TT>* simple example for PC.

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<BR>&sstarf#star;</TT>

<P>
<TT>* CanOpen master that control a MicroMod module:

<BR>
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<BR>&sstarf#star;</TT>

<P>
<TT>* #417#>- setup module TPDO 1 transmit type

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<BR>*</TT>

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<TT>* #418#>- setup module RPDO 1 transmit type

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<BR>*</TT>

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<TT>* #419#>- setup module hearbeatbeat period

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<BR>&sstarf#star;</TT>

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<TT>* #420#>- disable others TPDOs

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<TT>* #421#>- set state to operational

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<TT>* #422#>- send periodic SYNC

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<BR>&sstarf#star;</TT>

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<TT>* #423#>- send periodic RPDO 1 to Micromod (digital output) 
<BR>
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<BR>*</TT>

<P>
<TT>* #424#>- listen Micromods TPDO 1 (digital input)

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<BR>&sstarf#star;</TT>

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<TT>* #426#>- Mapping RPDO 1 bit per bit (digital input)

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<BR>&sstarf#star;</TT>

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<TT>*

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<BR>&sstarf#star;</TT>

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<TT>* 
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Usage:

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<BR>*</TT>

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<TT>* 
<BR>./TestMasterMicroMod OPTIONS]

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<BR>&sstarf#star;</TT>

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<TT>*

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<TT>* 
<BR>
OPTIONS:

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<BR>*</TT>

<P>
<TT>* 
<BR>
<BR>-l : Can library
[libcanfestival_can_virtual.so]

<BR>
<BR>*</TT>

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<TT>*

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<TT>* 
<BR>:

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<BR>&sstarf#star;</TT>

<P>
<TT>* 
<BR>
<BR>-i : Slave Node id format [0x01 , 0x7F]

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<BR>&sstarf#star;</TT>

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<TT>*

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<TT>* 
<BR>:

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<BR>*</TT>

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<TT>* 
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<BR>-m : bus name [1]

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<BR>&sstarf#star;</TT>

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<TT>* 
<BR>
<BR>-M : 1M,500K,250K,125K,100K,50K,20K,10K

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<BR>&sstarf#star;</TT>

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<TT>*

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<BR>&sstarf#star;</TT>

<P>
<TT>**************************************************************</TT>

<P>

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