nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: TestMasterSlave nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210: nico@210:
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nico@210: Next: gene_SYNC_HCS12 : nico@210: Up: Example and test program: nico@210: Previous: Example and test program: nico@210:   Contents nico@210:
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nico@210: TestMasterSlave nico@210:

nico@210: ************************************************************** nico@210: nico@210:

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nico@210: * simple example for PC. It does implement 2 CanOpen nico@210:
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&sstarf#star; nico@210: nico@210:

nico@210: * in the same process. A master and a slave. Both nico@210:
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* nico@210: nico@210:

nico@210: * together, exchanging periodically NMT, SYNC, &sstarf#star; nico@210: nico@210:

nico@210: * and PDO. Master configure heartbeat producer time nico@210:
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nico@210: * @1000 ms for slave node-id 0x02 by concise DCF. nico@210: nico@210:
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nico@210: * nico@210:
nico@210: Usage: nico@210: nico@210:
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nico@210: * nico@210:
./TestMasterSlave OPTIONS] nico@210: nico@210:
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nico@210: * nico@210:
nico@210: OPTIONS: nico@210: nico@210:
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nico@210: * nico@210:
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-l : Can library nico@210: [libcanfestival_can_virtual.so] nico@210: nico@210:
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nico@210: * nico@210:
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nico@210: * nico@210:
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-s : bus name [0] nico@210: nico@210:
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nico@210: * nico@210:
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-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star; nico@210: nico@210:

nico@210: * nico@210: nico@210:
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nico@210: * nico@210:
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-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star; nico@210: nico@210:

nico@210: * nico@210: nico@210:
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nico@210: ************************************************************** nico@210: nico@210:

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nico@210: Notes for Concise DCF : nico@210: nico@210:

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nico@210: In this example, Master configure producer time at 1000 ms nico@210: for slave node-id 0x02 by concise DCF according DS-302 profile. nico@210: nico@210:

nico@210: nico@210: nico@210:

nico@210: Index 0x1F22 , sub-index 0x00 of the master OD, correspond to the nico@210: number of entries. This equal to the maximum possible nodeId (127). nico@210: Each sub-index points to the Node-ID of the device, to which the nico@210: configuration belongs. nico@210: nico@210:

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nico@210: To add more parameters configurations to the slave, the value at nico@210: sub-index 0x02 must be a binary stream (little-endian) following nico@210: this structure : nico@210: nico@210:

nico@210: nico@210: nico@210:

nico@210: [ nb of entries / index parameter 1 / sub-index parameter 1 size nico@210: data parameter 1 data parameter 1 / index parameter n / ...] nico@210: nico@210:

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nico@210: So the binary value stream to configure heartbeat producer time must be nico@210: : nico@210: nico@210:

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nico@210: 0100000017100002000000e803 nico@210: nico@210:

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nico@210: The slave node is configured just before the Master entering in nico@210: Pre_operational state. nico@210: nico@210:

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nico@210: nico@210: nico@210: next nico@210: nico@210: up nico@210: nico@210: previous nico@210: nico@210: contents nico@210:
nico@210: Next: gene_SYNC_HCS12 : nico@210: Up: Example and test program: nico@210: Previous: Example and test program: nico@210:   Contents
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nico@210: epimerde nico@210: 2007-06-05 nico@210:
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