oremeq@20:                ____     ____     ______    __  ___    ______   ____
oremeq@20:               / __ \   / __ \   / ____/   /  |/  /   / ____/  / __ \
oremeq@20:              / / / /  / /_/ /  / __/     / /|_/ /   / __/    / / / /
oremeq@20:             / /_/ /  / _, _/  / /___    / /  / /   / /___   / /_/ /
oremeq@20:             \____/  /_/ |_|  /_____/   /_/  /_/   /_____/   \___\_\
oremeq@20: 
oremeq@20: 					http://www.oremeq.qc.ca/
oremeq@20: 
oremeq@20: This is an absolute rotary encoder gateway to CANopen.
oremeq@20: We used for this demo an absolute rotary encoder from Siemens Automation
oremeq@20: model: 6FX2001-5SS12  ,  see the 6FX2001-5SS12.jpg for an idea of the look. 
oremeq@20: 
oremeq@20: This Encoder work with the SSI31 protocol. The 31 mean 31 bits. And SSI
oremeq@20: is a special version of the SPI protocol.
oremeq@20: 
oremeq@20: The pinout for this encoder is:
oremeq@20: 	 1=Clock -
oremeq@20: 	 2=Clock +
oremeq@20: 	 3=Data +
oremeq@20: 	 4=Data -
oremeq@20: 	 5=n.c.
oremeq@20: 	 6=n.c.
oremeq@20: 	 7=n.c.
oremeq@20: 	 8= ????
oremeq@20: 	 9=n.c.
oremeq@20: 	10=n.c.
oremeq@20: 	11=+10 to 30 VDC @ 250mA
oremeq@20: 	12=GND
oremeq@20: 
oremeq@20: Our LPC2138 implement the SSI31 protocol to pool the encoder
oremeq@20: and fill the DS-406 specification for CANopen.
oremeq@20: 
oremeq@20: You can find this specification at: http://www.can-cia.org/
oremeq@20: Ask for the document: CiA DS 406 V3.1: CANopen device profile for encoder
oremeq@20: 
oremeq@21: To build this project, see $CANFESTIVAL_HOME/drivers/ecos_lpc2138_sja1000/ReadMe.txt
oremeq@21: to prepare your environment.
oremeq@20: 
oremeq@20: See the schematic.jpg in this directory.
oremeq@20: 
oremeq@20: 		Enjoye!