diff -r 000000000000 -r 4472ee7c6c3e examples/AppliMaster_HCS12/objdict.html --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/AppliMaster_HCS12/objdict.html Wed May 10 16:59:40 2006 +0200 @@ -0,0 +1,154 @@ + + + + +CANOpen object dictionary Configuration + + + +

Object dictionary for Node :

+

+Mastermaster +

+

Overview

+

+ How to make the object dictionary of the node ? + First, use Jaxe (command run_objdict) to edit an xml description file +of the dictionary : objdict.xml. +Then, run the php program : makeobjetdict.php. You can launch php through a web browser +if you have installed a server, or, on Linux, you can launch php in command line : +php-cgi makeobjetdict.php. It compute the file objdict.c. Link it to + your project. +
Note : To define the node id, use in your code the function setNodeId(UNS8 nodeId) +

+

+ Then the node can be connected to the network. The master must configure it + by sending SDO. It will write values in its index, subindex. What to configure ? +

+

+ To avoid configuring the node at the connection, you can put the values directly +in the dictionary objdict.c. But it is boring and unsafe because it is too easy to make +a mistake ! + + +

Number of heartbeat consumers : + 1 +

+

This means that the node can expect heartbeats sent by 1 nodes.

+

Number of SDO clients : + 10 +

+

Usualy, a slave node does not have the use of SDO clients, but + today, for the library, you must define one. The Master, which can + send SDO to "n" slaves nodes, must define here "n" SDO + clients. Remember that in most cases, the SDO protocol is used by + the master to configure a slave dictionary or read a value. In + this use, the master is the client, and the slave is the server.

+

Maximum objects in a PDO (receive or transmit) : + 8 +

+

This is defining how many variables can be transmited in a + PDO. (maximum is 8).

+

For each variable, a table is created, so if you have less room + in memory, put a value under 8.

+

Number of PDO receive : + 3 +

+

The node can receive 3 PDO.

+

The communication parameters are defined at index 0x1400 to 0x1400 + 2

+

The mapping parameters are defined at index 0x1600 to 0x1600 + 2

+

Number of PDO transmit : + 3 +

+

The node can transmit 3 PDO.

+

The communication parameters are defined at index 0x1800 to 0x1800 + 2

+

The mapping parameters are defined at index 0x1A00 to 0x1A00 + 2

+

Mapped variables and tables

+

3 tables are defined for the mapping, starting at index 0x2000, 0x6000 and 0x6200. + You must start the mapping at the beginning of one of a table, without holes in index +or subindex. For example, variables in 0x2000 and 0x2001 is ok, but variables in 0x2000 and 0x2002 is not allowed, because you are loosing room in memory. It is the same for the subindex. +

+

Here are some others rules for the mapping :

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
NameBitsIndexSub-index
canopenErrNB_node5320x60000x0
canopenErrVAL_node5320x60010x0
second80x60020x1
minutes80x60020x02
hour80x60020x3
day80x60020x4
canopenErrNB320x60030x01
canopenErrVAL320x60030x02
+ +