diff -r 000000000000 -r 4472ee7c6c3e examples/gene_SYNC_HCS12/objdict.html --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/examples/gene_SYNC_HCS12/objdict.html Wed May 10 16:59:40 2006 +0200 @@ -0,0 +1,128 @@ + + + + +CANOpen object dictionary Configuration + + + +

Object dictionary for Node :

+

+0x03(default) + Gene_SYNCslave +

+

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 : + 1 +

+

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.

+

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. +

+

+ The access of the variable is by default "rw" (read-write) or "ro" (read-only). A read-only variable cannot be mapped in a PDO receive. +

+

Here are some others rules for the mapping :

+ + + + + + + + + + + + +
Var NameBitsIndexSub-indexaccess
canopenErrNB320x60000x01
canopenErrVAL320x60000x02
Table NameBitsIndexSub-indexaccess
+ +