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++ Next: gene_SYNC_HCS12 : + Up: Example and test program: + Previous: Example and test program: + Contents +
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&sstarf#star;
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+* simple example for PC. It does implement 2 CanOpen
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&sstarf#star;
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+* in the same process. A master and a slave. Both
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+* together, exchanging periodically NMT, SYNC, &sstarf#star; + +
+* and PDO. Master configure heartbeat producer time
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+* @1000 ms for slave node-id 0x02 by concise DCF.
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&sstarf#star;
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+Usage:
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+*
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./TestMasterSlave OPTIONS]
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+OPTIONS:
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+*
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-l : Can library
+[libcanfestival_can_virtual.so]
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&sstarf#star;
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-s : bus name [0]
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&sstarf#star;
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-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;
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-m : bus name [1]
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&sstarf#star;
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-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;
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&sstarf#star;
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+************************************************************** + +
+ +
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+Notes for Concise DCF : + +
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+ In this example, Master configure producer time at 1000 ms +for slave node-id 0x02 by concise DCF according DS-302 profile. + +
+ + +
+ Index 0x1F22 , sub-index 0x00 of the master OD, correspond to the +number of entries. This equal to the maximum possible nodeId (127). +Each sub-index points to the Node-ID of the device, to which the +configuration belongs. + +
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+ To add more parameters configurations to the slave, the value at +sub-index 0x02 must be a binary stream (little-endian) following +this structure : + +
+ + +
+[ nb of entries / index parameter 1 / sub-index parameter 1 size +data parameter 1 data parameter 1 / index parameter n / ...] + +
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(UNS32)
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(UNS16) (UNS8)
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+UNS32)
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+DOMAIN)
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+ So the binary value stream to configure heartbeat producer time must be +: + +
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+ 0100000017100002000000e803 + +
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+The slave node is configured just before the Master entering in +Pre_operational state. + +
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