TestMasterSlave

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* simple example for PC. It does implement 2 CanOpen

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* in the same process. A master and a slave. Both

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* 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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./TestMasterSlave OPTIONS]













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OPTIONS:























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-l : Can library [libcanfestival_can_virtual.so]

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-s : bus name [0]
















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

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Notes for Concise DCF :

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.

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 / ...]

(UNS32)





(UNS16) (UNS8)




UNS32)
DOMAIN)

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

0100000017100002000000e803

The slave node is configured just before the Master entering in Pre_operational state.