*
*
*
&sstarf#star;
* simple example for PC. It does implement 2 CanOpen
&sstarf#star;
* in the same process. A master and a slave. Both
*
* 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.
*
*
&sstarf#star;
*
Usage:
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*
./TestMasterSlave OPTIONS]
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&sstarf#star;
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OPTIONS:
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-l : Can library
[libcanfestival_can_virtual.so]
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*
&sstarf#star;
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:
&sstarf#star;
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-s : bus name [0]
&sstarf#star;
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-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;
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&sstarf#star;
*
:
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-m : bus name [1]
&sstarf#star;
*
-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) &sstarf#star;
*
&sstarf#star;
**************************************************************
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.
epimerde 2007-06-08