--- a/doc/manual/en/manual.tex Wed Jul 15 17:17:47 2009 +0200
+++ b/doc/manual/en/manual.tex Wed Jul 15 17:19:09 2009 +0200
@@ -852,6 +852,67 @@
The {}``examples'' directory contains some test program you can
use as example for your own developments.
+\subsection{CANOpenShell}
+
+This example provides a node that can execute some user commands through stdin.
+
+With this example you can:
+\begin{enumerate}
+\item scan network (reset all nodes and display node's bootup message)
+\item start / stop /reset a remote node
+\item get informations about a remote node
+\item read / write a specific entry of a remote node
+\end{enumerate}
+
+The node can be started as a master node or a slave node. The only difference is
+that when is started as a master, all nodes on the network are reseted.
+
+Be careful, the first command must be the "load" command.
+
+\begin{verbatim}
+ ****************************************************************************
+ * CANOpenShell *
+ * *
+ * MANDATORY COMMAND (must be the first command) *
+ * load#CanLibraryPath,channel,baudrate,nodeid,type (0:slave, 1:master) *
+ * *
+ * NETWORK: (if nodeid=0x00 : broadcast) *
+ * ssta#nodeid : Start a node *
+ * ssto#nodeid : Stop a node *
+ * srst#nodeid : Reset a node *
+ * scan : Reset all nodes and print message when bootup *
+ * wait#seconds : Sleep for n seconds *
+ * *
+ * SDO: (size in bytes) *
+ * info#nodeid *
+ * rsdo#nodeid,index,subindex : read sdo *
+ * ex : rsdo#42,1018,01 *
+ * wsdo#nodeid,index,subindex,size,data : write sdo *
+ * ex : wsdo#42,6200,01,01,FF *
+ * *
+ * Note: All numbers are hex *
+ * *
+ * help : Display this menu *
+ * quit : Quit application *
+ ****************************************************************************
+\end{verbatim}
+
+Minimal launch command :
+\begin{verbatim}
+ ./CANOpenShell load#libcanfestival_can_peak_linux.so,32,125K,8,0
+\end{verbatim}
+This command start the node as a slave with nodeid 8 at 125K on channel 32.
+
+Advanced launch command :
+\begin{verbatim}
+ ./CANOpenShell load#libcanfestival_can_peak_linux.so,32,125K,8,1 \
+ help \
+ wait#5 \
+ wsdo#42,6200,01,01,FF
+\end{verbatim}
+This command starts the node as a master with nodeid 8 at 125K on channel 32,
+displays help menu, wait 5 seconds for node's NMT bootup,
+and write FF value at index 6200, subindex 01 to the remote node with id 42.
\subsection{TestMasterSlave}
@@ -884,7 +945,7 @@
\end{verbatim}
-Notes aboute use of voncise DCF :
+Notes aboute use of concise DCF :
In this example, Master configure heartbeat producer time
at 1000 ms for slave node -id 0x02 by concise DCF according DS -302
@@ -1598,14 +1659,14 @@
\par\end{center}
LOLITECH
-
+24, rue Pierre Evrat
204, rue du Haut du Pin
-88470 Saint -Michel sur Meurthe
+88100 Saint-Dié-des-Vosges
FRANCE
-Tel : +33 3 29 52 95 67
+Tel : +33 3 29 57 60 42
\href{http://www.lolitech.fr/}{http://www.lolitech.fr}