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+ ____ ____ ______ __ ___ ______ ____
+ / __ \ / __ \ / ____/ / |/ / / ____/ / __ \
+ / / / / / /_/ / / __/ / /|_/ / / __/ / / / /
+ / /_/ / / _, _/ / /___ / / / / / /___ / /_/ /
+ \____/ /_/ |_| /_____/ /_/ /_/ /_____/ \___\_\
+
+ http://www.oremeq.qc.ca/
+
+This is an absolute rotary encoder gateway to CANopen.
+We used for this demo an absolute rotary encoder from Siemens Automation
+model: 6FX2001-5SS12 , see the 6FX2001-5SS12.jpg for an idea of the look.
+
+This Encoder work with the SSI31 protocol. The 31 mean 31 bits. And SSI
+is a special version of the SPI protocol.
+
+The pinout for this encoder is:
+ 1=Clock -
+ 2=Clock +
+ 3=Data +
+ 4=Data -
+ 5=n.c.
+ 6=n.c.
+ 7=n.c.
+ 8= ????
+ 9=n.c.
+ 10=n.c.
+ 11=+10 to 30 VDC @ 250mA
+ 12=GND
+
+Our LPC2138 implement the SSI31 protocol to pool the encoder
+and fill the DS-406 specification for CANopen.
+
+You can find this specification at: http://www.can-cia.org/
+Ask for the document: CiA DS 406 V3.1: CANopen device profile for encoder
+
+To build this project, see $CANFESTIVAL_HOME/driver/ecos-lpc2138/ReadMe.txt
+to prepare your environemnt.
+
+See the schematic.jpg in this directory.
+
+ Enjoye!