--- a/doc/manual/en/manual.tex Tue Feb 12 09:44:55 2008 +0100
+++ b/doc/manual/en/manual.tex Tue Feb 12 11:52:45 2008 +0100
@@ -107,27 +107,29 @@
\renewcommand\labelitemiv{{\textbullet}}
}
+\newcommand{\canopen}{CANopen}
+
\begin{document}
-{\centering\sffamily\Huge The CanFestival CANOpen stack manual.}
+{\centering\sffamily\Huge The CanFestival \canopen{} stack manual.}
\renewcommand\contentsname{CanFestival v3.0 Manual}
\setcounter{tocdepth}{2}
\tableofcontents
\section{Introduction}
-CanFestival is an OpenSource (LGPL and GPL) CANOpen framework.
+CanFestival is an OpenSource (LGPL and GPL) \canopen{} framework.
\subsection{The CanFestival project}
-This project, initiated by Edouard TISSERANT in 2001, as grown thanks to
+This project, initiated by Edouard TISSERANT in 2001, has grown thanks to
Francis DUPIN and other contributors.
Today, CanFestival focuses on providing an ANSI{}-C platform independent
-CANOpen stack that can be implemented as master or slave nodes on PCs,
+\canopen{} stack that can be implemented as master or slave nodes on PCs,
Real{}-time IPCs, and Microcontrollers.
CanFestival is a project supported by Lolitech.
-\subsection{What is CANopen}
+\subsection{What is \canopen{}}
CANopen is a CAN based high level protocol. It defines some protocols to
:
@@ -138,20 +140,20 @@
\item Administrate the network. For example detecting a not responding
node.
\end{enumerate}
-The documentation can be found in the Can in automation website :
+The documentation can be found on the CAN in Automation website :
\href{http://www.can-cia.de/canopen}{http://www.can{}-cia.de/canopen}
-The most important document about CANopen is the normative CiA Draft
-Standard 301, version 4.02. You can now download with no cost the
-specification in Can in automation website.
+The most important document about \canopen{} is the normative CiA Draft
+Standard 301, version 4.02. You can now download the specification from the
+CAN in Automation website at no cost.
To continue reading this document, let us assume that you have read some
-papers introducing CANopen.
+papers introducing \canopen{}.
\section{CanFestival Features}
\subsection{Tools }
-The CANopen library is coming with some tools :
+The \canopen{} library is coming with some tools :
\liststyleLii
\begin{enumerate}
@@ -160,7 +162,7 @@
for each node.
\item A configure script, that let you chose compile time options such
as target CPU/HOST, CAN and TIMER drivers.\newline
-This script have not been generated with autoconf, it have been made
+This script has not been generated with autoconf, it has been made
keeping micro{}-controller target in mind.
\end{enumerate}
\subsection{Standard conformance}
@@ -173,7 +175,7 @@
\item Unix compatible interfaces and examples should compile and run on
any Unix system (tested on GNU/Linux and GNU/FreeBSD).
\end{enumerate}
-\paragraph{CanOpen conformance}
+\paragraph{\canopen{} conformance}
{\bfseries\upshape
DS{}-301}
@@ -218,7 +220,7 @@
\item Python, with
\item wxPyhon modules installed (at least version 2.6.3).
\item Gnosis xml tools. (Optional can also be installed locally to the
-project automatically will the help of a Makefile. Please see
+project automatically with the help of a Makefile. Please see
\hyperlink{a91UsingDictionaryEditorGUIoutline}{9.1) Using Dictionary
Editor GUI} )
\end{enumerate}
@@ -258,7 +260,7 @@
Simplified directory structure.
{\ttfamily\bfseries
-./src ANSI{}-C source of CANOpen stack}
+./src ANSI{}-C source of \canopen{} stack}
{\ttfamily\bfseries
\space /include Exportables Header files}
@@ -325,7 +327,7 @@
./objdictgen/examples Some examples/test OD}
{\ttfamily\bfseries
-./doc Project and CanOpen doc}
+./doc Project and \canopen{} doc}
\subsection{Implement CanFestival in your application}
@@ -345,7 +347,7 @@
\liststyleLvi
\begin{enumerate}
\item {\textmu}C must provide interuption masking for timer and can
-receive IT\newline
+receive TI\newline
\begin{center}
\includegraphics[width=12cm]{Pictures/10000201000003CA0000016604E6A5EF.png}
\end{center}
@@ -356,13 +358,13 @@
\end{center}
\end{enumerate}
\subsection{CanFestival events scheduling}
-A CanOpen node must be able to take delayed actions.
+A \canopen{} node must be able to take delayed actions.
As exemples, periodic sync emission, heartbeat production or SDO timeout
need to set some alarms that will be called later and do the job.
{\textmu}C generaly do not have enough free timers to handle all the
-CanOpen needs directly. Moreover, CanFestival internal data may be
+\canopen{} needs directly. Moreover, CanFestival internal data may be
corrupt by reentrant calls.
CanFestival implement a micro{}-scheduler (timer.c). It uses only one
@@ -413,7 +415,7 @@
{\ttfamily
{}-{}-timers=unix}
-To do a CANopen node running on PC{}-Linux, you need :
+To do a \canopen{} node running on PC{}-Linux, you need :
\liststyleLvii
\begin{enumerate}
@@ -427,7 +429,7 @@
{\ttfamily
{}-{}-timers=xeno}
-To do a CANopen node running on PC{}-Linux, you need :
+To do a \canopen{} node running on PC{}-Linux, you need :
\liststyleLviii
\begin{enumerate}
@@ -492,12 +494,12 @@
{\ttfamily
TestMasterSlave}
-Default can driver library is libcanfestival\_can\_virtual.so., which
+Default CAN driver library is libcanfestival\_can\_virtual.so., which
will simply pass CAN messages through Unix pipes between Master and
Slave.
You may also want to specify different can interface and define some CAN
-ports. An other example using Peak{\textquotesingle}s dual PCMCIA
+ports. Another example using Peak{\textquotesingle}s dual PCMCIA
(configure and install with {--}can=peak) :
{\ttfamily
@@ -805,7 +807,7 @@
The examples have been tested on a MC9S12DG255 mounted on a
Elektronikladen HCS12 T{}-board.
-Beware that there are a few differences in the MSCAN module of the
+Beware that there are few differences in the MSCAN module of the
68HC12 and HCS12 microcontroller. For a HC12, you must adapt the driver
that we provide for \space the HCS12.
@@ -817,7 +819,7 @@
{\ttfamily
{}-{}-target=hcs12}
-To do a CANopen node running on a microncontroller Motorola MC9S12DP256,
+To do a \canopen{} node running on a microncontroller Motorola MC9S12DP256,
you need :
\liststyleLx
@@ -878,7 +880,7 @@
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
{\ttfamily
-* \space A simple example for PC. It does implement 2 CanOpen \space \space \space \space \space *}
+* \space A simple example for PC. It does implement 2 \canopen{} \space \space \space \space \space *}
{\ttfamily
* \space nodes in the same process. A master and a slave. Both \space \space \space \space *}
@@ -1012,7 +1014,7 @@
Pre\_operational state.}
\subsection{gene\_SYNC\_HCS12 :}
-This is a simple CanOpen node that only send cyclic SYNC message. It
+This is a simple \canopen{} node that only send cyclic SYNC message. It
demonstrate implementation on HCS12 based board.
@@ -1045,7 +1047,7 @@
\space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
{\ttfamily
-* \space A CanOpen master that control a MicroMod module:
+* \space A \canopen{} master that control a MicroMod module:
\space \space \space \space \space \space \space \space \space *}
{\ttfamily
@@ -1148,14 +1150,14 @@
idea. You can also use the provided *.od files as a base for your node
object dictionary.
-Creating a new CanOpen node implies to define the Object Dictionary of
-this node. For that, developer have to provide a C file. This C file
+Creating a new \canopen{} node implies to define the Object Dictionary of
+this node. For that, developer has to provide a C file. This C file
contains the definition of all dictionary entries, and some kind of
index table that helps the stack to access some entries directly.
\subsection{Using Dictionary Editor GUI}
The Object Dictionary Editor is a WxPython based GUI that is used to
-create the C file needed to create a new CanOpen node.
+create the C file needed to create a new \canopen{} node.
\subsubsection{Installation and usage on Linux}
You first have to download and install Gnosis XML modules. This is
@@ -1311,7 +1313,7 @@
\subsubsection{Does the code compiles on Windows ?}
Yes, with both Cygwin and Visual Studio C++.
-Because CANopen layer is coded with C, put a compilation option /TC or
+Because \canopen{} layer is coded with C, put a compilation option /TC or
/TP if you plan to mix C++ files. See the MSDN documentation about
that.
@@ -1322,16 +1324,16 @@
You have to create target specific interface to HW resources. Take model
on bundled interfaces provided in drivers/ and create your own
interface. You also have to update Makefile.in files for target
-specific cflags and options. Chose {--}targer= configure switch to
+specific cflags and options. Choose {--}target= configure switch to
compile your specific interface.
-You are welcome to contribute{}-back your own interfaces ! Other
+You are welcome to contribute{}-back your own interfaces! Other
Canfestival users will use it and provide feedback, tests and
enhancements.
\subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
Thanks to Philippe Foureys (IUT of Valence), a slave node have been
-tested with the National Instrument CanOpen Conformance Test. It passed
+tested with the National Instrument \canopen{} Conformance Test. It passed
the test with success.
Some very small unconformity have been found in very unusual situations,
@@ -1443,7 +1445,7 @@
{\ttfamily
void initCanHCS12 (void)\newline
\{ \space \newline
- \space //Init the HCS12 microcontroler for CanOpen \newline
+ \space //Init the HCS12 microcontroler for \canopen{} \newline
\space initHCS12();\newline
\space \space // Init the HCS12 \space CAN driver\newline
\space const canBusInit bi0 = \{\newline
@@ -1488,7 +1490,7 @@
{\ttfamily
void initCanHCS12 (void)\newline
\{ \space \newline
- \space //Init the HCS12 microcontroler for CanOpen \newline
+ \space //Init the HCS12 microcontroler for \canopen{} \newline
\space initHCS12();\newline
\space \space // Init the HCS12 \space CAN driver\newline
\space const canBusInit bi0 = \{\newline
@@ -1551,10 +1553,10 @@
\end{enumerate}
\section{Documentation resources\newline}
\paragraph{CIA : Can in Automation\newline}
-Many documentation on CANopen.\newline
+Many documentation on \canopen{}.\newline
\href{http://www.can-cia.de/}{http://www.can{}-cia.de}
-\paragraph{Resources and training in CANopen\newline}
+\paragraph{Resources and training in \canopen{}\newline}
\href{http://www.esacademy.com/}{http://www.esacademy.com}
\paragraph{Elektronikladen HCS12 T{}-board\newline}
@@ -1657,7 +1659,7 @@
CanFestival with any code without being obliged to publish it.
{\ttfamily
-\#This file is part of CanFestival, a library implementing CanOpen
+\#This file is part of CanFestival, a library implementing \canopen{}
Stack. \newline
\# \newline
\#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD