Generator of Canopen SYNC message (cobid = 0x80)
---------------------------------------------
francis.dupin@inrets.fr
27 Janv 2005.
Revised 13 Dec 2006
Status of the code :
====================
Tested with
- CanFestival 3 rc2 (cvs version)
- gcc port for HC12 release 3.1
- Microcontroler MC9S12DP256
on board T-board (http://www.elektronikladen.de)
To build the example
--------------------
a) Compile CanFestival for hcs12 :
Go to the root of CanFestival and enter
./configure --target=hcs12
make clean all
b) Build the example
cd examples/gene_SYNC_HCS12
make clean all
What does the node ?
====================
Just reset it, it should send the SYNC (cobId 0x80) every 10 ms
Informations availables if you connect the serial port 0 to a terminal configured at 38400 8N1
The node default values :
nodeId = 0x03
CAN rate = 250 kbps
Please read appli.c, these values can be modified by switch.
If you put the node in operational state, the CAN messages received are filtered : Only the NMT and Nodeguard can be received.
The parameters of the filter are mapped in the object dictionary, so that the filter can be configured by SDO before entering in operational state. See the object dictionary index 2015 to 2023. To have the values applied, always download at 0x2023 index 0 the value 1 before entering in operational.
Read the file objdict.c to see the capabilities of the node.
To change the period of SYNC,
-----------------------------
In pre-operational mode, send the SDO message cobid | .... (all in hexa):
0x603 | 23 06 10 00 40 42 0F 00
to have a SYNC generated every 1 second. The change is instantaneous.
(Assume that the nodeId is 3).
To read the name of the node
----------------------------
(Assume that the nodeId is 3).
You must use the segmented SDO protocole to make an upload from index
0x1008 subindex 0x00
c : client
s : server (geneSync)
Here is the dialog you must obtain.
c: 0x603 | 40 08 10 00 00 00 00 00
s: 0x583 | 41 08 10 00 0A 00 00 00
c: 0x603 | 60 00 00 00 00 00 00 00
s: 0x583 | 00 47 45 4E 45 5F 53 59
c: 0x603 | 70 00 00 00 00 00 00 00
s: 0x583 | 19 4E 43 00 00 00 00 00
In the server's frames, you should read GENE_SYNC. (yes ...)
If in the exchange you are not responding too faster (less than 3
seconds. See in config.h #define SDO_TIMEOUT_MS),
the nodes send a SDO abort :
0x583 | 08 08 10 00 00 00 04 05
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CanFestival-3-8bfe0ac00cdb win32已修改过并生成exe
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CanFestival源码包,版本是CanFestival-3-8bfe0ac00cdb win32程序已修改过出现的错误并生成了exe
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CanFestival-3-8bfe0ac00cdb win32已修改过并生成exe (542个子文件)
SlaveAVR.aps 10KB
AUTHORS 123B
slaveavr.aws 578B
sdo.c 78KB
getopt.c 39KB
getopt.c 39KB
getopt.c 39KB
getopt.c 39KB
getopt.c 39KB
lss.c 36KB
ObjDict.c 35KB
TestSlave.c 32KB
TestSlave.c 31KB
TestMaster.c 31KB
TestMaster.c 28KB
pdo.c 27KB
TestMaster.c 27KB
ObjDict.c 23KB
example_objdict.c 23KB
canOpenDriver.c 20KB
TestMaster.c 18KB
Master.c 16KB
TestMasterMicroMod.c 16KB
TestMasterMicroMod.c 15KB
ObjDict.c 15KB
appli.c 15KB
CANOpenShell.c 13KB
can_ixxat_win.c 13KB
states.c 12KB
can_copcican_comedi.c 11KB
objdict.c 11KB
can_multi_peak_win32.c 11KB
SillySlave.c 11KB
can_anagate_linux.c 10KB
lifegrd.c 10KB
can_anagate_win32.c 10KB
TestMasterSlaveLSS.c 10KB
can_peak_win32.c 10KB
can_copcican_linux.c 9KB
objacces.c 9KB
can_serial_hub.c 9KB
dcf.c 9KB
Master.c 8KB
TestMasterSlave.c 8KB
win32test.c 8KB
can_kvaser.c 8KB
can_AVR.c 8KB
main.c 7KB
sync.c 7KB
Master.c 7KB
emcy.c 7KB
can_AT91.c 7KB
timers_kernel_xeno.c 7KB
can_socket.c 7KB
win32.c 6KB
main.c 6KB
timers_xeno.c 5KB
main.c 5KB
unix.c 5KB
can_can4linux.c 5KB
timers_rtai.c 5KB
can_vscom.c 5KB
timer.c 5KB
can_serial.c 5KB
interrupt_timer.c 5KB
can_lincan.c 5KB
slave.c 4KB
can_virtual_kernel.c 4KB
can_peak_linux.c 4KB
timer_AT91.c 4KB
timers_win32.c 4KB
test_copcican_linux.c 4KB
timers_unix.c 4KB
nmtSlave.c 4KB
timer_AVR.c 3KB
can_virtual.c 3KB
symbols.c 3KB
TestMasterSlave.c 3KB
Slave.c 3KB
Slave.c 3KB
test_copcican_comedi.c 3KB
kernel_module.c 3KB
ds401.c 3KB
SlaveA.c 3KB
SlaveB.c 3KB
timers_kernel.c 3KB
nmtMaster.c 2KB
main.c 2KB
interrupt.c 2KB
console.c 1KB
CANOpenShellsln 894B
changelog 206B
trace32_flash_programmer.cmm 1KB
trace32_flash_debug.cmm 661B
trace32_flash_debug_sans_init.cmm 548B
compat 2B
configure 29KB
CONTRIBUTORS 382B
control 1KB
control-peak_linux 335B
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资源评论
- yuyu198902242018-11-03很好的资源,省去了很多环境配置的麻烦
- killman02019-03-15缺少文件!?能不能附上使用说明谢谢了
- JiangHan2017-12-06win32程序已修改过出现的错误并生成了exe
- access_handsome2018-08-07没太搞明白,
Peter.Shen
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