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CanFestival3. Version 3.0
The CANOpen stack manual
Table of contents
1 - Introduction..................................................................................................................2
1.1) The CanFestival project..........................................................................................2
1.2) What is CANopen....................................................................................................2
2 - CanFestival Features....................................................................................................3
2.1) Tools .......................................................................................................................3
2.2) Standard conformance............................................................................................3
3 - How to start.................................................................................................................. 4
3.1) Host requirements..................................................................................................4
3.2) Compilation and installation...................................................................................4
3.3) Example and test program:....................................................................................4
3.4) Windows Targets....................................................................................................5
3.5) Linux Target............................................................................................................6
3.6) Motorola HC12.......................................................................................................7
4 - Developing with CanFestival........................................................................................8
4.1) Undestanding Canfestival.......................................................................................8
4.2) Developing a new node.........................................................................................10
5 - FAQ.............................................................................................................................18
5.1) General.................................................................................................................18
5.2) LINUX...................................................................................................................18
5.3) HCS12...................................................................................................................18
6 - Documentation resources...........................................................................................23
7 - About the project........................................................................................................24
7.1) Contributors .........................................................................................................24
7.2) Getting support.....................................................................................................24
7.3) Contributing..........................................................................................................25
7.4) License..................................................................................................................25
CANFestival3 – Release 3.0 1/25
1 - Introduction
This document describe the CANOpen layer.CanFestival is an OpenSource (LGPL)
CANOpen framework.
1.1) The CanFestival project
This project, initiated by Edouard TISSERANT in 2001, as 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, Real-time IPCs, and
Microcontrollers.
CanFestival is a project supported by Lolitech.
1.2) What is CANopen
CANopen is a CAN based high level protocol. It defines some protocols to :
– Configure a CAN network.
– Transmit data to a specific node or in broadcast.
– Administrate the network. For example detecting a not responding node.
The documentation can be found in the Can in automation website :
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.
To continue reading this document, let us assume that you have read some papers
introducing CANopen.
CANFestival3 – Release 3.0 2/25
2 - CanFestival Features
2.1) Tools
The CANopen library is coming with some tools :
– Object Dictionary editor GUI. WxPython Model-View-Controler based GUI, that help
a lot in generating object dictionary source code for each node.
– A home made configure script, that let you chose compile time options such as
target CPU/HOST and/or CAN,TIMER, LED or NVRAM drivers.
2.2) Standard conformance
a)Multi-Platform
– Library source code is C-ANSI.
– Driver and examples coding conventions merely depend on target specific
contributor/compiler.
– Unix compatible interfaces and examples should compile and run on any Unix
system (tested on GNU/Linux and GNU/FreeBSD).
b)CanOpen conformance
– Should be conform to the latest DS301. V.4.02 13 february 2002.
– Master and Slave functionality implemented.
– Sending SYNC implemented.
– 1 SDO server per node.
– Unlimited SDO client.
– SDO transmission mode : normal, expedited download and upload.
– Unlimited PDO receive.
– Unlimited PDO transmit.
– Object Data type implemented : 8, 16, 32 bits values, an fixed length strings.
– Slave state full implemented.
– NMT to change slave's state implemented.
– PDO transmission mode : on request, every reception of 0 to n SYNC, on event.
– NMT Heartbeat implemented : A node can be either heartbeat producer or receiver.
– NMT NodeGuard implemented : Not fully implemented.
– TIME (time Stamp) : Not implemented.
– EMCY (emergency objects) : Not implemented.
CANFestival3 – Release 3.0 3/25
3 - How to start
3.1) Host requirements
What you need on your development workstation.
– Linux, FreeBSD, Cygwin or any Unix environment with GNU toolchain.
– The GNU C compiler (gcc) or any other ANSI-C compiler for your target platform.
– GNU Make
– Bash
– Python, with wxPyhon modules installed (at least version 2.6.3). You will also need
Xpdf, and the official 301_v04000201.pdf file in order to get GUI context sensitive
help.
3.2) Compilation and installation
Call ./configure –help to see all available compile time options.
After invoking ./configure with your platform specific switches, just type make.
./configure [options]
make
make install
3.3) Example and test program:
The “examples” directory contains some test program you can use as example for your
own developments.
3.3.1)TestMasterSlave :
**************************************************************
* TestMasterSlave *
* *
* A simple example for PC. It does implement 2 CanOpen *
* nodes in the same process. A master and a slave. Both *
* communicate together, exchanging periodically NMT, SYNC, *
* SDO and PDO. *
* *
* Usage: *
* ./TestMasterSlave [OPTIONS] *
* *
* OPTIONS: *
* Slave: *
* -s : bus name ["0"] *
* -S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *
* *
* Master: *
* -m : bus name ["1"] *
* -M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) *
* *
**************************************************************
CANFestival3 – Release 3.0 4/25
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