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
canfestival字典环境搭建 （514个子文件） 
SlaveAVR.aps 10KB SlaveAVR.atsln 965B AUTHORS 123B slaveavr.aws 578B sdo.c 80KB getopt.c 39KB getopt.c 39KB getopt.c 39KB getopt.c 39KB getopt.c 39KB lss.c 36KB TestSlave.c 32KB pdo.c 28KB TestMaster.c 27KB masterdic.c 25KB example_objdict.c 24KB ObjDict.c 23KB canOpenDriver.c 20KB Master.c 16KB TestMasterMicroMod.c 16KB TestMasterMicroMod.c 15KB ObjDict.c 15KB appli.c 15KB CANOpenShell.c 13KB slavedic.c 12KB states.c 12KB objdict.c 12KB can_copcican_comedi.c 11KB cm0.c 11KB cm3.c 11KB can_multi_peak_win32.c 11KB lifegrd.c 11KB SillySlave.c 10KB can_anagate_linux.c 10KB can_anagate_win32.c 10KB TestMasterSlaveLSS.c 10KB can_peak_win32.c 10KB can_copcican_linux.c 9KB dcf.c 9KB objacces.c 9KB can_serial_hub.c 9KB Master.c 8KB TestMasterSlave.c 8KB can_kvaser.c 8KB can_AVR.c 8KB main.c 7KB win32test.c 7KB Master.c 7KB cm4.c 7KB sync.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 master.c 5KB gendcf.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 slave.c 4KB timers_win32.c 4KB test_copcican_linux.c 4KB nmtSlave.c 4KB can_virtual.c 4KB timer_AVR.c 3KB symbols.c 3KB timers_unix.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 testCommon.c 195B CANOpenShellsln 894B changelog 206B cm0 4B cm3 3B trace32_flash_programmer.cmm 1KB trace32_flash_debug.cmm 661B共 514 条
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