manual.tex

CANopen 协议栈源码 ,实现基本的CANopen 协议

\paragraph{LinCan}
\begin{verbatim}
	./configure --can=lincan
\end{verbatim}

\paragraph{Virtual CAN interfaces (for test/debug)}
\begin{verbatim}
	./configure --can=virtual
		or, for kernel space:
	./configure --can=kernel_virtual
\end{verbatim}
Virtual CAN interface use Unix pipes to emulate a virtual CAN network.
Each message issued from a node is repeat to all other nodes. Currently
only works with nodes running in the same process, and does not support
work with Xenomai or RTAI.

\paragraph{VScom}
\begin{verbatim}
	./configure --can=vscom
\end{verbatim}
The VSCAN API archive will be automatically downloaded and decompressed (unzip required). See \href{http://www.vscom.de/1_1_05.htm}{www.vscom.de} for available adapters.

\subsubsection{LSS services}
Canfestival optionally supports LSS services but they must be enabled.
\begin{verbatim}
	./configure --enable-lss
\end{verbatim}

Additionally, the FastScan LSS service can also be enabled.
\begin{verbatim}
	./configure --enable-lss --enable-lss-fs
\end{verbatim}

\subsection{Testing your CanFestival installation}

\subsubsection{User space}

Sample provided in /example/TestMasterSlave is installed into your
system during installation.


\begin{verbatim}
	TestMasterSlave
\end{verbatim}


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. Another example using Peak{\textquotesingle}s dual PCMCIA
(configure and install with --can=peak) :


\begin{verbatim}
	TestMasterSlave -l libcanfestival_can_peak.so -s 40 -m 41
\end{verbatim}

If the LSS services are enabled the sample provided in /example/TestMasterSlaveLSS will be also installed. It behaves the same as TestMasterSlave except that there are 2 slave nodes without a valid nodeID so the the initializations is done via  the LSS services. If FastScan optional service is enabled the example will use it. 

\subsubsection{Kernel space}


\begin{verbatim}
	example/kerneltest
\end{verbatim}


It's based on TestMasterSlave example
and has the same functionality. Uses virtual can driver as default
too. After successful installation you can insert the module by typing:
modprobe canf\_ktest Module control is done by simple console 'canf\_ktest\_console'
which is used to start/stop sending data.


\section{Windows Targets}

CanFestival can be compiled and run on Windows platform. It is possible
to use both Cygwin and win32 native runtime environment.

\subsection{Object Dictionary Editor GUI installation.}

Please refer to \hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using
Dictionary Editor GUI}

\subsection{CYGWIN}

\subsubsection{Requirements}

Cygwin have to be installed with those packages :

\begin{enumerate}
\item gcc 
\item unzip 
\item wget 
\item make 
\end{enumerate}
Currently, the only supported CAN devices are PeakSystems ones, with
PcanLight driver and library.

Please download driver at \href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak
-system.com/themen/download\_gb.html} \ and follow instructions
in order to install driver on your system.

Install Cygwin as required, and the driver for your Peak CAN device.

Open a Cygwin terminal, and follow those instructions:


\subsubsection{Cygwin configuration and compilation}


\paragraph{A single node with PcanLight and Peak CAN -USB adapter}

Download the PCAN-Light Zip file for your HW ( URL from download
page ):


\begin{verbatim}
	wget http://www.peak -system.com/files/usb.zip
\end{verbatim}


Extract its content into your cygwin home (it will create a {}``Disk''
directory):


\begin{verbatim}
	unzip usb.zip
\end{verbatim}


Configure CanFestival3 providing path to the desired PcanLight implementation:


\begin{verbatim}
	cd CanFestival -3
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
	export PCAN_HEADER=Pcan_usb.h
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_usb.lib
	./configure --can=peak_win32
	make
\end{verbatim}


In order to test, you have to use another CanFestival node, connect
with a CAN cable.


\begin{verbatim}
	cp ~/Disk/PCAN-Light/Pcan_usb.dll .
	./examples/TestMasterSlave/TestMasterSlave \
	-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll \
	-S 500K -M none
\end{verbatim}


Then, on the other node :


\begin{verbatim}
	./TestMasterSlave -l my_driver.so -S none -M 500K
\end{verbatim}


Now messages are being exchanged between master and slave node.

\paragraph{Two nodes with PcanLight and Peak dual PCMCIA -CAN adapter}

Download the PCAN-Light Zip file for your HW ( URL from download
page ):


\begin{verbatim}
	wget http://www.peak-system.com/files/pccard.zip
\end{verbatim}


Extract its content into your cygwin home (it will create a {}``Disk''
directory):


\begin{verbatim}
	unzip pccard.zip
\end{verbatim}


The configure CanFestival3 providing path to the desired PcanLight
implementation:


\begin{verbatim}
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
	export PCAN_HEADER=Pcan_pcc.h
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_pcc.lib
	export PCAN2_HEADER=Pcan_2pcc.h
	export PCAN2_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_2pcc.lib
\end{verbatim}


In order to test, just connect together both CAN ports of the PCMCIA
card. Don{\textquotesingle}t forget 120ohms terminator.


\begin{verbatim}
	cp ~/Disk/PCAN-Light/Pcan_pcc.dll .
	cp ~/Disk/PCAN-Light/Pcan_2pcc.dll .
	./examples/TestMasterSlave/TestMasterSlave \
	   -l drivers/can_peak_win32/cygcan_peak_win32.dll
\end{verbatim}


Messages are then exchanged between master and slave node, both inside
TestMasterSlave{\textquotesingle}s process.

\subsection{Visual Studio C++}

\subsubsection{Requirements}

Minimal Cygwin installation is required at configuration time in order
to create specific header files (config.h and cancfg.h). Once this
files created, cygwin is not necessary any more.

Project and solution files have been created and tested with Visual
Studio Express 2005. Be sure to have installed Microsoft Platform
SDK, as recommended at the end of Visual Studio installation.


\subsubsection{Configuration with cygwin}

Follow instructions given at \hyperlink{Cygwin configuration and compilation}{Cygwin
configuration and compilation}, but do neither call make nor do tests,
just do configuration steps. This will create headers files accordingly
to your configuration parameters, and the desired CAN hardware.


\subsubsection{Compilation with Visual Studio}

You can either load independent {}``{*}.vcproj'' project files
along your own projects in your own solution or load the provided
{}``CanFestival -3.vc8.sln'' solution files directly.

Build CanFestival -3 project first.


\paragraph{PcanLight and the can\_peak\_win32 project.}

Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
to can\_peak\_win32 \ \ project before build of the DLL.


\subsubsection{Testing}

Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or
Debug directory, and run the test program:


\begin{verbatim}
	TestMasterSlave.exe -l can_peak_win32.dll
\end{verbatim}


\subsection{MSYS}


\subsubsection{Requirements}

Download from : http://sourceforge.net/project/showfiles.php?group\_id=2435

\begin{enumerate}
\item MSYS-1.0.10.exe 
\item MinGW-5.1.3.exe 
\item mingwPORT (which contains wget-1.9.1) 
\end{enumerate}
Please download driver at http://www.peak-system.com/themen/download\_gb.html
and follow instructions in order to install driver on your system.
Install MSYS and MingW as required, and the driver for your Peak CAN
device. Open a MSYS terminal, and follow those instructions:\\


\begin{itemize}
\item extract wget-1.9.1-mingwPORT.tar.bz2 
\item copy wget.exe in c:\textbackslash{} msys\textbackslash{} 1.0\textbackslash{}
bin\textbackslash{} 
\item start MSYS and check the file /etc/fstab contain the line c:/MinGW
/mingw 
\end{itemize}

\subsubsection{MSYS configuration and compilation}

Instructions for compilation are nearly the same as CYGWIN part.


\paragraph{A single node with PcanLight and Peak CAN-USB adapter}

Download the PCAN-Light Zip file for your HW ( URL from download page
):

\begin{verbatim}
	wget http://www.peak-system.com/files/usb.zip
\end{verbatim}

Extract its content into your MSYS's home (it will create a \char`\"{}
Disk\char`\"{} directory):


\begin{verbatim}
	unzip usb.zip
\end{verbatim}


Configure CanFestival3 providing path to the desired PcanLight implementation:

\begin{verbatim}
	cd CanFestival-3
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
	export PCAN_HEADER=Pcan_usb.h
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_usb.lib
	./configure --can=peak_win32
	make
\end{verbatim}

In order to test, you have to use another CanFestival node, connect
with a CAN cable.


\begin{verbatim}
	cp ~/Disk/PCAN-Light/Pcan_usb.dll .
	./examples/TestMasterSlave/TestMasterSlave \
	  -l drivers/can_peak_win32/cygcan_peak_win32.dll \
	  -S 500K -M none
\end{verbatim}

Then, on the other node :

\begin{verbatim}
	./TestMasterSlave -l my_driver.so -S none -M 500K -m 0
\end{verbatim}
Now messages are being exchanged between master and slave node.


\paragraph{Two nodes with PcanLight and Peak dual PCMCIA-CAN adapter}

Download the PCAN-Light Zip file for your HW ( URL from download page
):

\begin{verbatim}
	wget http://www.peak-system.com/files/pccard.zip
\end{verbatim}
Extract its content into your MSYS's home (it will create a \char`\"{}
Disk\char`\"{} directory):

\begin{verbatim}
	unzip pccard.zip
\end{verbatim}
The configure CanFestival3 providing path to the desired PcanLight
implementation:

\begin{verbatim}
	export PCAN_INCLUDE=~/Disk/PCAN-Light/Api/
	export PCAN_HEADER=Pcan_pcc.h}
	export PCAN_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_pcc.lib
	export PCAN2_HEADER=Pcan_2pcc.h
	export PCAN2_LIB=~/Disk/PCAN-Light/Lib/Visual\ C++/Pcan_2pcc.lib
\end{verbatim}

In order to test, just connect together both CAN ports of the PCMCIA
card. Don't forget 120ohms terminator.

\begin{verbatim}
	cp~/Disk/PCAN-Light/Pcan_pcc.dll ~.
	cp ~/Disk/PCAN-Light/Pcan_2pcc.dll ~.
	./examples/TestMasterSlave/TestMasterSlave \
		-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll -m 0 -s 1
\end{verbatim}
Messages are then exchanged between master and slave node, both inside
TestMasterSlave's process.

\section{Motorola HCS12}

The examples have been tested on a MC9S12DG255 mounted on a Elektronikladen
HCS12 T -board.

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 \ the HCS12.

For the difference MSCAN HC12/HCS12, see the Motorola application
note AN2011/D.

Configure switch: