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16 %%%%\%%%%%%%% titre, auteurs, date, etc...%%%%%%%%%%%%%%%%%%
17 \title{\Huge The CanFestival CANOpen stack manual}
18 \author{Edouard TISSERANT}
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112 {\centering\sffamily\Huge The CanFestival CANOpen stack manual.}
114 \renewcommand\contentsname{CanFestival v3.0 Manual}
115 \setcounter{tocdepth}{2}
117 \section{Introduction}
118 CanFestival is an OpenSource (LGPL and GPL) CANOpen framework.
120 \subsection{The CanFestival project}
121 This project, initiated by Edouard TISSERANT in 2001, as grown thanks to
122 Francis DUPIN and other contributors.
124 Today, CanFestival focuses on providing an ANSI{}-C platform independent
125 CANOpen stack that can be implemented as master or slave nodes on PCs,
126 Real{}-time IPCs, and Microcontrollers.
128 CanFestival is a project supported by Lolitech.
130 \subsection{What is CANopen}
131 CANopen is a CAN based high level protocol. It defines some protocols to
136 \item Configure a CAN network.
137 \item Transmit data to a specific node or in broadcast.
138 \item Administrate the network. For example detecting a not responding
141 The documentation can be found in the Can in automation website :
143 \href{http://www.can-cia.de/canopen}{http://www.can{}-cia.de/canopen}
145 The most important document about CANopen is the normative CiA Draft
146 Standard 301, version 4.02. You can now download with no cost the
147 specification in Can in automation website.
149 To continue reading this document, let us assume that you have read some
150 papers introducing CANopen.
152 \section{CanFestival Features}
154 The CANopen library is coming with some tools :
158 \item Object Dictionary editor GUI. WxPython Model{}-View{}-Controler
159 based GUI, that help a lot in generating object dictionary source code
161 \item A configure script, that let you chose compile time options such
162 as target CPU/HOST, CAN and TIMER drivers.\newline
163 This script have not been generated with autoconf, it have been made
164 keeping micro{}-controller target in mind.
166 \subsection{Standard conformance}
167 \paragraph{Multi{}-Platform}
170 \item Library source code is C{}-ANSI.
171 \item Driver and examples coding conventions merely depend on target
172 specific contributor/compiler.
173 \item Unix compatible interfaces and examples should compile and run on
174 any Unix system (tested on GNU/Linux and GNU/FreeBSD).
176 \paragraph{CanOpen conformance}
182 \item Should conform to DS301. V.4.02 13 february 2002.
183 \item Master and Slave functionality implemented.
184 \item Sending SYNC implemented.
185 \item 1 SDO server per node. (update: more than one possible. To be more
187 \item Unlimited SDO client.
188 \item SDO transmission mode : normal, expedited download and upload.
189 \item Unlimited PDO receive.
190 \item Unlimited PDO transmit.
191 \item Object Data type implemented : 8, 16, 32 bits values, and fixed
193 \item Slave state full implemented.
194 \item NMT to change slave{\textquotesingle}s state implemented.
195 \item PDO transmission mode : on request, every reception of 0 to n
197 \item NMT Heartbeat implemented : A node can be either heartbeat
198 producer or receiver.
199 \item NMT NodeGuard implemented : Not fully implemented.
200 \item TIME (time Stamp) : Not implemented.
201 \item EMCY (emergency objects) : Not implemented.
202 \item PDO Mapping bit per bit implemented.
209 \item Concise \space DFC : implemented.
211 \section{How to start}
212 \subsection{Host requirements}
213 What you need on your development workstation.
215 \subsubsection{Object Dictionary Editor GUI}
219 \item wxPyhon modules installed (at least version 2.6.3).
220 \item Gnosis xml tools. (Optional can also be installed locally to the
221 project automatically will the help of a Makefile. Please see
222 \hyperlink{a91UsingDictionaryEditorGUIoutline}{9.1) Using Dictionary
225 \subsubsection[\space Linux and Unix{}-likes]{\space Linux and Unix{}-likes}
228 \item Linux, FreeBSD, Cygwin or any Unix environment with GNU toolchain.
229 \item The GNU C compiler (gcc) or any other ANSI{}-C compiler for your
231 \item Xpdf, and the official 301\_v04000201.pdf file in order to get GUI
232 context sensitive help. Download the ds301 at\newline
233 \href{http://www.can-cia.org/downloads/ciaspecifications/?1390}{http://www.can{}-cia.org/downloads/ciaspecifications/?1390}.
237 \subsubsection{Windows (for native win32 target)}
240 \item Visual Studio Express 2005 or worst.
241 \item Microsoft platform SDK (requires Genuine Advantage)
242 \item Cygwin (for configuration only)
244 \subsection{How to get CanFestival}
245 Please always use CVS, this is the best way to get the most reactive
246 support from the developer community :
248 cvs {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival
250 (type return, without entering a password)
252 Then, enter : \newline
253 cvs {}-z3 {}-d:pserver:anonymous@lolitech.dyndns.org:/canfestival co
256 \section{Understanding Canfestival}
257 \subsection{CanFestival Project tree layout}
258 Simplified directory structure.
261 ./src ANSI{}-C source of CANOpen stack}
264 \space /include Exportables Header files}
267 ./drivers Interfaces to specific platforms/HW}
270 ./drivers/unix Linux and Cygwin OS interface}
273 ./drivers/win32 Native Win32 OS interface}
276 ./drivers/timers\_xeno Xenomai timers/threads (Linux only)}
279 ./drivers/timers\_unix Posix timers/threads (Linux, Cygwin)}
282 ./drivers/can\_peak\_linux PeakSystem CAN library interface}
285 ./drivers/can\_peak\_win32 PeakSystem PCAN{}-Light interface}
288 ./drivers/can\_uvccm\_win32 Acacetus{\textquotesingle}s RS232
289 ``CAN{}-uVCCM'' interface}
292 ./drivers/can\_virtual Fake CAN network (Linux, Cygwin)}
295 ./drivers/hcs12 HCS12 full target interface}
301 ./examples/TestMasterSlave 2 nodes, NMT SYNC SDO PDO, win32+unix}
304 ./examples/TestMasterMicroMod 1 node, control Peak I/O Module, unix}
307 ./examples/gene\_SYNC\_HCS12 Just send periodic SYNC on HCS12}
310 ./examples/win32test Ask some DS301 infos to a node (\textbf{win32)}}
313 ./objdictgen Object Dictionary editor GUI}
316 ./objdictgen/config Pre{}-defined OD profiles}
319 ./objdictgen/examples Some examples/test OD}
322 ./doc Project and CanOpen doc}
324 \subsection{Implement CanFestival in your application}
327 \includegraphics[width=12cm]{Pictures/10000201000003F9000002CF880931E7.png}
332 \subsection{CanFestival CAN interfaces}
333 Because most CAN controllers and drivers implement FIFOs, CanFestival
334 consider sending message as a non bloking operation.
336 In order to prevent reentrent calls to the stack, messages reception is
337 implemented differently on {\textmu}C and OS.:
341 \item {\textmu}C must provide interuption masking for timer and can
344 \includegraphics[width=12cm]{Pictures/10000201000003CA0000016604E6A5EF.png}
346 \item OS must provide a receive thread, a timer thread and a mutex. CAN
347 reception is a bloking operation.\newline
349 \includegraphics[width=12cm]{Pictures/10000201000003F9000002CF8B0CDAEA.png}
352 \subsection{CanFestival events scheduling}
353 A CanOpen node must be able to take delayed actions.
355 As exemples, periodic sync emission, heartbeat production or SDO timeout
356 need to set some alarms that will be called later and do the job.
358 {\textmu}C generaly do not have enough free timers to handle all the
359 CanOpen needs directly. Moreover, CanFestival internal data may be
360 corrupt by reentrant calls.
362 CanFestival implement a micro{}-scheduler (timer.c). It uses only one
363 timer to mimic many timers. It manage an alarm table, and call alarms
367 \includegraphics[width=12cm]{Pictures/100000000000022C000000DEDAD2140C.png}
370 Scheduler can handle short clock value ranges limitation found on some
371 {\textmu}C. As an example, value range for a 16bit clock counter with
372 4{\textmu}s tick is crossed within 0.26 seconds... Long alarms must be
375 Chronogram illustrate a long alarm (A) and a short periodic alarm (B),
376 with a A value {\textgreater} clock range {\textgreater} B value.
377 Values t0...t8 are successive setTimer call parameter values. t1
378 illustrates an intermediate call to TimeDispatch, caused by a delay
379 longer than clock range. Because of long alarm segmentation, at the end
380 of t1, TimeDispatch call will not trig any alarm callback.
383 \includegraphics[width=12cm]{Pictures/1000000000000396000000FFC42573DA.png}
386 \section{Linux Target}
387 Linux target is default configure target.
389 \subsection{Linux Compilation and installation}
390 Call ./configure {--}help to see all available compile time options.
392 After invoking ./configure with your platform specific switches, just
396 ./configure [options]}
404 \subsubsection{Standard Linux node}
410 To do a CANopen node running on PC{}-Linux, you need :
414 \item A working linux distribution
415 \item One or more Peak system PC CAN interface and the last Peak Linux
418 \subsubsection{Real{}-Time Linux node}
424 To do a CANopen node running on PC{}-Linux, you need :
428 \item A working Linux distribution patched with XENOMAI 2.1 or greater.
429 \item One or more Peak system PC CAN interface and the last Peak Real
430 Time Linux driver installed.
432 \subsubsection{CAN devices}
433 Curently supported CAN devices and corresponding configure switch:
435 \paragraph{Peak systems}
439 {}-{}-can=peak\_linux}
441 PeakSystems CAN interface is automatically chosen as default CAN
442 interface if libpcan is present in the system.
444 Please download driver at
445 \href{http://www.peak-system.com/linux}{http://www.peak{}-system.com/linux}
446 and follow instructions in order to install driver on your system.
448 \paragraph{Socket{}-Can (http://socketcan.berlios.de)}
460 \paragraph{Virtual CAN interfaces (for test/debug)}
466 Virtual CAN interface use Unix pipes to emulate a virtual CAN network.
467 Each message issued from a node is repeat to all other nodes. Currently
468 only works with nodes running in the same process, and does not support
471 \subsection{Testing your CanFestival installation}
472 Sample provided in /example/TestMasterSlave is installed into your
473 system during installation.
478 Default can driver library is libcanfestival\_can\_virtual.so., which
479 will simply pass CAN messages through Unix pipes between Master and
482 You may also want to specify different can interface and define some CAN
483 ports. An other example using Peak{\textquotesingle}s dual PCMCIA
484 (configure and install with {--}can=peak) :
487 TestMasterSlave {}-l libcanfestival\_can\_peak.so {}-s 40 {}-m 41}
489 \section{Windows Targets}
490 CanFestival can be compiled and run on Windows platform. It is possible
491 to use both Cygwin and win32 native runtime environment.
493 \subsection{Object Dictionary Editor GUI installation.}
495 \hyperlink{a821UsingDictionaryEditorGUIoutline}{8.2.1)Using Dictionary
499 \subsubsection{Requirements}
500 Cygwin have to be installed with those packages :
509 Currently, the only supported CAN devices are PeakSystems ones, with
510 PcanLight driver and library.
512 Please download driver at
513 \href{http://www.peak-system.com/themen/download_gb.html}{http://www.peak{}-system.com/themen/download\_gb.html}
514 \space and follow instructions in order to install driver on your system.
516 Install Cygwin as required, and the driver for your Peak CAN device.
518 Open a Cygwin terminal, and follow those instructions:
520 \subsubsection{Cygwin configuration and compilation}
521 \paragraph{A single node with PcanLight and Peak CAN{}-USB adapter}
522 Download the PCAN{}-Light Zip file for your HW ( URL from download page
526 wget http://www.peak{}-system.com/files/usb.zip}
528 Extract its content into your cygwin home (it will create a ``Disk''
534 Configure CanFestival3 providing path to the desired PcanLight
541 export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/}
544 export PCAN\_HEADER=Pcan\_usb.h}
547 export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
551 ./configure {}-{--}can=peak\_win32}
556 In order to test, you have to use another CanFestival node, connect with
560 cp \~{}/Disk/PCAN{}-Light/Pcan\_usb.dll .}
563 ./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
566 {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll
572 Then, on the other node :
575 ./TestMasterSlave {}-l my\_driver.so {}-S none {}-M 500K}
577 Now messages are beeing exchanged between master and slave node.
579 \paragraph{Two nodes with PcanLight and Peak dual PCMCIA{}-CAN adapter}
580 Download the PCAN{}-Light Zip file for your HW ( URL from download page
584 wget http://www.peak{}-system.com/files/pccard.zip}
586 Extract its content into your cygwin home (it will create a ``Disk''
592 The configure CanFestival3 providing path to the desired PcanLight
596 export PCAN\_INCLUDE=\~{}/Disk/PCAN{}-Light/Api/\newline
597 export PCAN\_HEADER=Pcan\_pcc.h\newline
598 export PCAN\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
599 C++/Pcan\_pcc.lib\newline
600 export PCAN2\_HEADER=Pcan\_2pcc.\newline
601 export PCAN2\_LIB=\~{}/Disk/PCAN{}-Light/Lib/Visual{\textbackslash}
604 In order to test, just connect together both CAN ports of the PCMCIA
605 card. Don{\textquotesingle}t forget 120ohms terminator.
608 cp \~{}/Disk/PCAN{}-Light/Pcan\_pcc.dll .}
611 cp \~{}/Disk/PCAN{}-Light/Pcan\_2pcc.dll .}
614 ./examples/TestMasterSlave/TestMasterSlave {\textbackslash}}
617 {}-l drivers/can\_peak\_win32/cygcan\_peak\_win32.dll}
619 Messages are then exchanged between master and slave node, both inside
620 TestMasterSlave{\textquotesingle}s process.
622 \subsection{Visual Studio C++}
623 \subsubsection{Requirements}
624 Minimal Cygwin installation is required at configuration time in order
625 to create specific header files (config.h and cancfg.h). Once this
626 files created, cygwin is not necessary any more.
628 Project and solution files have been created and tested with Visual
629 Studio Express 2005. Be sure to have installed Microsoft Platform SDK,
630 as recommended at the end of Visual Studio installation.
632 \subsubsection{Configuration with cygwin}
633 Follow instructions given at
634 \hyperlink{Cygwin configuration and compilation}{Cygwin
635 configuration and compilation}, but do neither call make nor do tests,
636 just do configuration steps. This will create headers files accordingly
637 to your configuration parameters, and the desired CAN hardware.
639 \subsubsection{Compilation with Visual Studio}
640 You can either load independents ``*.vcproj'' project files along your
641 own projects in your own solution or load the provided
642 ``CanFestival{}-3.vc8.sln'' solution files directly.
644 Build CanFestival{}-3 project first.
646 \paragraph{PcanLight and the can\_peak\_win32 project.}
647 Chosen Pcan\_xxx.lib and eventually Pcan\_2xxx.lib files must be added
648 to can\_peak\_win32 \space \space project before build of the DLL.
650 \subsubsection{Testing}
651 Copy eventually needed dlls (ie : Pcan\_Nxxx.lib) into Release or Debug
652 directory, and run the test program:
655 TestMasterSlave.exe {}-l can\_peak\_win32.dll}
657 \section{Motorola HCS12}
658 The examples have been tested on a MC9S12DG255 mounted on a
659 Elektronikladen HCS12 T{}-board.
661 Beware that there are a few differences in the MSCAN module of the
662 68HC12 and HCS12 microcontroller. For a HC12, you must adapt the driver
663 that we provide for \space the HCS12.
665 For the difference MSCAN HC12/HCS12, see the Motorola application note
673 To do a CANopen node running on a microncontroller Motorola MC9S12DP256,
678 \item The compiler GNU gcc for HC11, HC12, HCS12 : m6811{}-elf. \newline
679 Download the \textbf{release 3.1} at :
680 \space \href{http://m68hc11.serveftp.org/m68hc11_pkg_rpm.php}{http://m68hc11.serveftp.org/m68hc11\_pkg\_rpm.php}
682 \item A board with this chip. We are using the T{}-board from
684 \item At least about 40 kBytes of program memory.
685 \item A tool to flash the memory. (We are using the hight cost
686 Lauterbach debugger).
688 \subsection{Running a HCS12 node}
689 \subsubsection{Compiling Canfestival:}
691 ./configure {--}target=hcs12}
693 \subsubsection{Compiling and building an example}
694 Enter in the folder of an HCS12 example,
699 \subsubsection{Flashing the memory :}
700 Use your prefered loader ! If you are using a debugger Lauterbach, you
701 can load the bash file : trace32\_flash\_programmer.cmm. It loads
702 directly the elf file.
704 \subsubsection{Connecting to a serial RS232 console :}
705 Connect the portS(TxD0) of the HCS12 to a console configured at 19200
706 bauds 8N1, via a Max232 chip to adapt the electricals levels. On Linux,
707 you can use minicom. Connecting to a console is usefull to read the
708 messages, but not required.
710 \subsubsection{Connecting to the CAN network :}
711 Connect the port CAN0 (pin PM0, PM1) to the network via a CAN
712 controller. On our board, the CAN controler is a PCA82C250 chip.
714 \subsubsection{starting the node :}
715 Press the reset of your HCS12 board.
717 \section{Example and test program:}
718 The ``examples'' directory contains some test program you can use as
719 example for your own developments.
721 \subsection{TestMasterSlave}
723 **************************************************************\space}
726 * \space TestMasterSlave
727 \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 *}
731 \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 *}
734 * \space A simple example for PC. It does implement 2 CanOpen \space \space \space \space \space *}
737 * \space nodes in the same process. A master and a slave. Both \space \space \space \space *}
740 * \space communicate together, exchanging periodically NMT, SYNC, \space *}
743 * \space SDO and PDO. Master configure heartbeat producer time \space \space \space \space *}
746 * \space at 1000 ms for slave node{}-id 0x02 by concise DCF.
747 \space \space \space \space \space \space \space \space *}
751 \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 *}
754 * \space \space Usage:
755 \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 *}
758 * \space \space ./TestMasterSlave \space [OPTIONS]
759 \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 *}
763 \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 *}
766 * \space \space OPTIONS:
767 \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 *}
770 * \space \space \space \space {}-l : Can library
771 [{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
772 \space \space \space \space *}
776 \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 *}
779 * \space \space \space Slave:
780 \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 *}
783 * \space \space \space \space {}-s : bus name [{\textquotedbl}0{\textquotedbl}]
784 \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 *}
787 * \space \space \space \space {}-S : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \space *}
791 \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 *}
794 * \space \space \space Master:
795 \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 *}
798 * \space \space \space \space {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
799 \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 *}
802 * \space \space \space \space {}-M : 1M,500K,250K,125K,100K,50K,20K,10K,none(disable) \space *}
806 \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 *}
809 **************************************************************}
815 Notes for Concise DCF :}
821 In this example, Master configure \space heartbeat producer time at 1000 ms
822 for slave node{}-id 0x02 by concise DCF according DS{}-302 profile. }
828 Index 0x1F22 , sub{}-index 0x00 of the master OD, correspond to the
829 number of entries. This equal to the maximum possible nodeId (127).
830 Each sub{}-index points to the Node{}-ID of the device, to which the
831 configuration belongs. }
837 To add more parameters configurations to the slave, the value at
838 sub{}-index 0x02 must be a binary stream (little{}-endian) following
839 this structure :\newline
841 (UNS32) nb of entries\newline
842 (UNS16) index parameter 1\newline
843 (UNS8) sub{}-index parameter 1\newline
844 (UNS32) size data parameter 1\newline
845 (DOMAIN) data parameter 1\newline
846 (UNS16) index parameter 2\newline
847 (UNS8) sub{}-index parameter 2\newline
848 (UNS32) size data parameter 2\newline
849 (DOMAIN) data parameter 2\newline
850 \space \space \space \space \space ....\newline
851 (UNS16) index parameter n\newline
852 (UNS8) sub{}-index parameter n\newline
853 (UNS32) size data parameter n\newline
854 (DOMAIN) data parameter n\newline
859 So the binary value stream to configure heartbeat producer time must be
861 0100000017100002000000e803}
864 The slave node is configured just before the Master entering in
865 Pre\_operational state.}
867 \subsection{gene\_SYNC\_HCS12 :}
868 This is a simple CanOpen node that only send cyclic SYNC message. It
869 demonstrate implementation on HCS12 based board.
874 \subsection{TestMasterMicroMod }
876 **************************************************************}
879 * \space TestMasterMicroMod
880 \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 *}
884 \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 *}
887 * \space A simple example for PC.
888 \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 *}
891 * \space A CanOpen master that control a MicroMod module:
892 \space \space \space \space \space \space \space \space \space *}
895 * \space {}- setup module TPDO 1 transmit type
896 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
899 * \space {}- setup module RPDO 1 transmit type
900 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
903 * \space {}- setup module hearbeatbeat period
904 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
907 * \space {}- disable others TPDOs
908 \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 *}
911 * \space {}- set state to operational
912 \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 *}
915 * \space {}- send periodic SYNC
916 \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 *}
919 * \space {}- send periodic RPDO 1 to Micromod (digital output) \space \space \space \space \space \space *}
922 * \space {}- listen Micromod{\textquotesingle}s TPDO 1 (digital input)
923 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
926 * \space {}- Mapping RPDO 1 bit per bit (digital input)
927 \space \space \space \space \space \space \space \space \space \space \space \space \space *}
931 \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 *}
934 * \space \space Usage:
935 \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 *}
938 * \space \space ./TestMasterMicroMod \space [OPTIONS]
939 \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 *}
943 \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 *}
946 * \space \space OPTIONS:
947 \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 *}
950 * \space \space \space \space {}-l : Can library
951 [{\textquotedbl}libcanfestival\_can\_virtual.so{\textquotedbl}]
952 \space \space \space \space *}
956 \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 *}
959 * \space \space \space Slave:
960 \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 *}
963 * \space \space \space \space {}-i : Slave Node id format [0x01 , 0x7F]
964 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
968 \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 *}
971 * \space \space \space Master:
972 \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 *}
975 * \space \space \space \space {}-m : bus name [{\textquotedbl}1{\textquotedbl}]
976 \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 *}
979 * \space \space \space \space {}-M : 1M,500K,250K,125K,100K,50K,20K,10K
980 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space *}
984 \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 *}
987 **************************************************************}
989 \section{Developing a new node}
990 Using provided examples as a base for your new node is generally a good
991 idea. You can also use the provided *.od files as a base for your node
994 Creating a new CanOpen node implies to define the Object Dictionary of
995 this node. For that, developer have to provide a C file. This C file
996 contains the definition of all dictionary entries, and some kind of
997 index table that helps the stack to access some entries directly.
999 \subsection{Using Dictionary Editor GUI}
1000 The Object Dictionary Editor is a WxPython based GUI that is used to
1001 create the C file needed to create a new CanOpen node.
1003 \subsubsection{Installation and usage on Linux}
1004 You first have to download and install Gnosis XML modules. This is
1005 automated by a Makefile rule.
1013 Now start the editor.
1016 python objdictedit.py [od files...]}
1018 \subsubsection{Installation and usage on Windows}
1019 Install Python (at least version 2.4) and wxPython (at least version
1022 Cygwin users can install Gnosis XML utils the same as Linux use. Just
1031 Others will have to download and intall Gnosis XML by hand :
1037 http://freshmeat.net/projects/gnosisxml/}
1040 http://www.gnosis.cx/download/Gnosis\_Utils.More/Gnosis\_Utils{}-1.2.1.win32{}-py24.exe}
1043 Get latest version.}
1045 Download CanFestival archive and uncompress it. Use windows file
1046 explorer to go into CanFestival3{\textbackslash}objdicgten, and
1047 double{}-click on objdictedit.py.
1049 \subsubsection{About}
1050 The Object Dictionary editor GUI is a python application that use the
1051 Model{}-View{}-Controller design pattern. It depends on WxPython to
1052 display view on any supported platform.
1055 \includegraphics[width=7cm]{Pictures/10000201000001FC000001E5D65E8766.png}
1058 \subsubsection{Main view}
1059 Top list let you choose dictionary section, bottom left list is the
1060 selected index in that dictionary, and bottom right list are edited
1064 \includegraphics[width=12cm]{Pictures/10000201000003E7000001C7B0296577.png}
1068 \includegraphics[width=3cm]{Pictures/10000000000000B6000000DF1EDD1E73.png}
1071 \includegraphics[width=3cm]{Pictures/10000000000000AC000000C9C3F53FA6.png}
1074 \includegraphics[width=3cm]{Pictures/100000000000006D000000A31EC8CB54.png}
1077 \includegraphics[width=3cm]{Pictures/10000000000000AA0000006014F74635.png}
1080 \subsubsection{New node}
1081 Edit your node name, ID and type. Choose your inherited specific
1085 \includegraphics[width=11cm]{Pictures/10000201000001CB0000015F4FC09B68.png}
1088 \subsubsection{Node info}
1089 Edit your node name, ID and type.
1092 \includegraphics[width=7cm]{Pictures/10000201000001010000011DA724D25C.png}
1095 \subsubsection{Profile editor}
1096 Chose the used profile to edit.\newline
1098 \includegraphics[width=4cm]{Pictures/10000000000000AB000000C88F594413.png}
1101 Pick up optional chosen profile entries.\newline
1103 \includegraphics[width=11cm]{Pictures/10000201000002DE000001D82D89C224.png}
1106 \subsubsection{User types}
1107 Use User Types to implement value boundaries, and string lentgth\newline
1109 \includegraphics[width=11cm]{Pictures/10000201000001C40000010766961D7F.png}
1112 \subsubsection{Mapped variable}
1113 Add your own specific dictionary entries and associated mapped
1116 \includegraphics[width=11cm]{Pictures/10000201000001C4000000DD129D4661.png}
1119 \subsubsection{Integrated help}
1120 Using F1 key, you can get context sensitive help.\newline
1122 \includegraphics[width=12cm]{Pictures/10000201000002F30000020B23ED7F67.png}
1125 In order to do that, official 301\_v04000201.pdf file must be placed
1126 into doc/ directory, and xpdf must be present on your system.
1128 F2 key open HTML CanFestival help.\newline
1130 \includegraphics[width=12cm]{Pictures/10000201000003440000025ACC3FD2F1.png}
1133 \subsection{Generating the object Dictionary}
1134 Once object dictionary has been edited and saved, you have to generate
1135 object dictionary C code for your CanFestival node.
1137 \subsubsection{With GUI}
1138 Menu entry ``File/Build Dictionary''.
1141 \includegraphics[width=4cm]{Pictures/10000201000000B7000000C66AF89CD5.png}
1144 Choose C file to create or overwrite. Header file will be also created
1145 with the same prefix as C file.
1147 \subsubsection{With command line}
1149 Usage of objdictgen.py :\newline
1150 python objdictgen.py XMLFilePath CfilePath}
1153 \subsection{General}
1154 \subsubsection{Does the code compiles on Windows ?}
1155 Yes, with both Cygwin and Visual Studio C++.
1157 Because CANopen layer is coded with C, put a compilation option /TC or
1158 /TP if you plan to mix C++ files. See the MSDN documentation about
1161 \subsubsection{How to fit the library to an other microcontr\^oler ?}
1162 First, be sure that you have at least 40K bytes of program memory, and
1165 You have to create target specific interface to HW resources. Take model
1166 on bundled interfaces provided in drivers/ and create your own
1167 interface. You also have to update Makefile.in files for target
1168 specific cflags and options. Chose {--}targer= configure switch to
1169 compile your specific interface.
1171 You are welcome to contribute{}-back your own interfaces ! Other
1172 Canfestival users will use it and provide feedback, tests and
1175 \subsubsection{Is CanFestival3 conform to DS301 v.4.02 ?}
1176 Thanks to Philippe Foureys (IUT of Valence), a slave node have been
1177 tested with the National Instrument CanOpen Conformance Test. It passed
1178 the test with success.
1180 Some very small unconformity have been found in very unusual situations,
1181 for example in the SDO code response to wrong messages.
1184 \subsubsection{How to use a Peaksystem CAN board ?}
1185 Just install peak driver and then compile and install Canfestival. Peak
1186 driver is detected at compile time.
1188 \subsubsection{How to use an unsupported CAN board ?}
1189 You have to install the specific driver on your system, with necessary
1192 Use can\_peak.c/h or can\_virtual.c/h as an example, and adapt it to
1195 Execute configure script and choose {}-{}-can=mydriver
1202 \item Code was compiled MS VisualStudio 2003.NET and VisualStudio
1203 2005.NET for WindowsXP \space with ANSI and UNICODE configurations and for
1205 \item Some preliminary testing was done, but not enough to be used in
1206 mission critical projects.
1208 Additional Features:
1212 \item Non{}-integral integers support implementation UNS24, UNS40, UNS48
1214 \item When enable debug output with DEBUG\_WAR\_CONSOLE\_ON or
1215 DEBUG\_ERR\_CONSOLE\_ON, you can navigate in CanFestival source code by
1216 double clicking at diagnostic lines in VisualStudio.NET 200X Debug
1219 Custom size integral types such as INTEGER24, UNS40, INTEGER56 etc. have
1220 been defined as 64 bits integers. You will need to replace sizeof(TYPE)
1221 operators to sizeof\_TYPE definitions in generated code, i.e. replace
1222 sizeof(UNS40) with sizeof\_UNS40.
1228 \subsubsection{Which board are you using ?}
1229 A T{}-board from elektronikladen with a MC9S12DP256 or MC9S12DG256.
1231 \subsubsection{Does the code compile with an other compiler than GNU gcc
1233 It is known to work with Metrowerks CodeWarrior. Here are some tips from
1236 \paragraph{Interrupt functions}
1237 \subparagraph{Code for GCC:}
1239 // prototype\newline
1240 void \_\_attribute\_\_((interrupt))timer3Hdl(void):\newline
1242 void \_\_attribute\_\_((interrupt))timer3Hdl(void)\{...\}}
1244 \subparagraph{Code for CodeWarrior}
1247 void interrupt timer3Hdl(void);\newline
1249 pragma CODE\_SEG\_\_NEAR\_SEG\_NON\_BANKED\newline
1250 void interrupt timer3Hdl(void)\newline
1252 pragma CODE\_SEG\_DEFAULT}
1254 \paragraph{Interrupt lock, unlock}
1255 \subparagraph{Code for GCC}
1257 void unlock (void)\newline
1260 \_\_volatile\_\_({\textquotedbl}cli{\textquotedbl});\newline
1262 void lock (void)\newline
1264 \space unsigned short mask;\newline
1266 \_\_volatile\_\_({\textquotedbl}tpa{\textbackslash}n{\textbackslash}tsei{\textquotedbl}:{\textquotedbl}=d{\textquotedbl}(mask));\newline
1269 \subparagraph{Code for CodeWarrior}
1271 void unlock (void)\newline
1273 \space \_\_asm({\textquotedbl}cli{\textquotedbl});\newline
1275 void lock (void)\newline
1277 \space unsigned short mask;\newline
1278 \space \_\_asm\newline
1280 \space tpa:tsei:{\textquotedbl}=d{\textquotedbl}(mask);\newline
1284 \paragraph{Initialize function}
1285 \subparagraph{Code for GCC}
1287 void initCanHCS12 (void)\newline
1289 \space //Init the HCS12 microcontroler for CanOpen \newline
1290 \space initHCS12();\newline
1291 \space \space // Init the HCS12 \space CAN driver\newline
1292 \space const canBusInit bi0 = \{\newline
1293 \space \space \space 0, \space \space \space /* no low power \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */
1295 \space \space \space 0, \space \space \space /* no time stamp
1296 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1297 \space \space \space 1, \space \space \space /* enable MSCAN
1298 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1299 \space \space \space 0, \space \space \space /* clock source : oscillator (In fact, it is not used)
1300 \space \space */\newline
1301 \space \space \space 0, \space \space \space /* no loop back
1302 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1303 \space \space \space 0, \space \space \space /* no listen only
1304 \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1305 \space \space \space 0, \space \space \space /* no low pass filter for wk up */\newline
1306 \space CAN\_Baudrates[CAN\_BAUDRATE\_250K],\newline
1307 \space \space \space \{\newline
1308 \space \space \space \space \space 0x00, \space \space \space /* Filter on 16 bits.\newline
1309 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space See Motorola Block Guide V02.14 fig
1311 \space \space \space \space \space 0x00, 0xFF, /* filter 0 hight accept all msg
1312 \space \space \space \space \space */\newline
1313 \space \space \space \space \space 0x00, 0xFF, /* filter 0 low accept all msg
1314 \space \space \space \space \space \space \space */\newline
1315 \space \space \space \space \space 0x00, 0xFF, /* filter 1 hight filter all of \space msg
1317 \space \space \space \space \space 0x00, 0xFF, /* filter 1 low filter all of \space msg
1318 \space \space \space */\newline
1319 \space \space \space \space \space 0x00, 0xFF, /* filter 2 hight filter most of \space msg
1321 \space \space \space \space \space 0x00, 0xFF, /* filter 2 low filter most of \space msg
1322 \space \space */\newline
1323 \space \space \space \space \space 0x00, 0xFF, /* filter 3 hight filter most of \space msg
1325 \space \space \space \space \space 0x00, 0xFF, /* filter 3 low filter most of \space msg
1326 \space \space */\newline
1327 \space \space \space \}\newline
1330 \subparagraph{Code for CodeWarrior}
1332 void initCanHCS12 (void)\newline
1334 \space //Init the HCS12 microcontroler for CanOpen \newline
1335 \space initHCS12();\newline
1336 \space \space // Init the HCS12 \space CAN driver\newline
1337 \space const canBusInit bi0 = \{\newline
1338 \space \space \space 0, \space \space \space /* no low power \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */
1340 \space \space \space 0, \space \space \space /* no time stamp
1341 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1342 \space \space \space 1, \space \space \space /* enable MSCAN
1343 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1344 \space \space \space 0, \space \space \space /* clock source : oscillator (In fact, it is not used)
1345 \space \space */\newline
1346 \space \space \space 0, \space \space \space /* no loop back
1347 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1348 \space \space \space 0, \space \space \space /* no listen only
1349 \space \space \space \space \space \space \space \space \space \space \space \space \space \space */\newline
1350 \space \space \space 0, \space \space \space /* no low pass filter for wk up */\newline
1351 \space \space \space \{\newline
1352 \space \space \space \space 1, /* clksrc */\newline
1353 \space \space \space \space 3, /* brp \space \space \space */\newline
1354 \space \space \space \space 0, /* sjw \space \space \space */\newline
1355 \space \space \space \space 0, /* samp \space \space */\newline
1356 \space \space \space \space 1, /* tseg2 \space */\newline
1357 \space \space \space \space 12,/* tseg1 \space */\newline
1358 \space \space \space \},\newline
1359 \space \space \space \{\newline
1360 \space \space \space \space \space 0x00, \space \space \space /* Filter on 16 bits.\newline
1361 \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space \space See Motorola Block Guide V02.14 fig
1363 \space \space \space \space \space 0x00, 0xFF, /* filter 0 hight accept all msg
1364 \space \space \space \space \space */\newline
1365 \space \space \space \space \space 0x00, 0xFF, /* filter 0 low accept all msg
1366 \space \space \space \space \space \space \space */\newline
1367 \space \space \space \space \space 0x00, 0xFF, /* filter 1 hight filter all of \space msg
1369 \space \space \space \space \space 0x00, 0xFF, /* filter 1 low filter all of \space msg
1370 \space \space \space */\newline
1371 \space \space \space \space \space 0x00, 0xFF, /* filter 2 hight filter most of \space msg
1373 \space \space \space \space \space 0x00, 0xFF, /* filter 2 low filter most of \space msg
1374 \space \space */\newline
1375 \space \space \space \space \space 0x00, 0xFF, /* filter 3 hight filter most of \space msg
1377 \space \space \space \space \space 0x00, 0xFF, /* filter 3 low filter most of \space msg
1378 \space \space */\newline
1379 \space \space \space \}\newline
1382 \subsubsection{Does the code works in banked memory ?}
1383 No. Today it seems that the port of gcc is bogged for using the banked
1384 memory. So, unfortunately, we are limited to 48 Kbytes of memory code.
1386 \subsubsection{What GCC version are you using ?}
1387 We are using the stable RPM release 2.2 :
1391 \item GNU Gcc 3.0.4. Build 20030501
1392 \item Newlib 1.10.0 Build 20030421
1393 \item GNU Binutils 2.12.1 Build 20030427
1395 \section{Documentation resources\newline}
1396 \paragraph{CIA : Can in Automation\newline}
1397 Many documentation on CANopen.\newline
1398 \href{http://www.can-cia.de/}{http://www.can{}-cia.de}
1400 \paragraph{Resources and training in CANopen\newline}
1401 \href{http://www.esacademy.com/}{http://www.esacademy.com}
1403 \paragraph{Elektronikladen HCS12 T{}-board\newline}
1404 \href{http://www.elektronikladen.de/en_hcs12tb.html}{http://www.elektronikladen.de/en\_hcs12tb.html}
1406 \paragraph{Gnu gcc compiler for HC12\newline}
1407 \href{http://m68hc11.serveftp.org/m68hc11_port.php}{http://m68hc11.serveftp.org/m68hc11\_port.php}
1409 \paragraph{Motorola documentation on HC12\newline}
1410 \href{http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=MC9S12DP256}{http://www.freescale.com/webapp/sps/site/prod\_summary.jsp?code=MC9S12DP256}
1412 \paragraph{Lauterbach debugger for HC12\newline}
1413 \href{http://www.lauterbach.com/}{http://www.lauterbach.com}
1415 \paragraph{Python language\newline}
1416 \href{http://www.python.org/}{http://www.python.org}
1418 \clearpage\section{About the project}
1419 \subsection{Contributors }
1421 \includegraphics[width=10cm]{Pictures/1000020100000258000000832C6FFAB4.png}
1424 Unit\'e mixte de recherche INRETS{}-LCPC
1426 sur les Interractions V\'ehicule{}-Infrastructure{}-Conducteur
1428 14, route de la mini\`ere
1434 Tel : +33 1 40 43 29 01
1436 \href{http://www.inrets.fr/ur/livic}{http://www.inrets.fr/ur/livic}
1438 \textbf{Contributors :} Francis DUPIN
1448 \includegraphics[width=10cm]{Pictures/100002010000013A0000004A96B0C1FF.png}
1453 204, rue du Haut du Pin
1455 88470 Saint{}-Michel sur Meurthe
1459 Tel : +33 3 29 52 95 67
1461 \href{http://www.lolitech.fr/}{http://www.lolitech.fr}
1464 Contributors : \textmd{Edouard TISSERANT (Original author)}}
1472 Many thanks to the other contributors for their great work:
1474 \textmd{ }Raphael ZULLIGER
1476 \textmd{ }David DUMINY (st\'e A6R)
1478 \textmd{ }Zakaria BELAMRI
1480 \subsection{Getting support}
1481 Send your feedback and bug reports to
1482 \href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
1484 For commercial support, \space training and specific integration and
1485 developments, please ask LOLITECH (see contributors).
1487 \subsection{Contributing}
1488 You are free to contribute your specific interfaces back to the project.
1489 This way, you can hope to get support from CanFestival users community.
1491 Please send your patch to
1492 \href{mailto:canfestival-devel@lists.sourceforge.net}{canfestival{}-devel@lists.sourceforge.net}.
1494 Feel free to create some new predefined DS{}-4xx profiles (*.prf) in
1495 objdictgen/config, as much as possible respectful to the official
1498 \subsection{License}
1499 All the project is licensed with LGPL. This mean you can link
1500 CanFestival with any code without being obliged to publish it.
1503 \#This file is part of CanFestival, a library implementing CanOpen
1506 \#Copyright (C): Edouard TISSERANT, Francis DUPIN and Laurent BESSARD
1509 \#See COPYING file for copyrights details. \newline
1511 \#This library is free software; you can redistribute it and/or \newline
1512 \#modify it under the terms of the GNU Lesser General Public \newline
1513 \#License as published by the Free Software Foundation; either \newline
1514 \#version 2.1 of the License, or (at your option) any later version.
1517 \#This library is distributed in the hope that it will be useful,
1519 \#but WITHOUT ANY WARRANTY; without even the implied warranty of
1521 \#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. \space See the GNU
1523 \#Lesser General Public License for more details. \newline
1525 \#You should have received a copy of the GNU Lesser General Public
1527 \#License along with this library; if not, write to the Free Software
1529 \#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
1530 \space 02111{}-1307 \space USA }