{"type":"doc","content":[{"type":"paragraph","content":[{"text":"Some of the described features are always available, others can be activated about compiler defines included in the file ","type":"text"},{"text":"/bl_config.h.","type":"text","marks":[{"type":"em"}]}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"CANopen network parameters","type":"text"}]},{"type":"paragraph","content":[{"text":"The CANopen network parameters are the CAN bit rate and the node-ID. These parameters can be configured application-specific by switches or loaded from nonvolatile memory. Because the configuration depends on the special device, Paulus provides the following functions:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"/_init.c/getBitRate()","type":"text","marks":[{"type":"em"}]},{"text":" to get the desired CAN bit rate","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"/_init.c/getNodeId() ","type":"text","marks":[{"type":"em"}]},{"text":"to get the desired node-ID","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"The node-ID can be configured by LSS additionally.","type":"text"}]},{"type":"paragraph","content":[{"text":"Paulus only supports 11 bit standard identifier.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"NMT services","type":"text"}]},{"type":"paragraph","content":[{"text":"The NMT state machine according to /CiA-301/ is not supported by the Paulus bootloader completely because code size optimization. The Paulus bootloder remains in the NMT state PRE-OPERATIONAL after the boot-up.","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"4d4ec717-5db5-4ca1-bef2-faa7cf9f0d17"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"NMT command","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"actions on Paulus","type":"text","marks":[{"type":"strong"}]}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Reset node","type":"text","marks":[{"type":"em"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"change into the NMT state Reset Application to re-start Paulus","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Reset communication","type":"text","marks":[{"type":"em"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"activate a new node-Id changed by LSS, reset SDO communication and send boot-up message, but a new CAN bit rate is NOT activated","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Start remote node","type":"text","marks":[{"type":"em"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"ignore NMT command and remain in the NMT state PRE-OPERATIONAL","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Enter pre-operational","type":"text","marks":[{"type":"em"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"ignore NMT command","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Stop remote node","type":"text","marks":[{"type":"em"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"ignore NMT command and remain in the NMT state PRE-OPERATIONAL","type":"text"}]}]}]}]},{"type":"paragraph","content":[{"text":"Table 1: NMT commands","type":"text"}]},{"type":"paragraph","content":[{"text":"The NMT command ","type":"text"},{"text":"Reset node","type":"text","marks":[{"type":"em"}]},{"text":" initiates a software reset. Normally this NMT command is applied after a successful firmware download to start the new application program, see chapter 2.9.2.","type":"text"}]},{"type":"paragraph","content":[{"text":" ","type":"text"}]},{"type":"paragraph","content":[{"text":"Figure 1 shows the function flow initiated by the NMT command ","type":"text"},{"text":"Reset communication","type":"text","marks":[{"type":"em"}]},{"text":":","type":"text"}]},{"type":"mediaSingle","attrs":{"layout":"center"},"content":[{"type":"media","attrs":{"width":311,"id":"fc38d3d3-d9b1-4f80-bd55-10670b159a1a","collection":"contentId-191562600","type":"file","height":450}}]},{"type":"paragraph","content":[{"text":"Figure 1: Reset Communication","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"SDO services","type":"text"}]},{"type":"paragraph","content":[{"text":"Paulus operates as SDO server and supports the following SDO transfer protocols:","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"57aeda03-e6a3-43ae-80c1-f4d3983cb2ca"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"SDO expedited transfer","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"yes","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"SDO normal (segmented) transfer","type":"text"}]},{"type":"paragraph","content":[{"text":" download","type":"text"}]},{"type":"paragraph","content":[{"text":" upload","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":" ","type":"text"}]},{"type":"paragraph","content":[{"text":"yes","type":"text"}]},{"type":"paragraph","content":[{"text":"no","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"SDO block transfer","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"no","type":"text"}]}]}]}]},{"type":"paragraph","content":[{"text":"Table 2: supported SDO services","type":"text"}]},{"type":"paragraph","content":[{"text":" ","type":"text"}]},{"type":"paragraph","content":[{"text":"Paulus supports the following SDO abort codes:","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"41f99b2c-d7f9-48f1-b400-2315c49c5620"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"SDO abort code","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"description","type":"text","marks":[{"type":"strong"}]}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"05030000h","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"A wrong toggle bit in the SDO request message was occurred.","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"06010002h","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"It was attempted to write a read only object. ","type":"text"}]},{"type":"paragraph","content":[{"text":"The Heartbeat producer time in object 1017h is not writeable.","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"06060000h","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"An error was occurred during the flashing of the data into the program flash memory.","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"06070012h","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"The domain size in the SDO request exceeds the size of the domain object.","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"08000000h","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"This abort code indicates:","type":"text"}]},{"type":"paragraph","content":[{"text":"· an error during erasing the program flash memory","type":"text"}]},{"type":"paragraph","content":[{"text":"· the receipt of an unsupported service request","type":"text"}]},{"type":"paragraph","content":[{"text":"· the receipt of a SDO request with a wrong or not supported SDO protocol","type":"text"}]}]}]}]},{"type":"paragraph","content":[{"text":" Table 3: SDO abort codes","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Error control services","type":"text"}]},{"type":"paragraph","content":[{"text":"Paulus supports the following error control services:","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"87749bcd-03dd-4912-9a76-6f71af948845"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"boot-up message","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"yes","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Heartbeat producer","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"configurable","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Heartbeat consumer","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"no","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Node Guarding","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"no","type":"text"}]}]}]}]},{"type":"paragraph","content":[{"text":"Table 4: supported error control services","type":"text"}]},{"type":"paragraph","content":[{"text":"The Heartbeat producer is activated by the compiler define BL_USE_HB in ","type":"text"},{"text":"/bl_config.h","type":"text","marks":[{"type":"em"}]},{"text":":","type":"text"}]},{"type":"paragraph","content":[{"text":"#define BL_USE_HB 1","type":"text"}]},{"type":"paragraph","content":[{"text":"The target-specific code for the Heartbeat generation must be available.","type":"text","marks":[{"type":"strong"}]},{"text":" Dependent on the target processor various implementations for the Heartbeat generation are possible:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"counting loop located in the main-loop: This method is more imprecise but needs less resources.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"hardware timer: This method is more exactly but needs more resources.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"external generation","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"The Heartbeat producer time is set in the source code, i.e. the Heartbeat producer time can not be configured about the CANopen network. The actual value is indicated in object 1017h. The generation of the Heartbeat producer message requires the function ","type":"text"},{"text":"/_init.c/timerTriggered()","type":"text","marks":[{"type":"em"}]},{"text":".","type":"text"}]},{"type":"mediaSingle","attrs":{"layout":"center","width":50.0},"content":[{"type":"media","attrs":{"width":366,"id":"c1b39893-9da3-4197-b249-639444a23bb9","collection":"contentId-191562600","type":"file","height":412}}]},{"type":"paragraph","content":[{"text":"Figure 2: program flow for the Heartbeat producer service","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Emergency services","type":"text"}]},{"type":"paragraph","content":[{"text":"Paulus supports the following Emergency services:","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"134b045f-4e86-49c1-b09a-c20aeeea3500"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Emergency producer","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"configurable","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"Emergency consumer","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"no","type":"text"}]}]}]}]},{"type":"paragraph","content":[{"text":"Table 5: supported Emergency services","type":"text"}]},{"type":"paragraph","content":[{"text":"The Emergency producer is activated by the compiler define BL_USE_EMCY in ","type":"text"},{"text":"/bl_config.h","type":"text","marks":[{"type":"em"}]},{"text":":","type":"text"}]},{"type":"paragraph","content":[{"text":"#define BL_USE_EMCY 1","type":"text"}]},{"type":"paragraph","content":[{"text":"The Emergency producer service is implemented with the following limitations:","type":"text"}]},{"type":"bulletList","content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"The cob-ID of emergency producer message is set according to the pre-defined connection set, see /CiA-301/, and is fixed.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Object 1015h (inhibit_time_emcy) is not supported.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Object 1001h (error_register) is not adjusted.","type":"text"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"text":"Object 1003h (predefined error field) is not supported.","type":"text"}]}]}]},{"type":"paragraph","content":[{"text":"After sending the boot-up message, the bootloader can send an additional Emergency message. This is useful to signal that the bootloader program is running instead of the application program. This functionality can be activated about the compiler define BL_TXEMCY_AFTER_BOOTUP in ","type":"text"},{"text":"/bl_config.h:","type":"text","marks":[{"type":"em"}]}]},{"type":"paragraph","content":[{"text":"#define BL_TXEMCY_AFTER_BOOTUP 1","type":"text"}]},{"type":"paragraph","content":[{"text":"The content of the first Emergency message is defined in the variable ","type":"text"},{"text":"emcyErrMsg[EMCY_0]","type":"text","marks":[{"type":"em"}]},{"text":" in the module ","type":"text"},{"text":"bl_canopen.c","type":"text","marks":[{"type":"em"}]},{"text":". A send Emergency after an occurred CRC error is available in newer porting’s.","type":"text"}]},{"type":"paragraph","content":[{"text":"Emergency messages are transmitted by the function ","type":"text"},{"text":"canMsgTransmit()","type":"text","marks":[{"type":"em"}]},{"text":".","type":"text"}]},{"type":"paragraph","content":[{"text":"Example: canMsgTransmit(EMCY_COBID, &emcyErrMsg[EMCY_0]);","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"PDO services","type":"text"}]},{"type":"paragraph","content":[{"text":"PDO services are not supported.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"CANopen Layer Setting Services (LSS)","type":"text"}]},{"type":"paragraph","content":[{"text":"Paulus supports the following LSS 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node-ID","type":"text"}]}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":" ","type":"text"}]},{"type":"paragraph","content":[{"text":"no","type":"text"}]},{"type":"paragraph","content":[{"text":"yes","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"LSS identification","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"yes","type":"text"}]}]}]},{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[340.0]},"content":[{"type":"paragraph","content":[{"text":"LSS fast 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compiler-define.","type":"text"}]},{"type":"paragraph","content":[{"text":"#define BL_START_IN_LSS_CONFIGURATION_MODE 1","type":"text"}]},{"type":"paragraph","content":[{"text":"The bootloader is in the state LSS/CONFIGURATION after start-up.","type":"text"}]},{"type":"paragraph","content":[{"text":"#define BL_AUTO_SEND_NONCONFIGURED_SLAVE 1","type":"text"}]},{"type":"paragraph","content":[{"text":"The bootloader transmits the LSS “identify non-configured slave” message after start-up automatically without a request from the LSS master. This message substitutes the boot-up message for unconfigured devices. Please note that this behavior is not specified in the /CiA-305/.","type":"text"}]},{"type":"paragraph","content":[{"text":"The LSS service “store configuration” is available to save the node-ID and CAN bit rate in the nonvolatile memory. The functions for the access on the nonvolatile memory are manufacturer-specific and have to be added in ","type":"text"},{"text":"bl_user.c/usrLssInd().","type":"text","marks":[{"type":"em"}]}]},{"type":"paragraph","content":[{"text":"The LSS service “activate bit timing parameters” shall be used to activate a new CAN bit rate in the complete CANopen network. The new CAN bit rate cannot be activated by Reset Communication.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Object dictionary","type":"text"}]},{"type":"paragraph","content":[{"text":"The object dictionary of Paulus includes the following objects:","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"322cde98-4db0-4d4c-bb0e-5479abb9df0e"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[170.0]},"content":[{"type":"paragraph","content":[{"text":"index","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[170.0]},"content":[{"type":"paragraph","content":[{"text":"sub-index","type":"text","marks":[{"type":"strong"}]}]}]},{"type":"tableCell","attrs":{"colspan":1,"background":"#deebff","rowspan":1,"colwidth":[170.0]},"content":[{"type":"paragraph","content":[{"text":"access 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In this case the application can only be started by the start command.","type":"text"}]},{"type":"heading","attrs":{"level":2},"content":[{"text":"Change between Paulus and the application program","type":"text"}]},{"type":"paragraph","content":[{"text":"The application program can initiate a jump back into Paulus. The re-start behavior of Paulus is determined by a keyword stored in the shared RAM. The application program shall use a macro to set the keyword and to jump to Paulus:","type":"text"}]},{"type":"table","attrs":{"layout":"default","localId":"d0a436c9-66bd-4da9-9a14-aeceacf57b15"},"content":[{"type":"tableRow","content":[{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[226.67]},"content":[{"type":"paragraph","content":[{"text":"APPL","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[226.67]},"content":[{"type":"paragraph","content":[{"text":"BOOTLOADER_JUMP(APPL)","type":"text"}]}]},{"type":"tableCell","attrs":{"colspan":1,"rowspan":1,"colwidth":[226.67]},"content":[{"type":"paragraph","content":[{"text":"Paulus is re-started and does not start the application program. 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