=====carte PCI CAN=====
site de la carte:
http://www.peak-system.com/fileadmin/media/linux/index.htm


c'est celle la: http://www.peak-system.com/PCAN-PCI.207.0.html?&L=1

  lsmod | grep can
    can_dev                14748  1 sja1000
  lspci
    04:02.0 Network controller: PEAK-System Technik GmbH PCAN-PCI CAN-Bus controller (rev 02)
  dmesg | grep can
    [   22.653508] intel_rng: Firmware space is locked read-only. If you can't or
    [   22.785070] peak_pci 0000:04:02.0: can0 at reg_base=0xf847e000 cfg_base=0xf8466000 irq=18
    [   22.785958] peak_pci 0000:04:02.0: can1 at reg_base=0xf847e400 cfg_base=0xf8466000 irq=18



Linux/include/linux/can/dev.h 


http://lxr.free-electrons.com/source/include/linux/can/dev.h



http://www.armadeus.com/wiki/index.php?title=CAN_bus_Linux_driver

  sudo modprobe can
  sudo modprobe can-dev
  sudo modprobe can-raw 
  sudo modprobe mcp251x    
 

  sudo ip link set can0 up type can bitrate 125000
  sudo ip link set can0 up type can bitrate 500000

  which ip
    /sbin/ip
  sudo ifconfig can0 up
  cat /proc/net/can/version
    rev 20090105 abi 8


  cat /proc/net/can/stats

        0 transmitted frames (TXF)
        0 received frames (RXF)
        0 matched frames (RXMF)

        0 % total match ratio (RXMR)
        0 frames/s total tx rate (TXR)
        0 frames/s total rx rate (RXR)

        0 % current match ratio (CRXMR)
        0 frames/s current tx rate (CTXR)
        0 frames/s current rx rate (CRXR)

        0 % max match ratio (MRXMR)
        0 frames/s max tx rate (MTXR)
        0 frames/s max rx rate (MRXR)

        0 current receive list entries (CRCV)
        0 maximum receive list entries (MRCV)




=====canopen=====
ftp://ftp.icpdas.com/pub/cd/fieldbus_cd/can/pci/pcm_piso-can_series/driver/linux_can_driver/socketcan/linux_socketcan_canopen_manual.pdf

===canopen en LGPL===

supporté par la carte PEAK: http://www.canfestival.org/
       http://www.canfestival.org/doc
       
manuel:  http://dev.automforge.net/CanFestival-3/raw-file/tip/objdictgen/doc/manual_en.pdf

borderouge:/local/users/bvandepo/rtcenter/workspace/CanFestival-3/doc/CANOpen_memento/CANOpen_memento.pdf 


video: https://www.youtube.com/watch?feature=player_embedded&v=pA9w0MKpbC8


https://developer.mbed.org/users/sam_grove/notebook/canopen/

http://reprap.org/wiki/CANopen


http://www.beremiz.org/beremiz.pdf

=====hd 2'5 =====
/home/rtcenter/ copié sur borderouge  vers /local/users/bvandepo/rtcenter/workspace/CanFestival-3/doc/manual/en


=====travail d'ivo=====
copié sur borderouge  vers /local/users/bvandepo/copieIvo




=====doc controleurs moteur======
borderouge:/local/users/bvandepo/rtcenter/Bureau/Documentation FESTO/Documentation/CanOpen/557344g1.pdf
 

borderouge:/local/users/bvandepo/rtcenter/Bureau/Documentation FESTO/Documentation/CMMP-AS/557326g1.pdf

borderouge:/local/users/bvandepo/rtcenter/Bureau/Documentation FESTO/Documentation/CMMP-AS/557332g1.pdf


borderouge:/local/users/bvandepo/rtcenter/Bureau/beremizWD> 
  python hmi.py

borderouge:/local/users/bvandepo/rtcenter/Bureau> grep -nRi canopen *
  Documentation FESTO/Readme.txt:9: - Fieldbus support for CanOpen,
  Documentation FESTO/Readme.txt:21:	 \CMMP-AS-...-CO	 Device with CANopen interface
  Documentation FESTO/Readme.txt:30:         \CANopen\EDS            EDS for CANopen
  Documentation FESTO/Liesmich.txt:9: - Feldbus-Support f�r CanOpen,
  Documentation FESTO/Liesmich.txt:22:	  \CMMP-AS-...-CO	   Ger�te mit CANopen-Schnittstelle
  Documentation FESTO/Liesmich.txt:31:	  \CANopen\EDS             EDS f�r CANopen
  Documentation FESTO/FB-Tools/CAN/CMMP-AS-C10-11A-P3.eds:12:Description=CanOpen Info Set
  Documentation FESTO/FB-Tools/CAN/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
  Documentation FESTO/FB-Tools/CAN/CMMP-AS-C5-3A.eds:12:Description=CanOpen Info Set
  Documentation FESTO/FB-Tools/CAN/CMMP-AS-C5-11A-P3.eds:12:Description=CanOpen Info Set
  Manuel/presentation_generale.svg:834:         y="608.05261">CANOpen</tspan></text>
  Manuel/reseau_canopen.svg:17:   sodipodi:docname="reseau_canopen.svg"
  Manuel/reseau_canopen.svg:600:           sodipodi:role="line">CANOpen</tspan></text>  
  Manuel/reseau_canopen.svg:782:         y="58.860645">Réseau CANOpen - Node Id</tspan></text>
  Sixaxes_LAAS_bla/build/OD_0_0.c:1917:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
  Sixaxes_LAAS_bla/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
  Sixaxes_LAAS_bla/build/CF_0.c:134:    if(!canOpen(&nodename##Board,&nodename##_Data)){\
  Sixaxes_LAAS_bla/build/CF_0.c:135:        fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for     CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
  Sixaxes_LAAS_bla/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
  Sixaxes_LAAS_bla/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
  Sixaxes_LAAS_bla/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_LAAS_bla/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_LAAS_bla/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_LAAS_bla/plc.xml~:8432:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_LAAS_bla/plc.xml~:8452:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_LAAS_bla/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_bla/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_bla/plc.xml:8010:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_LAAS_bla/plc.xml:8496:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_LAAS_bla/plc.xml:8503:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_LAAS_bla/plc.xml:8512:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_LAAS_bla/plc.xml:8532:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_LAAS_bla/plc.xml:9053:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_bla/plc.xml:9335:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface/build/OD_0_0.c:2188:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
  Sixaxes_LAAS_interface/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
  Sixaxes_LAAS_interface/build/CF_0.c:134:    if(!canOpen(&nodename##Board,&nodename##_Data)){\
  Sixaxes_LAAS_interface/build/CF_0.c:135:        fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
  Sixaxes_LAAS_interface/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
  Sixaxes_LAAS_interface/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
  Sixaxes_LAAS_interface/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_LAAS_interface/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_LAAS_interface/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_LAAS_interface/plc.xml~:8432:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_LAAS_interface/plc.xml~:8452:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_LAAS_interface/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface/plc.xml:12942:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_LAAS_interface/plc.xml:13428:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_LAAS_interface/plc.xml:13435:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_LAAS_interface/plc.xml:13444:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_LAAS_interface/plc.xml:13464:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_LAAS_interface/plc.xml:13985:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface/plc.xml:14267:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface_camera/build/OD_0_0.c:1917:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
  Sixaxes_LAAS_interface_camera/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
  Sixaxes_LAAS_interface_camera/build/CF_0.c:134:    if(!canOpen(&nodename##Board,&nodename##_Data)){\
  Sixaxes_LAAS_interface_camera/build/CF_0.c:135:        fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
  Sixaxes_LAAS_interface_camera/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
  Sixaxes_LAAS_interface_camera/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
  Sixaxes_LAAS_interface_camera/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_LAAS_interface_camera/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_LAAS_interface_camera/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_LAAS_interface_camera/plc.xml~:8432:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_LAAS_interface_camera/plc.xml~:8452:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_LAAS_interface_camera/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface_camera/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface_camera/plc.xml:12228:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_LAAS_interface_camera/plc.xml:12714:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_LAAS_interface_camera/plc.xml:12721:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_LAAS_interface_camera/plc.xml:12730:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_LAAS_interface_camera/plc.xml:12750:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_LAAS_interface_camera/plc.xml:13271:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_LAAS_interface_camera/plc.xml:13553:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_original/build/OD_0_0.c:1917:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
  Sixaxes_original/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
  Sixaxes_original/build/CF_0.c:134:    if(!canOpen(&nodename##Board,&nodename##_Data)){\
  Sixaxes_original/build/CF_0.c:135:        fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
  Sixaxes_original/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
  Sixaxes_original/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
  Sixaxes_original/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_original/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_original/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_original/plc.xml~:8432:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_original/plc.xml~:8452:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_original/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_original/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_original/plc.xml:7956:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
  Sixaxes_original/plc.xml:8442:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
  Sixaxes_original/plc.xml:8449:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
  Sixaxes_original/plc.xml:8458:    STATUSWORD (Variable CANOpen drive->PLC)
  Sixaxes_original/plc.xml:8478:    CONTROLWORD (Variable CANOpen PLC->drive)
  Sixaxes_original/plc.xml:8999:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
  Sixaxes_original/plc.xml:9281:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>