DCS Controller DCS Controller Init Canakari Interface SCB
DCS Controller
DCS Controller Init Canakari • • Interface SCB CANopen OD Rizwan Ahmad Maximilian Caspar Niklaus Lehmann Aaron Beer (Design and verification canakari) DCS Controller Rizwan Ahmad | ATLAS - DCS SCB Master SCB SCB
DCS Controller • Init > • Configure and Initialize canakari • CANopen node ID and message filteration • Interface > • Read CAN messages • Reset interrupts • Write registers for Init • CANopen > • Interpret CAN messages • Access OD • Handle timeout/errors • Send error frame • If applicable SYNC/EMCY message DCS Controller Rizwan Ahmad | ATLAS - DCS Init Canakari Interface Rizwan Ahmad CANopen
DCS Controller • • • Create OD Provide interface for read and write operations Provide error code in case of invalid address Constants Interface SCB controller EMCY messages DCS Controller Rizwan Ahmad | ATLAS - DCS Object Dictionary Maximilian Caspar
DCS Controller • • • Interpret register/OD request EMCY handling Prepare SCB messages (mask) Configure SCB master Write the OD SCB Master SCB SCB Niklaus Lehmann DCS Controller Rizwan Ahmad | ATLAS - DCS
IRQ DCS Controller Rizwan Ahmad | ATLAS - DCS
Prescalar DCS Controller Rizwan Ahmad | ATLAS - DCS
Prescalar DCS Controller Rizwan Ahmad | ATLAS - DCS
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