implementing the canopen protocol and a new interface with communication via bluetooth in the...

1 | P a g e

Dept. of Mechatronics and Medical Engineering

Implementing the CANopen Protocol and a new Interface with

Communication via Bluetooth in the BioBike

July 2014

Project Report

Vedant Prusty Intern/Praktikum, May-July 2014

[email protected]

Dept. of Mechatronics

Manipal Institute of Technology,

Manipal 576104; INDIA.

Betreuer: Prof. Dr. –Ing Rainer Brucher Dipl. –Ing Volker Schilling-Kästle

mailto:[email protected]

Implementing CANopen in a new Interface in the BioBike Hochschule Ulm July 2014

2 | P a g e Vedant Prusty ([email protected])

Contents

Introduction ........................................................................................................................................ 3

Existing Structure: ............................................................................................................................... 3

Aim: ..................................................................................................................................................... 5

The CANopen Protocol: ....................................................................................................................... 5

Device model ...................................................................................................................................... 5

Signal Characteristics ...................................................................................................................... 6

Message formats ............................................................................................................................. 6

Implementing CANopen in the BioBike: ............................................................................................. 8

Project BB_Motor: .......................................................................................................................... 8

Project CANopenCom.X ................................................................................................................ 11

BioBike – Qt Project ...................................................................................................................... 14

End Position Switches: ...................................................................................................................... 17

Other Safety features for preventing motor overrun: .................................................................. 18

Optical Encoder at the Pedal (Drehzahl) system: ............................................................................. 18

Connection assignment on PCB .................................................................................................... 19

Power Module: ................................................................................................................................. 19

Designing and assembling the new Interface PCB: ........................................................................... 20

The New PCB: ................................................................................................................................ 21

CAN: .............................................................................................................................................. 21

Pedal System (Drehzahl): .............................................................................................................. 22

Power: ........................................................................................................................................... 22

Bluetooth: ..................................................................................................................................... 22

LED: ............................................................................................................................................... 22

Casing: ........................................................................................................................................... 23

Future Work and Prospects: ............................................................................................................. 24

Bibliography & Reference: ................................................................................................................ 24

Acknowledgements:.......................................................................................................................... 25



Introduction

The BioBike being developed at Hochschule Ulm is a device which can be used to assess a driver’s performance. It employs various modules including assessing and controlling seat and handlebar position and height, the angular velocity of the pedal, power brakes, etc. Additionally, the project holds great prospects in the field of physical rehabilitation, given the system’s ability to analyze human performance and respond accordingly. This project BioBike has the objective of developing a special test bench for bikers, covering biomechanics, effective pedaling and optimal power consumption.

The BioBike project which began in 1994 has been divided into a no. of Bachelor projects and has been worked upon continuously. The Aim of this author has been to implement the CANopen communication protocol (replacing simple serial communication) to communicate with the various motors in the device. The second goal was to replace the existing independent hard wired connections from the various modules of the BioBike to the PC with a single master PCB which is able to accept all data from these modules and transmit it to the PC via Bluetooth.

The Bio Bike in development, Medical Electronics Laboratory,

Hochschule Ulm, July 2014



Existing Structure:

The BioBike consists of 4 motors controlling the following:

Seat Position Up/DOWN

Seat Position Forward/Backward

Handlebar Position Up/Down

Handlebar Position Forward/Backward

These motors are controlled by microcontrollers. Potentiometers which movie parallel to the

above components are able to return an analog value to the microcontroller, which uses and ADC to

convert this to a value signifying the position of the component. The individual microcontrollers then

send back this information to the Master Microcontroller which in turn is connected to the PC. The

user can send commands for movement of various parts through a user interface in the PC made

using Qt.

Qt is a cross-platform application framework that is widely used for developing application software with a graphical user interface (GUI) (in which cases Qt is classified as a widget toolkit), and also used for developing non-GUI programs such as command-line tools and consoles for servers.

Qt uses standard C++ but makes extensive use of a special code generator (called the Meta Object Compiler, or mac) together with several macros to enrich the language.

The Qt interface sends back information to the Master microcontroller for controlling individual

motors.

The Microcontrollers to control the motors, the interface, etc. are all programmed using MPLAB X.

MPLAB Integrated Development Environment (IDE) is a free, integrated toolset for the

development of embedded applications on Microchip's PIC and dsPIC microcontrollers. In addition to

its predecessor's functionalities and compatibility with Microchip's existing development tools, the

new MPLAB X IDE utilizes many NetBeans features allowing for user-interface improvements and

performance upgrades.

Besides this, the BioBike consists of various other components including the Power Brake,

the Pedal Force analysis system, the Pedal Angular Velocity Analysis System. These systems send

back data independently to the PC via hard wire connections.



Aim:

The Aim of this project has been to replace the existing individual connections from the

various components to the PC with a single microcontroller attached to the central stationery

module. This microcontroller is mounted on a PCB and transmits signals coming from all

independent motor and Pedal devices to the PC via a Bluetooth module.

This removes the requirement of proximity required by limitations of the hard wire connection to

the PC.

The other goal of this project has been to replace the existing Serial Communication protocol being

used to communicate with the motors with the CANopen protocol.

CANopen is a communication protocol and device profile specification for embedded systems used in

automation. In terms of the OSI model, CANopen implements the layers above and including the

network layer.

The CANopen Protocol:

The CANopen standard consists of an addressing scheme, several small communication protocols and an application layer defined by a device profile. The communication protocols have support for network management, device monitoring and communication between nodes, including a simple transport layer for message segmentation/desegmentation. The basic CANopen device and communication profiles are given in the CiA 301 specification released by CAN in Automation.

Device model

Every CANopen device implements certain standard features in its controlling software.

A communication unit implements the protocols for messaging with the other nodes in the network

Starting and resetting the device is controlled via a state machine. It must contain the states Initialization, Pre-operational, Operational and Stopped. The transitions between states are made by issuing a network management (NMT) communication object to the device.

The object dictionary is an array of variables with a 16-bit index. Additionally, each variable can have an 8-bit subindex. The variables can be used to configure the device and reflect its environment, i.e. contain measurement data.

The application part of the device actually performs the desired function of the device, after the state machine is set to the operational state. The application is configured by variables in the object dictionary and the data are sent and received through the communication layer.

CANopen devices must have an object dictionary, which is used for configuration and communication

with the device. An entry in the object dictionary is defined by:

Index, the 16-bit address of the object in the dictionary Object name, a symbolic type of the object in the entry, such as an array, record, or simple

variable

http://en.wikipedia.org/wiki/Finite-state_machine



Name, a string describing the entry Type, gives the datatype of the variable (or the datatype of all variables of an array) Attribute, which gives information on the access rights for this entry, this can be read/write,

read-only or write-only The Mandatory/Optional field (M/O) defines whether a device conforming to the device

specification has to implement this object or not

Signal Characteristics

CAN may be implemented over a number of physical media so long as the drivers are open-collector and each node can hear itself and others while transmitting (this is necessary for its message priority and error handling mechanisms). The most common media is a twisted pair 5v differential signal which will allow operations in high noise environments and with the right drivers will work even if one of the wires is open circuit. A number of transceiver chips are available the most popular probably being the Philips 82C251 as well as the TJA1040.

Message formats

The CAN protocol uses a modified version of the Carrier Sense Multiple Access/Collision Avoidance (CSMA/CA) technique used on Ethernet. Should two messages determine that they are both trying to send at the same time then instead of both backing off and re-trying later as is done with Ethernet, in the CAN scheme, the transmitters detect which message has the highest priority



and only the lower priority message gets delayed. This means that a high priority message is sure of getting through.

Data Frames

These are the normal message frames used to carry data. They contain the following fields – (this is a simplified description as the controller takes care of the detail)

Start of frame (SOF) Message Identifier (MID) the Lower the value the Higher the priority of the message

length is either 11 or 29 bits long depending on the standard being used Remote Transmission Request (RTR) = 0 ----- see "Remote Frames" para below for

non-zero value Control field (CONTROL) this specifies the number of bytes of data to follow (0-8) Data Field (DATA) length 0 to 8 bytes CRC field containing a fifteen bit cyclic redundancy check code Acknowledge field (ACK) an empty slot which will be filled by any and every node that

receives the frame it does NOT say that the node you intended the data for got it, just that at least one node on the whole network got it.

End of Frame (EOF)

The way in which message collision is avoided is that each node as it transmits its MID looks on the bus to see what everyone else is seeing. If it is in conflict with a higher priority message identifier (one with a lower number) then the higher priority messages bit will hold the signal down (a zero bit is said to be dominant) and the lower priority node will stop transmitting.

Remote Frames

These are frames that are used to request that a particular message be put on the network - of course a node somewhere on the network has to be set up to recognize the request, get the data and put out a Message frame. This mechanism is used in polled networks.

Why Use Can?

The CANopen message frame



With the new CANopen protocol implemented, it is expected that adding other modules such as

sensors and actuators for ECG, pulse oximetry, ergometrics, etc. in the future is made easier due to

the standard communication protocol.

Implementing CANopen in the BioBike:

The Bio Bike project had CAN implemented to a certain extent in the MPLAB

(microcontroller) and Qt (PC interface) projects. The task was to completely include CANopen and

run the four motors for position using this new code. This meant modifying and adding to the

existing code. (Each motor controller in the BioBike acts as a node in the CAN bus)

The changes done on the microcontroller project through MPLAB were on the project

named CANOpenCom.X. This program controls the master microcontroller. Also, the BB_Motor

program was worked upon, which controls individual motor controllers.

In Qt, the PC interface program under the project name Bio Bike was modified. This included

adding new commands for movements, editing movement control accordingly to implement

CANopen, and editing the user interface window.

The codes for the above are explained briefly below. The complete code is attached with this

documentation.

Project BB_Motor:

This project holds the code for the individual motor microcontrollers. It defines device ID for

the node in the CAN bus, and protocols for building, sending and receiving CANopen messages over

the network.

Two new status flags were added. newPosition and isMoving. This was implemented so that the

controller returns the value of the potentiometer under following conditions:

The device has a new position

The device is moving

While starting to move the motor, the isMoving flag is set to 1, and is set to 0 every time the motor

is halted.



In the bbMotor_main.c file, a check is made to see if newPosition flag is activated. Accordingly, a

process data object or PDO is built and sent over the CAN network to the PC. The flag newPosition is

then reset to 0.

If a CAN message is received to control motor, the

corresponding motor control function is called and the

isMoving flag is set accordingly.



In bbMotor_intr.c, the file used

for defining the interrupts to the

code, a check is made on ADRES,

which hold the potentiometer

value. If a new value is detected,

an interrupt is generated.

actual_positon is set to ADRES

value and the newPosition flag is

activated. (which gets detected in

the main function as explained

above.

In the final stages of the

project, it was detected that as

soon as the power supply was

connected, the motor

microcontrollers started sending

information over the CAN

network. This led to severe traffic

over the network, considering CAN messages from 4 controllers. The reason was identified as

follows: the potentiometers may return non-distinct values, or values between two numbers, an

interval which the uC cannot recognize, and therefore considers them as moving. It then keeps

sending CAN messages of apparent new positions of potentiometers. (It is also possible that the

potentiometer itself keeps oscillating between two values and keeps updating the input value latch

in the uC) To prevent this from happening, the isMoving flag variable is initialized to 0 in the _init()

function in bbMotos_main().c

The main() function checks for motor status before sending out_msg

The presence of a new potentiometer value generates an interrupt



Project CANopenCom.X

This project holds the code for the master microcontroller installed on the new Interface,

which is able to communicate via Bluetooth with the PC. The project is essentially a standard CAN

communication project used at HS-ULM, which has been modified to suit the needs and

requirements of the BioBike.

In the CANcomm.h header file, various CAN message command IDs have been defined, including

definitions for CAN message in, out, device, version requests, etc. the on and off states of the LED

meant to display CAN message data activity on the Interface board have also been defined here.

In the can.c source file, the writeCAN_BO() function is used to write the CAN message into the

transmit latch from the out_msg variable.

(in_msg and out_msg are variables of the user defined structure type CAN_MSG, defined in can.h

which hold the incoming and outgoing CAN messages respectively. They are defined in the standard

can.c. the can.h and can.c files are used commonly on all devices in the BioBike. )

In the CANcomm_main.c source file, the buffers BUF0 and BUF1 of the microcontrollers are checked

for incoming odd and even addressed CAN messages, and overflow in the presence of the messages

using RXB0CON.RXFUL and RXB1CON.RXFUL. at this time, after the PC_inPck (which is used to send

the incoming CAN message to the PC) is built, the mTOG_LED is used to toggle the CAN data LED.

The writeCAN_BO() function is used to write to the

transmit latch



It is to be noted here that as explained above in the BB_Motor project, initial traffic was

detected on startup of uC’s. As soon as a connection was made to power, the master microcontroller

started receiving and transmitting CAN messages from the motor controllers to the PC. This led to

interference with the initial messages of device ID and device recognition by the Qt program. (It was

overwhelmed by CAN messages of potentiometer values, and the program had a tendency to hang).

To prevent this, besides initializing isMoving flag to 0 in the BB_Motor project, a check is made to

see if device has been started (errors.not_started flag should be 0) (i.e. a connection has been

established with PC). Only then does it the program allow receiving and transmitting the messages

from the motor controllers.

The check on startup prevents data traffic in the CAN bus



Building the out CAN message from

the PC_out_pack message

The definition of CAN instructions



BioBike – Qt Project

The BioBike project in Qt

holds code (in C++) for the PC’s

communication with the remote

microcontroller. It defines the

various functions to send messages

for moving motors in various

directions and reading their

positions. It also defines a User

Interface, which may be run as an

executable file on building the

project. The user interface designed

had all basic commands for motor

control and is simple to use.

The BioBikeCAN.h header file in the Qt project has definitions for various CAN message commands,

controls, status, operations and device ID’s; corresponding to the same definitions on the

microcontrollers.

The old User Interface in the Qt program.

The present User Interface with a text widget for Target Position



The BioBike_main.cpp connects various buttons on the UI to functions. It also defines functions for

connecting to the remote interface through the COM ports of the PC.

It is able to build CAN messages for UP/Down and Forward/Backward controls entered through

buttons. It is able to process incoming CAN messages and analyze potentiometer data, in order to

display the Seat or Handlebar position on sliders on the UI.

Example Working of a motion buttons:

When the Handlebar UD button move the handlebar upwards is clicked, a CAN message is

built with instructions for the respective motor to move upwards. ( BB_LENKER_UD device ID,

BBMC_MOVE_MINUS message data, and BBM_CONTROL message object). As soon as the button is

released, the message data is set to BBMC_HALT and a new CAN message is sent over the network.



The on_btnStopAll() function is called on clicking the Emergency Stop All button. In turn, it

calls the STOP functions of all the motors consecutively. The function is meant as a safety and

proved useful while running tests in the course of the project.

The biobike.ui file holds the UI. As explained earlier, it has basic buttons for motor control inside a

central widget. Vertical and horizontal sliders display positions for the 4 motors based on

potentiometer reading. There is also a slot for entering absolute target position for a specific motor.

The radio button for the desired motor is selected, the value is entered and the GoTo button is

clicked.

(It is to be noted that even though provisions are made in the embedded program to receive target

positions for motors, this is not implemented. In this project, the PC or Qt program sends a motor

PLUS or MINUS message based on present position of the potentiometer (in the incoming CAN

The on_btnGoTo function decides the direction in which the motor must

move based on potentiometer reading and the value entered by user.



message) and target position entered in the UI. As soon as the required position is reached, the

program sends a HALT message to the motor.)

End Position Switches:

Each of the 4 motors has two end position micro-switches installed along the tracks of the kinetic module. Hence, for example, if the handlebar were to keep moving forward, it could eventually cross the limit of the BioBIke and cause damage. To prevent this, the end position micro-switch is connected in series with the O/P voltage to the motors in the PCB. This automatically disconnects the motor power supply.

Once the circuit is open, further commands sent to the motor controllers are useless, since the power to motors is cut off. At this point manual control is introduced by the user pressing down on switches, which are attached in parallel to the end position micro switch. Thereby, the circuit is completed and the module can return to a safe position under supervision.

When a CAN message is received by the PC, the sender is identified via

cobID, the display slider is set to the incoming potentiometer value, i.e.

potival, and then it is checked with target value entered by user to

determine if motor should be stopped.

Parallel Connection of the switches to

the motor power supply on the motor

controller board



Other Safety features for preventing motor overrun:

The aim should be never to require the end position switches to come into action. They are meant only as standby for emergencies. To implement this, the software in Qt has internal limits set. Thereby, the user is instructed to enter Target values for motor positions only within certain safe limits. Through the embedded program, The microcontrollers are also expected to stop supply to the motors if the potentiometer value reaches certain limits. To top this, the Emergency Stop All button in the Qt UI provides option to manually stop all movement.

Optical Encoder at the Pedal (Drehzahl)

system:

The crank or pedal of the BioBike uses an Optical Encoder or Winkelgeber to analyze information

regarding the angular velocity, angular acceleration, and direction of rotation of the pedal. Based on

this, the Power Brake may be actuated as necessary.

The existing system on the BioBike is the result of another bachelor Project which installed the

GA210 Optical Absolute Encoder from IVO. It is a singleturn encoder with 10 parallel outputs. (Later

in this document, it is explained how the 10 data bits are connected to the master interface on the

PCB.) The encoder has a 5V DC input.

The previous project used a 23pin Female Sub D connector

to relay information to the PC . The project used a

dedicated PCB, wire connection and microcontroller

program to handle data coming from the pedal and analyze

it. However, it was the aim of the BioBike project to have an

integrated and well-connected system. Therefore, the

Drehzahl system had to be incorporated into the Master

interface.

For this purpose, the Female 23pin Sub D coming from the Encoder was replaced with a 15pin

Female SubD connector (optimizing the use of available pins) , and this was connected to the

Master Interface PCB. (The Interface has a 16 pin connector on the PCB, which is connected to a

Male 15 pin connector on the casing) Other than the 10 data pins, GND and power connections, pins

GA210 clamping flange

The micro switch and the

manual switch along the

Handlebar UD system



Connection assignment on PCB:

ConnPin Cable Color Assignment PIC Pin

1 violet 20 / G0 RA0

2 white/brown 21 / G1 RA1

3 white/green 22 / G2 RA2

4 white/yellow 23 / G3 RA3

5 white/gray 24 / G4 RA5

6 white/pink 25 / G5 RA7

7 white/blue 26 / G6 RA6

8 white/red 27 / G7 RC0

9 white/black 28 / G8 RC1

10 brown/green 29 / G9 RC2

11 green/yellow NULL +5V 12 blue GND RC3 13 yellow ENABLE GND 14 brown UP/DOWN RC4 15 red UB GND 16 pink STORE GND

for rotation direction (pin 14) etc. were also connected. The ENABLE (pin 13) (active LOW) and

STORE (pin16) were grounded.

On the PCB, pins 15, 13 and 16 from 16 pin connector are grounded. Pin 11 is connected to 5V

supply. Accordingly, the connections in the sub D need to be modified in a future project which

integrates the angular velocity data acquisition into the Master Interface.

The microcontroller on this new PCB is designed to handle data for CAN communication, the optical

encoder as well as the power brake, as explained later.

Power Module:

The BioBike is powered by an

independent Power Module, the SP320-

24 from MeanWell. The module takes 88

to 264V AC and gives and output of 24V

through parallel connections. This

TK PS 2518-8f-to



module was put inside a casing (TK PS 2518-8f-to). Holes were drilled in the casing for Power input,

and supply to motors and the Power Brake.

Designing and assembling the new Interface PCB:

Independent connections coming from the BioBike to the PC make the system bulky and

complicated. Moreover, this does not allow handling all the various signals at a time. There was a

need to implement a single transmission device. This gave two major advantages, the BioBike system

could be controlled via Bluetooth at a distance, and all the different signals from the various

components of the device could be handled at a time.

The Existing model of the BioBike was as follows.

The power module has been mounted

on the central stationery module of

the BioBike.

The old serial communication module

with the master microcontroller



The New PCB:

The designing of the

New PCB was done using

Electronic Design Automation

software, Eagle 6.5. The PCB

was then manufactured In

House after several changes

and corrections to suit

manufacturing and device

limitations.

CAN:

The new system to be implemented was to have Bluetooth Communication with PC via

Bluetooth. There are two CAN ports on the new PCB, one for the Power brake and one for the Motor

Controllers. The PC sends information to the microcontroller via Bluetooth. The microcontroller then

transmits the CAN message via the dedicated CAN pins available on the PIC 18.

Since the nodes or devices in a CAN network are able to identify whether the message is meant for

them or not (using the message address and device ID), only a single CAN message needs to be

generated in a common communication line used by the Motor controllers and the Power brake.



Pedal System (Drehzahl):

There is also a port for communication with the

Drehzahl (no. of revolutions) or Pedal System. The

Pedal System employs 10 bits of communication

data sent from the optical encoder. Therefore, a

15 pin connector was selected for the PCB.

Power:

The Input Power from the existing Power

Port was 24V. This level had to be converted

to 5V and 3.3V in two phases using Voltage

regulators, resistors and capacitors. The 5V

is used by the main PIC master

Microcontroller. The 3.3V by the Bluetooth

Module on the PCB.

Bluetooth:

The Bluetooth module uses a WT12-A

chip from BlueGiga technologies. It comes

as a readymade module from HS Ulm.

Therefore, a jumper port with relevant

connections for Tx (transmit) and Rx

(Receive) was made on the PCB.

LED’s:

3 LED indicators are used for indicating the following

Yellow LED for Power Supply (connected at 5V)

Blue LED for Data Connection of Bluetooth. (Connected to Bluetooth module)

Green LED for CAN data connection. (Connected to master Microcontroller)

The WT12-A Bluetooth chip

Manufacturing the Interface board in-house



The decision to include LED’s was important. In the initial assembly stage, the LED’s proved

useful in detecting power fluctuations in the board, and thereby helped in troubleshooting

connection problems. The yellow LED is programmed to toggle every time a CAN message is

received by the Interface. Hence, it is an indication of the amount of traffic in the CAN bus,

which was reduced overtime by changing the embedded programs algorithm for sending and

receiving CAN messages. Since the main power module does not have LED’s on the casing, the

LED on this PCB also serves to indicate Power Supply to the whole BioBike.

Casing:

A Hammond 1554C casing with transparent cover was used to house the

interface. Two holes were drilled on the right side for CAN and power

lines, while a SUB D 15 Male connector is mounted on the lower side

for connection to the SUB D Female coming from the Optical Encoder of

Pedals.

The Interface PCB after all SMD’s and

connectors soldered, the PIC

microcontroller and the Bluetooth

module in place



Future Work and Prospects:

The new PCB interface has been manufactured and installed, but it is yet to be programmed

with codes for Power Brake and the Optical Encoder from Pedal. This will involve taking

microcontroller codes from all the other independent modules and compiling them into one

project in MPLAB and Qt.

The 4 pin power-cum-CAN input to the Interface needs to be realized. This will require

implementing CANopen protocol in the Power Brake, and adding it to the CAN network. (As

of now, of the 4 pins, only 2 pins are connected and supply power to the Interface module)

As mentioned earlier, the BioBike is in continuous development. Since the CANopen protocol

has been implemented, communication with new modules is much easier and standardized

now.

Sensors are yet to be built into the BioBike. Pulse sensors, EMG signal sensor modules, etc.

can be added to better analyze driver performance.

To check proximity between the Handlebar and the Central stationery module, limits can be

implemented through functions in the Qt PC program. This will prevent possible collision

between these modules.

Implementation of the use of actual_position and target _position variables in

microcontrollers so that motor uC can directly receive target position and control motors

accordingly. Similarly, the status variables for denoting “end position reached” can be

implemented into code.

An innovative step in the project would be to be able to store person-specific-values for the

positions off various motors in .txt or similar file formats. The file can then be read and the

values can be entered automatically by the program as target positions for the various

motors.

The completed Interface with Bluetooth communication, installed on the central module. The Yellow LED indicates power supply, while the blue LED indicates a serial connection with the Bluetooth module.



Bibliography & Reference:

Matthias Ebenhoch, Tim Stricker, Erik Weber (Summersemester 2013) Vorgabe eines

Fahrprofils mittels einer Bremmsteuerung BRAKE POWER

Pascal Goll, Willi Konrad (June 2013) (Drehzahlerfassung B 13) Erfassung der Drehzahl

mit Absolut-Drhgeber über CAN-Bus mit PIC Mikrocontrollersystem PEDAL

Eva Witzel, Gabriel Scheremet, Manuel Glashauser (Summersemester 2013) Mobiler

Ladungsverstärker für Pedal-Kraftmessung zur Tritttechnik-Erfassung, Technische

Documentation PEDAL FORCE

Volker (May 2014) Assembler & “C” mit MPLAB-X (Einstieg in die Programmierung von

PIC18Fxxxx Mikrocontrollern)

COMSOL CAN- a brief tutorial for Embedded Engineers (web)

Sirius microSystems MPLAB tutorial

Acknowledgements:

This project would not have been possible without the support (even before the internship) and encouragement of Prof. Dr. Rainer Brucher, under whose guidance the whole internship was planned and carried out. My sincere thanks to Volker Schilling-Kästle, for his constant guidance and help at every step of this project; and for showing me that there are always “different possibilities”!

“I saw something I could never forget. I saw lifetimes of acknowledgement, fear,

wisdom, questioning, and understanding in their eyes. It was an experience worth……”; Thank You Dr. Patrick Kluger and Marie Theres Gräfin Adelmann for everything!

implementing the canopen protocol and a new interface with communication via bluetooth in the...

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