Initialization Process

The CANopen FD Bootloader stack is initialized with CblMgrInit(). This routine will setup the CAN controller and initialize all necessary services. Afterwards the stack can be started by calling the CblMgrStart() function.

In summary three steps are necessary to run the CANopen FD Bootloader:

• Initialize CANopen FD Bootloader stack: CblMgrInit()
• Start CANopen FD Bootloader Stack: CblMgrStart()
• Call the timer event function cyclically: CblTmrEvent()

The initialization functions of the CANopen FD Bootloader stack have to be executed prior to any other API functions.

Starting in Classical CANopen mode

void MyCblInit(void)
{
   //----------------------------------------------------------------
   // Initialize the CANopen Bootloader stack
   //
   CblMgrInit(eCP_CHANNEL_1, 0);
 
   //----------------------------------------------------------------
   // Start the CANopen Bootloader, node-ID = 1,
   // nominal bitrate = 500 kBit/s, 
   //
   CblMgrStart(eCP_BITRATE_500K, 1);
   
   //----------------------------------------------------------------
   // now the CANopen FD Bootloader stack is initialized and
   // has to be triggered by calling CblTmrEvent() with
   // a cycle time of CBL_TIMER_PERIOD
}