motion/ecmc_plugin_socketcan
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Rudimentary SDO read from slave working..

Browse Source
This commit is contained in:
Anders Sandstrom
2021-03-03 15:19:37 +01:00
parent 983095e403
commit ddc3d3dd84
13 changed files with 420 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
docs/readmeCanOpenSocket.md
View File

@@ -127,4 +127,45 @@ can0 703 [1] 05
can0 280 [0]
# 603 seems to not be described in manual.. Just described as third transmit pdo?!
can0 683 [4] 00 00 00 00
can0 683 [4] 00 00 00 00
# SDO Transfers
To SDO load data from slave to master then use SDO 0x600+NodeId (Recive PDO of slave) then answer will be on 0x580+NodeId
# From "master" to "slave"
w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00
# From "slave" to "master"
r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00
0x38 = 56 byte bytes to transfer
# All 56 bytes:
w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00
r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A
r 0x583 [8] 0x10 0x00 0x00 0x00 0xBF 0x00 0x00 0x00
r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35
r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49
r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00
r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00
r 0x583 [8] 0x00 0x5C 0x2D 0x81 0x14 0x67 0x0D 0xA6
# Error retuned from slave
readStates_ = WAIT_FOR_REQ_CONF!!!
w 0x603 [8] 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x00
r 0x583 [8] 0x80 0x00 0x00 0x00 0x00 0x00 0x02 0x06