WIP

docs/readmeCanOpenSocket.md

@@ -53,10 +53,78 @@ echo "-" > od1_storage
 echo "-" > od1_storage_auto
 ./canopend vcan0 -i 1 -c "stdio" -s od1_storage -a od1_storage_auto
 
- 
-
-
 
 # EDSEditor (windows)
-## install mono
+## install mono on raspian
 sudo apt-get install mono-complete
+
+# Setup kvaser leaf
+## must install socketcan_kvaser_drivers.tar.gz from kvaser download.
+$ tar -xvzf socketcan_kvaser_drivers.tar.gz
+$ cd socketcan_kvaser_drivers
+# IMPORTANT: must add #include <linux/version.h> to all source files to get linux version macros.
+$ make
+$ sudo make install
+$ sudo make load
+
+# seems kvaser need to use can_dev
+$ modprobe can_dev
+$ modprobe can
+$ modprobe can_raw
+
+# seems leaf0 is now called can0 (not sure why)
+$ sudo ip link set can0 type can bitrate 125000
+$ sudo ip link set up can0
+$ ip link show can0
+
+# check that interface is there
+$ ip addr
+
+# Connect pmu to canbus
+# connect pmu to power
+
+# monitor canbus with candump
+$ candump can0
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  703   [1]  05
+  can0  280   [0] 
+  can0  683   [4]  00 00 00 00
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  183   [8]  00 00 00 00 0B 40 04 20
+  can0  280   [0] 
+  can0  703   [1]  05
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  703   [1]  05
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  280   [0] 
+  
+  ...
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  703   [1]  05
+  can0  280   [0] 
+  can0  280   [0] 
+  can0  683   [4]  00 0NMT0 00 00 0B 40 04 20
+  can0  703   [1]  05
+  can0  280   [0] 
+  ..
+
+# 183 seems to be PDO status bytes
+can0  183   [8]  00 00 00 00 0B 40 04 20
+
+# 703 seems to be NMT hearbeat
+can0  703   [1]  05
+
+# 280 seems to be "alarm" that it has no basic configuration (needs to be transfeered over pdo (for all amplifiers) or sdo for the specific amplifier)
+can0  280   [0] 
+
+# 603 seems to not be described in manual.. Just described as third transmit pdo?!
+can0  683   [4]  00 00 00 00