git clone https://github.com/linux-can/can-utils cd can-utils make sudo make install git clone git https://github.com/CANopenNode/CANopenSocket.git cd CANopenSocket git submodule init git submodule update cd tools ./get_tools.sh cd CANopenNode make update gcc if needed (if error at __has_include): sudo yum install centos-release-scl sudo yum install devtoolset-7-gcc* scl enable devtoolset-7 bash which gcc gcc --version fatal error: bits/getopt_core.h: Modify CO_main_basic.c: //#include #include Follow this to test: https://github.com/CANopenNode/CANopenNode/blob/master/doc/gettingStarted.md sudo modprobe vcan sudo ip link add dev vcan0 type vcan sudo ip link set up vcan0 candump vcan0 ./canopend --help ./canopend vcan0 -i 4 -s od4_storage -a od4_storage_auto Seems not suppoer "-a" option so remove that: ./canopend vcan0 -i 4 -s od4_storage update Checkout master of CanopenNode to make it work like in gettingStarted.md needed to use this as the canid 1 device: echo "-" > od1_storage echo "-" > od1_storage_auto ./canopend vcan0 -i 1 -c "stdio" -s od1_storage -a od1_storage_auto # EDSEditor (windows) ## 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 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 # 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: (toggle 0x61,0x71) 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 # Note only 7 bytes payload, byte0 is toggle.. 0x00, 0x10 ... 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 # Seems to work Need to write new frameEqual func CHECK THE TOGGKLE WHEN Reciving data frames! data[0]: 24 data[1]: 36 data[2]: 14 data[3]: 10 data[4]: 0 data[5]: 194 data[6]: 0 data[7]: 450 data[8]: 0 data[9]: 0 data[10]: 7221 data[11]: 644 data[12]: 6726 data[13]: 18748 data[14]: 450 data[15]: 0 data[16]: 0 data[17]: 0 data[18]: 18632 data[19]: 12113 data[20]: 0 data[21]: 11612 data[22]: 5247 data[23]: 3431 data[24]: 170 data[25]: 192 data[26]: 0 data[27]: 5000 # "Complete log" readStates_ = WAIT_FOR_REQ_CONF!!! w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00 readStates_ = WAIT_FOR_DATA!!! r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00 w 0x701 [1] 0x05 w 0x080 [0] w 0x7E5 [0] w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 7!!! r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 14!!! r 0x583 [8] 0x10 0x00 0x00 0x00 0xC2 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 21!!! r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 28!!! r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 35!!! r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 42!!! r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 49!!! r 0x583 [8] 0x00 0x5C 0x2D 0x81 0x14 0x67 0x0D 0xA9 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recivedBytes = 56!!! All data transfered data[0]: 24 data[1]: 36 data[2]: 14 data[3]: 10 data[4]: 0 data[5]: 194 data[6]: 0 data[7]: 450 data[8]: 0 data[9]: 0 data[10]: 7221 data[11]: 644 data[12]: 6726 data[13]: 18748 data[14]: 450 data[15]: 0 data[16]: 0 data[17]: 0 data[18]: 18632 data[19]: 12113 data[20]: 0 data[21]: 11612 data[22]: 5249 data[23]: 3431 data[24]: 169 data[25]: 191 data[26]: 0 data[27]: 5000 r 0x583 [8] 0x11 0x00 0xBF 0x00 0x00 0x00 0x88 0x13 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x701 [1] 0x05 w 0x080 [0] w 0x7E5 [0]