motion/ecmc_plugin_socketcan
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
Files
master
ecmc_plugin_socketcan/docs/readmeCanOpenSocket.md
Anders Sandstrom 54949701d1 WIP on basic config. Amplifier ON works.. WIP
2021-03-16 16:53:29 +01:00

20 KiB
Raw Permalink Blame History

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 <bits/getopt_core.h> #include <getopt.h>

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 <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

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]

SDO Write:

################################## TEST WRITE SDO############# WRITEVALUE!! STATE = WRITE_REQ_TRANSFER STATE = WRITE_WAIT_FOR_CONF w 0x603 [8] 0x21 0x90 0x26 0x01 0x07 0x00 0x00 0x00

STATE = WRITE_DATA r 0x583 [8] 0x60 0x90 0x26 0x01 0x00 0x00 0x00 0x00 w 0x603 [8] 0x20 0x08 0x74 0xE8 0xBE 0xA8 0x5B 0x6B

Example of error frame!! r 0x583 [8] 0x80 0x08 0x74 0xE8 0x00 0x00 0x02 0x06

################################## TEST WRITE SDO#############

w 0x603 [8] 0x21 0x90 0x26 0x01 0x07 0x00 0x00 0x00 # request upload/write r 0x583 [8] 0x60 0x90 0x26 0x01 0x00 0x00 0x00 0x00 # Ok from slave w 0x603 [8] 0x60 0x08 0xF4 0xA9 0xBE 0xC0 0xCB 0xE1 # Send data r 0x583 [8] 0x01 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A # ???

Check some pvs

camonitor IOC_TEST:CAN03-PWR_A IOC_TEST:CAN03-PWR_B IOC_TEST:CAN03-PWR_OUT IOC_TEST:CAN03-REFL_OUT IOC_TEST:CAN03-SDO01-Array IOC_TEST:CAN03-PDO01-Array IOC_TEST:CAN03-PWR_A

camonitor IOC_TEST:CAN03-PWR_A IOC_TEST:CAN03-PWR_B IOC_TEST:CAN03-PWR_OUT IOC_TEST:CAN03-REFL_OUT IOC_TEST:CAN03-V_REG IOC_TEST:CAN03-V_TEMP IOC_TEST:CAN03-I_DRV IOC_TEST:CAN03-I_PRE IOC_TEST:CAN03-I_1A IOC_TEST:CAN03-I_2A IOC_TEST:CAN03-V_REFL_SAVE IOC_TEST:CAN03-V_PLUSMON IOC_TEST:CAN03-V_I_DC IOC_TEST:CAN03-I_1B IOC_TEST:CAN03-I_2B IOC_TEST:CAN03-V_12V_MON IOC_TEST:CAN03-VREF_PWR_OPV IOC_TEST:CAN03-V_AUX_IN IOC_TEST:CAN03-V_5V_ACB IOC_TEST:CAN03-V_3V5 IOC_TEST:CAN03-AIR_INLET IOC_TEST:CAN03-AIR_OUTLET IOC_TEST:CAN03-SDO01-Array IOC_TEST:CAN03-PDO01-Array

Most recent data dump

w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0]STATE = READ_REQ_TRANSFER analogValues STATE = READ_WAIT_FOR_CONF analogValues

w 0x080 [0] w 0x700 [1] 0x05 w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00 STATE = READ_WAIT_FOR_DATA analogValues r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 7 r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 14 r 0x583 [8] 0x10 0x00 0x00 0x00 0xC5 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 21 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 28 r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 35 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 42 r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 49 r 0x583 [8] 0x00 0x5C 0x2D 0x7F 0x14 0x67 0x0D 0xAA w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 56 STATE = READ_IDLE analogValues All data read from slave SDO. data[00]: 24 data[01]: 36 data[02]: 14 data[03]: 10 data[04]: 0 data[05]: 197 data[06]: 0 data[07]: 450 data[08]: 0 data[09]: 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]: 193 data[26]: 0 data[27]: 5000 r 0x583 [8] 0x11 0x00 0xC1 0x00 0x00 0x00 0x88 0x13 r 0x280 [0] r 0x683 [4] 0x00 0x00 0x00 0x00 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] data[00]: 0 data[01]: 0 data[02]: 16395 data[03]: 8196 r 0x183 [8] 0x00 0x00 0x00 0x00 0x0B 0x40 0x04 0x20 r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 STATE = READ_REQ_TRANSFER analogValues STATE = READ_WAIT_FOR_CONF analogValues w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00 STATE = READ_WAIT_FOR_DATA analogValues r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 7 r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 14 r 0x583 [8] 0x10 0x00 0x00 0x00 0xC5 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 21 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 28 r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 35 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 42 r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 49 r 0x583 [8] 0x00 0x5C 0x2D 0x7F 0x14 0x67 0x0D 0xAA w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 56 STATE = READ_IDLE analogValues All data read from slave SDO. data[00]: 24 data[01]: 36 data[02]: 14 data[03]: 10 data[04]: 0 data[05]: 197 data[06]: 0 data[07]: 450 data[08]: 0 data[09]: 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]: 193 data[26]: 0 data[27]: 5000 r 0x583 [8] 0x11 0x00 0xC1 0x00 0x00 0x00 0x88 0x13 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x683 [4] 0x00 0x00 0x00 0x00 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] data[00]: 0 data[01]: 0 data[02]: 16395 data[03]: 8196 r 0x183 [8] 0x00 0x00 0x00 0x00 0x0B 0x40 0x04 0x20 r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x703 [1] 0x05 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 STATE = READ_REQ_TRANSFER analogValues STATE = READ_WAIT_FOR_CONF analogValues w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00 STATE = READ_WAIT_FOR_DATA analogValues r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 7 r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 14 r 0x583 [8] 0x10 0x00 0x00 0x00 0xC5 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 21 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 28 r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 35 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 42 r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 49 r 0x583 [8] 0x00 0x5C 0x2D 0x7F 0x14 0x67 0x0D 0xAA w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 56 STATE = READ_IDLE analogValues All data read from slave SDO. data[00]: 24 data[01]: 36 data[02]: 14 data[03]: 10 data[04]: 0 data[05]: 197 data[06]: 0 data[07]: 450 data[08]: 0 data[09]: 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]: 193 data[26]: 0 data[27]: 5000 r 0x583 [8] 0x11 0x00 0xC1 0x00 0x00 0x00 0x88 0x13 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x683 [4] 0x00 0x00 0x00 0x00 r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 STATE = READ_REQ_TRANSFER analogValues STATE = READ_WAIT_FOR_CONF analogValues w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00 STATE = READ_WAIT_FOR_DATA analogValues r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 7 r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 14 r 0x583 [8] 0x10 0x00 0x00 0x00 0xC5 0x00 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 21 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 28 r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 35 r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00 w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 42 r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00 w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 49 r 0x583 [8] 0x00 0x5C 0x2D 0x7F 0x14 0x67 0x0D 0xAA w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00 recived bytes = 56 STATE = READ_IDLE analogValues All data read from slave SDO. data[00]: 24 data[01]: 36 data[02]: 14 data[03]: 10 data[04]: 0 data[05]: 197 data[06]: 0 data[07]: 450 data[08]: 0 data[09]: 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]: 193 data[26]: 0 data[27]: 5000 r 0x583 [8] 0x11 0x00 0xC1 0x00 0x00 0x00 0x88 0x13 r 0x280 [0] data[00]: 0 data[01]: 0 data[02]: 16395 data[03]: 8196 r 0x183 [8] 0x00 0x00 0x00 0x00 0x0B 0x40 0x04 0x20 r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x280 [0] r 0x280 [0] r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05

Basic configuration write (maybe should write a 4800 (=48%) to byte 3 and 4)

caput -a IOC_TEST:CAN03-SDO02-BasicConfig 7 0 0 0 0 0 0

or better 48000 VDC_CTRL (48%), fan stops of pmu and amplifier on is LED is not on anymore

caput -a IOC_TEST:CAN03-SDO02-BasicConfig 7 0 0 0 192 18 0 0

This will happen: WRITEVALUE basicConfig STATE = WRITE_REQ_TRANSFER basicConfig STATE = WRITE_WAIT_FOR_CONF basicConfig w 0x603 [8] 0x21 0x90 0x26 0x01 0x07 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_DATA basicConfig r 0x583 [8] 0x60 0x90 0x26 0x01 0x00 0x00 0x00 0x00 w 0x603 [8] 0x01 0x00 0x00 0x00 0xC0 0x12 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_IDLE basicConfig All data written to slave SDO.

Amplifier on is bit 0 of byte 0, so to power on just execute:

caput -a IOC_TEST:CAN03-SDO02-BasicConfig 7 1 0 0 192 18 0 0

After basic configuration the r 280 will stop () this means the pmu now have basic configuration

r 0x583 [8] 0x11 0x00 0xC5 0x00 0x00 0x00 0x88 0x13 r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 r 0x703 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05 w 0x7E5 [0] w 0x080 [0] w 0x700 [1] 0x05

Some commands

IOC_TEST:CAN03-PowerOnCmd IOC_TEST:CAN03-VrefPwrCmd IOC_TEST:CAN03-VdcCtrlCmd

Turn amplifier on

caput IOC_TEST:CAN03-PowerOnCmd 1

WRITEVALUE basicConfig STATE = WRITE_REQ_TRANSFER basicConfig STATE = WRITE_WAIT_FOR_CONF basicConfig w 0x603 [8] 0x21 0x90 0x26 0x01 0x07 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_DATA basicConfig r 0x583 [8] 0x60 0x90 0x26 0x01 0x00 0x00 0x00 0x00 w 0x603 [8] 0x01 0x01 0x00 0x00 0x00 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_IDLE basicConfig All data written to slave SDO. data[00]: 1 data[01]: 0 data[02]: 0 data[03]: 0

Set VrefOwr to 100

caput IOC_TEST:CAN03-VrefPwrCmd 100

NOT WORKING.. Will get the below???

r 0x583 [8] 0x11 0x00 0xC5 0x00 0x00 0x00 0x88 0x13 WRITEVALUE basicConfig STATE = WRITE_REQ_TRANSFER basicConfig STATE = WRITE_WAIT_FOR_CONF basicConfig w 0x603 [8] 0x21 0x90 0x26 0x01 0x07 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_DATA basicConfig r 0x583 [8] 0x60 0x90 0x26 0x01 0x00 0x00 0x00 0x00 w 0x603 [8] 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_IDLE basicConfig All data written to slave SDO.

Set VdcCtrlCmd to 5000

caput IOC_TEST:CAN03-VdcCtrlCmd 5000

NOT WORKING.. Will get the below???

WRITEVALUE basicConfig STATE = WRITE_REQ_TRANSFER basicConfig STATE = WRITE_WAIT_FOR_CONF basicConfig w 0x603 [8] 0x21 0x90 0x26 0x01 0x07 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_DATA basicConfig r 0x583 [8] 0x60 0x90 0x26 0x01 0x00 0x00 0x00 0x00 w 0x603 [8] 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 writeDataStateMachine basicConfig STATE = WRITE_IDLE basicConfig All data written to slave SDO.

Reference in New Issue View Git Blame Copy Permalink