4.7 KiB
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
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