172 lines
4.2 KiB
Markdown
172 lines
4.2 KiB
Markdown
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git clone https://github.com/linux-can/can-utils
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cd can-utils
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make
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sudo make install
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git clone git https://github.com/CANopenNode/CANopenSocket.git
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cd CANopenSocket
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git submodule init
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git submodule update
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cd tools
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./get_tools.sh
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cd CANopenNode
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make
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update gcc if needed (if error at __has_include):
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sudo yum install centos-release-scl
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sudo yum install devtoolset-7-gcc*
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scl enable devtoolset-7 bash
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which gcc
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gcc --version
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fatal error: bits/getopt_core.h:
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Modify CO_main_basic.c:
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//#include <bits/getopt_core.h>
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#include <getopt.h>
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Follow this to test:
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https://github.com/CANopenNode/CANopenNode/blob/master/doc/gettingStarted.md
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sudo modprobe vcan
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sudo ip link add dev vcan0 type vcan
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sudo ip link set up vcan0
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candump vcan0
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./canopend --help
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./canopend vcan0 -i 4 -s od4_storage -a od4_storage_auto
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Seems not suppoer "-a" option so remove that:
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./canopend vcan0 -i 4 -s od4_storage
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update
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Checkout master of CanopenNode to make it work like in gettingStarted.md
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needed to use this as the canid 1 device:
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echo "-" > od1_storage
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echo "-" > od1_storage_auto
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./canopend vcan0 -i 1 -c "stdio" -s od1_storage -a od1_storage_auto
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# EDSEditor (windows)
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## install mono on raspian
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sudo apt-get install mono-complete
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# Setup kvaser leaf
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## must install socketcan_kvaser_drivers.tar.gz from kvaser download.
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$ tar -xvzf socketcan_kvaser_drivers.tar.gz
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$ cd socketcan_kvaser_drivers
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# IMPORTANT: must add #include <linux/version.h> to all source files to get linux version macros.
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$ make
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$ sudo make install
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$ sudo make load
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# seems kvaser need to use can_dev
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$ modprobe can_dev
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$ modprobe can
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$ modprobe can_raw
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# seems leaf0 is now called can0 (not sure why)
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$ sudo ip link set can0 type can bitrate 125000
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$ sudo ip link set up can0
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$ ip link show can0
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# check that interface is there
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$ ip addr
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# Connect pmu to canbus
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# connect pmu to power
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# monitor canbus with candump
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$ candump can0
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can0 280 [0]
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can0 280 [0]
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can0 280 [0]
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can0 280 [0]
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can0 280 [0]
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can0 703 [1] 05
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can0 280 [0]
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can0 683 [4] 00 00 00 00
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can0 280 [0]
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can0 280 [0]
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can0 183 [8] 00 00 00 00 0B 40 04 20
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can0 280 [0]
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can0 703 [1] 05
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can0 280 [0]
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can0 280 [0]
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can0 280 [0]
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can0 703 [1] 05
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can0 280 [0]
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can0 280 [0]
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can0 280 [0]
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...
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can0 280 [0]
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can0 280 [0]
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can0 703 [1] 05
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can0 280 [0]
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can0 280 [0]
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can0 683 [4] 00 0NMT0 00 00 0B 40 04 20
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can0 703 [1] 05
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can0 280 [0]
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..
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# 183 seems to be PDO status bytes
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can0 183 [8] 00 00 00 00 0B 40 04 20
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# 703 seems to be NMT hearbeat
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can0 703 [1] 05
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# 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)
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can0 280 [0]
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# 603 seems to not be described in manual.. Just described as third transmit pdo?!
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can0 683 [4] 00 00 00 00
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# SDO Transfers
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To SDO load data from slave to master then use SDO 0x600+NodeId (Recive PDO of slave) then answer will be on 0x580+NodeId
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# From "master" to "slave"
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w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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# From "slave" to "master"
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r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00
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0x38 = 56 byte bytes to transfer
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# All 56 bytes:
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w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x71 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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w 0x603 [8] 0x61 0x40 0x26 0x00 0x00 0x00 0x00 0x00
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r 0x583 [8] 0x41 0x40 0x26 0x00 0x38 0x00 0x00 0x00
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r 0x583 [8] 0x00 0x18 0x00 0x24 0x00 0x0E 0x00 0x0A
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r 0x583 [8] 0x10 0x00 0x00 0x00 0xBF 0x00 0x00 0x00
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r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x35
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r 0x583 [8] 0x10 0x1C 0x84 0x02 0x46 0x1A 0x3C 0x49
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r 0x583 [8] 0x00 0xC2 0x01 0x00 0x00 0x00 0x00 0x00
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r 0x583 [8] 0x10 0x00 0xC8 0x48 0x51 0x2F 0x00 0x00
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r 0x583 [8] 0x00 0x5C 0x2D 0x81 0x14 0x67 0x0D 0xA6
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# Error retuned from slave
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readStates_ = WAIT_FOR_REQ_CONF!!!
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w 0x603 [8] 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x00
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r 0x583 [8] 0x80 0x00 0x00 0x00 0x00 0x00 0x02 0x06
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