-
Notifications
You must be signed in to change notification settings - Fork 10
/
Copy pathcanopen-node-sdo-normal.py
executable file
·222 lines (214 loc) · 8.82 KB
/
canopen-node-sdo-normal.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
#!/usr/bin/env python3
import can
from datetime import datetime, timedelta
import logging
import os
import signal
import socketcanopen
CAN_INTERFACE = "vcan0"
logging.basicConfig(level=logging.DEBUG)
can_bus = can.Bus(CAN_INTERFACE, interface="socketcan")
node_id = 0x02
socketcanopen_od = socketcanopen.ObjectDictionary({
socketcanopen.ODI_DEVICE_TYPE: socketcanopen.Object(
parameter_name="Device type",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=0x00000000
),
socketcanopen.ODI_ERROR: socketcanopen.Object(
parameter_name="Error register",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
default_value=0x00
),
socketcanopen.ODI_HEARTBEAT_PRODUCER_TIME: socketcanopen.Object(
parameter_name="Producer heartbeat time",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
default_value=1000 # 16-bit, in ms
),
socketcanopen.ODI_IDENTITY: socketcanopen.Object(
parameter_name="Identity object",
object_type=socketcanopen.ObjectType.RECORD,
data_type=socketcanopen.ODI_DATA_TYPE_IDENTITY,
sub_number=1,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="number of supported entries",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x01,
high_limit=0x04,
default_value=0x01
),
socketcanopen.ODSI_IDENTITY_VENDOR: socketcanopen.SubObject(
parameter_name="Vendor-ID",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=0x00000000
)
}
),
0x1021: socketcanopen.Object(
parameter_name="Store EDS",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_DOMAIN,
default_value=bytes(open(os.path.dirname(os.path.abspath(__file__)) + "/node.eds", "r").read(), "ascii")
),
0x1022: socketcanopen.Object(
parameter_name="Store format",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
default_value=0x00
),
socketcanopen.ODI_SDO_SERVER: socketcanopen.Object(
parameter_name="SDO server parameter",
object_type=socketcanopen.ObjectType.RECORD,
data_type=socketcanopen.ODI_DATA_TYPE_SDO_PARAMETER,
sub_number=2,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="number of supported entires",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x02,
high_limit=0x02,
default_value=0x02
),
socketcanopen.ODSI_SDO_SERVER_DEFAULT_CSID: socketcanopen.SubObject(
parameter_name="COB-ID client -> server (rx)",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=(socketcanopen.FUNCTION_CODE_SDO_RX << socketcanopen.FUNCTION_CODE_BITNUM) + node_id
),
socketcanopen.ODSI_SDO_SERVER_DEFAULT_SCID: socketcanopen.SubObject(
parameter_name="COB-ID client -> server (rx)",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=(socketcanopen.FUNCTION_CODE_SDO_TX << socketcanopen.FUNCTION_CODE_BITNUM) + node_id
)
}
),
0x2000: socketcanopen.Object(
parameter_name="UNSIGNED64 RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED64,
default_value=0x0123456780987654
),
0x2001: socketcanopen.Object(
parameter_name="UNSIGNED64 RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED64,
default_value=0x4523018967452301
),
0x2002: socketcanopen.Object(
parameter_name="VISIBLE_STRING RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_VISIBLE_STRING,
default_value="Hello world (read only)"
),
0x2003: socketcanopen.Object(
parameter_name="VISIBLE_STRING RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_VISIBLE_STRING,
default_value="Hello world (read/write)"
),
0x2004: socketcanopen.Object(
parameter_name="UNICODE_STRING RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNICODE_STRING,
default_value="Hello world (read only)"
),
0x2005: socketcanopen.Object(
parameter_name="UNICODE_STRING RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNICODE_STRING,
default_value="Hello world (read/write)"
),
0x2006: socketcanopen.Object(
parameter_name="OCTET_STRING RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_OCTET_STRING,
default_value=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
),
0x2007: socketcanopen.Object(
parameter_name="OCTET_STRING RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_OCTET_STRING,
default_value=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
),
0x2008: socketcanopen.Object(
parameter_name="DOMAIN RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_DOMAIN,
default_value=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
),
0x2009: socketcanopen.Object(
parameter_name="DOMAIN RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_DOMAIN,
default_value=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11]
),
0x200A: socketcanopen.Object(
parameter_name="TIME_OF_DAY RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_TIME_OF_DAY,
default_value=datetime.today()
),
0x200B: socketcanopen.Object(
parameter_name="TIME_OF_DAY RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_TIME_OF_DAY,
default_value=datetime.today()
),
0x200C: socketcanopen.Object(
parameter_name="TIME_DIFFERENCE RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_TIME_DIFFERENCE,
default_value=timedelta(1, 2, 3, 4)
),
0x200D: socketcanopen.Object(
parameter_name="TIME_DIFFERENCE RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_TIME_DIFFERENCE,
default_value=timedelta(1, 2, 3, 4)
),
0x200E: socketcanopen.Object(
parameter_name="REAL64 RO test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_REAL64,
default_value=3.14159265359
),
0x200F: socketcanopen.Object(
parameter_name="REAL64 RW test",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_REAL64,
default_value=3.14159265359
)
})
node = socketcanopen.Node(can_bus, node_id, socketcanopen_od)
signal.pause() # Run forever