def addmasternode(network):
# node = network.add_node(7, '/home/pi/canopen-rpi/examples/NXP_CiA401.eds')
local_node = canopen.LocalNode(
1, '/home/pi/canopen-rpi/examples/NXP_CiA401.eds')
network.add_node(local_node)
# node.nmt.__init__(7)
# local_node.nmt.__init__(7,1)
# node.nmt.state = 'OPERATIONAL'
def discover_connected_devices(self):
self.can_network.scanner.reset()
self.can_network.scanner.search()
time.sleep(0.05)
script_dir = os.path.dirname(__file__) # <-- absolute dir the script is in
rel_path_master = r"master_dictionary.eds" #self dictionary
rel_path_remote = r"object_dictionary.eds"
abs_file_path_master_eds = os.path.join(script_dir, rel_path_master)
abs_file_path_remote_eds = os.path.join(script_dir, rel_path_remote)
local_node_id = int(self.settings.get("CANOpen", "NodeID"))
localnode = canopen.LocalNode(local_node_id, abs_file_path_master_eds)
self.can_network.add_node(localnode)
for node_id in self.can_network.scanner.nodes:
self.can_network.add_node(node_id, abs_file_path_remote_eds)
return self.can_network.scanner.nodes
import canopen
import os
import can
import time
os.system('sudo ip link set can0 type can bitrate 1000000')
os.system('sudo ifconfig can0 up')
os.system('sudo ifconfig can0 txqueuelen 1000')
network = canopen.Network()
network.connect(channel='can0', bustype='socketcan')
network.scanner.search()
time.sleep(0.05)
for node_id in network.scanner.nodes:
print(node_id)
node = network.add_node(12, 'test.eds')
local_node = canopen.LocalNode(1, 'test.eds')
network.add_node(local_node)
for node_id in network:
print(network[node_id])
#node.sdo.download(0x60FF, 00, b'\x84\x00')
#device_type_data = node.sdo.upload(0x1007, 0)
#print(device_type_data)
#network.send_message(0x60C, [0x23, 0xFF, 0x60, 0x00, 0x42, 0x05, 0x00, 0x00]) #set velocity
network.send_message(
0x60C, [0x40, 0x41, 0x60, 0x00, 0x00, 0x00, 0x00, 0x00]) #Get Status
#network.send_message(0x0, [0x1, 0])
#network.sync.start(0.01)
#node.tpdo.read()
#node.rpdo.read()
import time
import struct
'''
An example of communicating with an Arduino via a canbus network using
the CanOpen protocol. This example uses a Joy-It SBC-CAN01 module connected
via SPI as a CAN interface using the GPIO pins of a Raspberry Pi.
See https://joy-it.net/en/products/SBC-CAN01 for connection and setup instructions.
The Arduino must be running Canfestivino with .EDS and .CPP files made in ObjDictEdit.py
#TODO add URL to arduino sketch/instructions
'''
network = canopen.Network()
master_node = canopen.LocalNode(0x01, 'master.eds')
slave_node = canopen.RemoteNode(0x05,'slave_node_example.eds') #.eds and object dictionary are interchangable
network.add_node(master_node)
network.add_node(slave_node)
'''
You may need to enable the CAN interface (this must be done after rebooting the OS)
Run the following commands in the terminal
$ sudo ip lin set can0 up type can bitrate 500000
$ sudo ifconfig can0 txqueuelen 10000
You can view the raw CAN messages by running
$ candump can0
'''
network.connect(bustype='socketcan', channel='can0', bitrate=500000)
def network_scan(network):