def setup(self):
try:
os.system('sudo ip link set can0 type can bitrate 1000000')
os.system('sudo ifconfig can0 up')
os.system('sudo ifconfig can0 txqueuelen 1000')
# Start with creating a network representing one CAN bus
self.network = canopen.Network()
# Connect to the CAN bus
self.network.connect(bustype='socketcan', channel='can0')
self.network.check()
# Add some nodes with corresponding Object Dictionaries
self.node1 = canopen.BaseNode402(12, '/home/pi/canopen/examples/brunner_eds.eds')
self.node2 = canopen.BaseNode402(15, '/home/pi/canopen/examples/brunner_eds.eds')
for node in [self.node1, self.node2]:
self.network.add_node(node)
# Read a variable using SDO
node.sdo[0x1006].raw = 1
node.sdo[0x1014].raw = 163
node.sdo[0x1003][0].raw = 0
# Transmit SYNC every 100 ms
self.network.sync.start(0.1)
for node in [self.node1, self.node2]:
node.load_configuration()
node.setup_402_state_machine()
node.state = 'SWITCH ON DISABLED'
node.op_mode = "PROFILED VELOCITY"
# Read PDO configuration from node
node.tpdo.read()
# Re-map TxPDO1
node.tpdo[1].clear()
node.tpdo[1].add_variable('Statusword')
node.tpdo[1].add_variable('Position actual value')
node.tpdo[1].trans_type = 1
node.tpdo[1].event_timer = 0
node.tpdo[1].enabled = True
# Save new PDO configuration to node
node.tpdo.save()
node.rpdo.read()
node.state = 'READY TO SWITCH ON'
acceleration = 1600
deceleration = acceleration
self.node1.sdo[0x6083].raw = acceleration # target acc
self.node2.sdo[0x6083].raw = acceleration
self.node1.sdo[0x6084].raw = deceleration # target dec
self.node2.sdo[0x6084].raw = deceleration
self.is_setup = True
except Exception as e:
self.is_setup = False
def addDs402Node(self, eds_path, node_id, number_of_motors=1):
if self._debug:
print("Adding network node (id: {0:d}) with {1:d} motors using EDS file: {3:s}".format(node_id, number_of_motors, eds_path))
# Add some nodes with corresponding Object Dictionaries
node = canopen.BaseNode402(1, eds_path)
self.__network.add_node(node)
node.setup_402_state_machine()
self.__nodes.append({
"node_id" : node_id,
"node" : node,
})
return node
6090h: Water level status
cia419 : charger
6000h VAR Battery status UNSIGNED8 rw M
6001h VAR Charger status UNSIGNED8 ro M
6010h VAR Temperature INTEGER16 rw M
6052h VAR Ah returned during last charge UNSIGNED16 ro C
6060h VAR Battery voltage UNSIGNED32 rw C
6070h VAR Charge current requested UNSIGNED16 rw C
6080h VAR Charger state of charge UNSIGNED8 ro C
6081h VAR Battery state of charge UNSIGNED8 rw C
idx 2000
"""
node = canopen.BaseNode402(0x55, 'EDS/CR2016.eds')
network.add_node(node)
time.sleep(0.1)
node.nmt.state = 'RESET COMMUNICATION'
node.nmt.wait_for_bootup(15)
time.sleep(0.1)
node.nmt.state = 'RESET'
node.nmt.wait_for_bootup(15)
time.sleep(1)
def getnodestate():
print("*** Get node State***")
import traceback
import time
try:
# Start with creating a network representing one CAN bus
network = canopen.Network()
# Connect to the CAN bus
network.connect(bustype='kvaser', channel=0, bitrate=1000000)
network.check()
# Add some nodes with corresponding Object Dictionaries
node = canopen.BaseNode402(35, '/home/andre/Code/test/jupiter.eds')
network.add_node(node)
# network.add_node(34, '/home/andre/Code/test/jupiter.eds')
# node = network[34]
# Reset network
node.nmt.state = 'RESET COMMUNICATION'
#node.nmt.state = 'RESET'
node.nmt.wait_for_bootup(15)
print('node state 1) = {0}'.format(node.nmt.state))
# Iterate over arrays or records
error_log = node.sdo[0x1003]
for error in error_log.values():
print("Error {0} was found in the log".format(error.raw))
# instantiate the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-d", "--directory", required = True)
ap.add_argument("-l", "--labels", required = True)
# help = "Path to the image to be scanned")
args = vars(ap.parse_args())
# instantiate CAN bus
# Start with creating a network representing one CAN bus
can = canopen.Network()
# Connect to the CAN bus
can.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=1000000)
can.check()
# Add some nodes with corresponding Object Dictionaries
pd2c = canopen.BaseNode402(3, 'PD2-C4118L1804-E-08.eds')
can.add_node(pd2c)
# instantiate cv2 and file stuff
cur_dir = Path().absolute()
# read file telling which directory to save to
directoryfile = args["directory"]
with open(cur_dir / directoryfile) as file: # Use file to refer to the file object
directory = file.read()
label_dir = cur_dir / directory
# read file telling which labels to use
with open(cur_dir / args["labels"]) as file: # Use file to refer to the file object
lbls = file.read()
try:
import traceback
import time
try:
# Start with creating a network representing one CAN bus
network = canopen.Network()
# Connect to the CAN bus
network.connect(bustype='kvaser', channel=0, bitrate=1000000)
network.check()
# Add some nodes with corresponding Object Dictionaries
node = canopen.BaseNode402(35, 'eds/e35.eds')
network.add_node(node)
# network.add_node(34, 'eds/example34.eds')
# node = network[34]
# Reset network
node.nmt.state = 'RESET COMMUNICATION'
#node.nmt.state = 'RESET'
node.nmt.wait_for_bootup(15)
print('node state 1) = {0}'.format(node.nmt.state))
# Iterate over arrays or records
error_log = node.sdo[0x1003]
for error in error_log.values():
print("Error {0} was found in the log".format(error.raw))