LPCXpresso IDE中的主题 Re: canopen

canopen

lpcware — Thu, 16 Jun 2016 01:23:27 GMT

Content originally posted in LPCWare by alireza.roozitalab on Tue Dec 04 06:20:32 MST 2012
hello every one
i want to run a canopen_onchip program on lpc11c14/24.and at last connect to servo driver as controller.i read the datasheet of lpc11c14 and see the example of it.but i dont understand how i can send and receive a sdo message?.and can i send and receive data(less than 4 bytes) in expedited mode ? how? and how i can send and receive sdo segmented mode

thanks
alireza roozitalab

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:27 GMT

Content originally posted in LPCWare by Ex-Zero on Tue Dec 04 07:17:28 MST 2012

Quote: alireza.roozitalab
... i dont understand how i can send and receive a sdo message?.and can i send and receive data(less than 4 bytes) in expedited mode ? how? and how i can send and receive sdo segmented mode

CANOpen can't be described in a few minutes :eek:

If you really want to learn CANOpen you should spend a few days and read about it (Google is your friend :):)).

Something like http://www.canopensolutions.com/english/about_canopen/device_configuration_canopen.shtml

For your project a simple SDO is a good point to start ;)

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:28 GMT

Content originally posted in LPCWare by alireza.roozitalab on Tue Dec 04 22:12:53 MST 2012
thanks zero
i read about canopen and continuous reading:D.i read about sdo and server/clinet use. but in lpc11c14 canopen_onchip i cant undrestand how to use structures to send and receive data.and in example of canopen_onchip in http://ics.nxp.com/support/lpcxpresso/ just send in can mode:eek:.

thanks
alireza roozitalab

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:29 GMT

Content originally posted in LPCWare by Ex-Zero on Tue Dec 04 23:22:43 MST 2012

Quote: alireza.roozitalab
thanks zero
i read about canopen and continuous reading.i read about sdo and server/clinet use. but in lpc11c14 canopen_onchip i cant undrestand how to use structures to send and receive data.and in example of canopen_onchip in http://ics.nxp.com/support/lpcxpresso/ just send in can mode:eek:.

thanks
alireza roozitalab

:confused:

I'm not sure if we are talking about the same sample

LPCXpresso is including a working sample in ...\LPCXpresso_5.0.12_1083\lpcxpresso\Examples\NXP\LPC1000\LPC11xx\NXP_LPCXpresso11C24_2011-01-27.zip\canopen_onchip

which is including several SDO objects :eek:


/*    CANopen read-only (constant) Object Dictionary (OD) entries
    Used with Expidited SDO only. Lengths = 1/2/4 bytes */
CAN_ODCONSTENTRY myConstOD [] = {
    /* index, subindex,    length,    value */
  [COLOR=Red]  { 0x1000, 0x00,     4,         0x54534554UL },  // "TEST"
    { 0x1018, 0x00,     1,         0x00000003UL },
    { 0x1018, 0x01,     4,         0x00000003UL },
    { 0x2000, 0x00,     1,         (uint32_t)'M' }[/COLOR],
};

/* Application variables used in variable OD */
uint8_t  error_register;
uint32_t device_id;
uint32_t fw_ver;
uint16_t param;

/*    CANopen list of variable Object Dictionary (OD) entries
    Expedited SDO with length=1/2/4 bytes */
CAN_ODENTRY myOD [] = {
    /* index, subindex,    access_type | length,    value_pointer */
  [COLOR=Red]  { 0x1001, 0x00,     OD_EXP_RO | 1,            (uint8_t *)&error_register },
    { 0x1018, 0x02,     OD_EXP_RO | 4,            (uint8_t *)&device_id },
    { 0x1018, 0x03,     OD_EXP_RO | 4,            (uint8_t *)&fw_ver },
    { 0x2001, 0x00,     OD_EXP_RW | 2,            (uint8_t *)&param },[/COLOR]
};

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:29 GMT

Content originally posted in LPCWare by alireza.roozitalab on Wed Dec 05 00:44:01 MST 2012
thank you zero
i think we talk about same example :D
this example send a can message!!!!!
i seen this OD config before.:rolleyes:

for example if i want to read "test" from device :
the node id is : 0x14
and the function code:0xc (SDO(rx))
then id is :0x614
DLC:0x08
data1 = 0x10
data2 = 0x00 (for read index 0x1000)
D3: 0x00
D4: 0x00
D5: 0x00
D6: 0x00
D7: 0x00

and then send this information in can mode?
if the server send this information , client send "test" to the server?
i cant understand with which structures how can i receive in variable and send a variable in canopen mode?

thanks
alireza roozitalab

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:30 GMT

Content originally posted in LPCWare by Ex-Zero on Wed Dec 05 01:19:05 MST 2012

Quote: alireza.roozitalab
for example if i want to read "test" from device :
the node id is : 0x14
and the function code:0xc (SDO(rx))
then id is :0x614
DLC:0x08
data1 = 0x10
data2 = 0x00 (for read index 0x1000)
D3: 0x00
D4: 0x00
D5: 0x00
D6: 0x00
D7: 0x00

No :eek:

As explained in http://www.canopensolutions.com/english/about_canopen/device_configuration_canopen.shtml

you have to read with SDO Upload = command (1 byte), index (2 bytes, little endian!), subindex (1 byte), 4 empty bytes

Sample: Node 0x14, Read index 0x1000 subindex 00

Read = Command 0x40

[COLOR=Red]Message ID: 0x614 LEN:8 D0-7: 0x40 0x00 0x10 0x00 0x00 0x00 0x00 0x00 [/COLOR]

Then your Node should respond with

[COLOR=Blue]Message ID: 0x594 LEN:8 D0-7: 0x43 0x00 0x10 0x00 0x54 0x45 0x53 0x54[/COLOR]

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:31 GMT

Content originally posted in LPCWare by alireza.roozitalab on Wed Dec 05 02:32:06 MST 2012
thank you very much zero :)

now how i can send or receive this information on bus?
(for example to recieve):
a=CANOPEN_sdo_exp_read(0x1000, 0x00);
and for send:
CANOPEN_sdo_exp_write(0x1000, 0x00);

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:31 GMT

Content originally posted in LPCWare by Ex-Zero on Wed Dec 05 08:54:06 MST 2012

Quote: alireza.roozitalab
thank you very much zero :)

now how i can send or receive this information on bus?
(for example to recieve):
a=CANOPEN_sdo_exp_read(0x1000, 0x00);
and for send:
CANOPEN_sdo_exp_write(0x1000, 0x00);

:confused:

Sorry, i don't understand this question :)

CANOPEN_sdo_exp_read / CANOPEN_sdo_exp_write are [COLOR=Red]Callback [/COLOR]functions :eek:

See http://en.wikipedia.org/wiki/Callback_%28computer_programming%29

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:32 GMT

Content originally posted in LPCWare by alireza.roozitalab on Fri Dec 07 22:10:10 MST 2012
thanks zero
i dont understand where these callback function are use full?

    CAN_rx,
    CAN_tx,
    CAN_error,
    CANOPEN_sdo_exp_read,
    CANOPEN_sdo_exp_write,

and how can i release data on bus? (with which function?)
and if i want to read data that written on bus , just need read the msgobj_rx?

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:33 GMT

Content originally posted in LPCWare by Ex-Zero on Fri Dec 07 22:39:37 MST 2012

Quote: alireza.roozitalab
thanks zero
i dont understand where these callback function are use full?

    CAN_rx,
    CAN_tx,
    CAN_error,
    CANOPEN_sdo_exp_read,
    CANOPEN_sdo_exp_write,

and how can i release data on bus? (with which function?)
and if i want to read data that written on bus , just need read the msgobj_rx?

This are CAN Callback functions = functions, which are called by CAN library (which is included in ROM)

How messages are read is shown in this example. CAN ROM library is receiving a message and calling CAN_rx() callback function. There you can read it. That's all

How a message is transmitted is also shown in this example. Just use ROM function (*rom)->pCAND->can_transmit(&msg_obj).

SDO callback functions are executed before ROM is executing SDO function. So you can add here your own code.

Sample: Reading SDO Index 0x2001 Subindex 0 is reading param in this sample. But before CANOPEN_sdo_exp_read() is executed and param is increased. You can add here your own code which is executed before SDO read function (I like to add here LED on/off code for test purpose) :eek:

That's a very simple way to call your own code :cool:

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:33 GMT

Content originally posted in LPCWare by alireza.roozitalab on Sat Dec 08 01:48:33 MST 2012
thank zero

i can transmit a canopen message with:
(*rom)->pCAND->can_transmit(&msg_obj).:eek:
in example:

 msg_obj.msgobj  = 0;
    msg_obj.mode_id = 0x345;
    msg_obj.mask    = 0x0;
    msg_obj.dlc     = 4;
    msg_obj.data[0] = 'T';    //0x54
    msg_obj.data[1] = 'E';    //0x45
    msg_obj.data[2] = 'S';    //0x53
    msg_obj.data[3] = 'T';    //0x54

that use msj_obj=0
and we dont send index ,sub-index,and cmd bytes
and in canopen configuration

static const CAN_CANOPENCFG myCANopen = {
    20,                                        // node_id
    5,                                        // msgobj_rx
    6,                                        // msgobj_tx
    1,                                        // isr_handled
    sizeof(myConstOD)/sizeof(myConstOD[0]),    // od_const_num 
    (CAN_ODCONSTENTRY *)myConstOD,            // od_const_table
    sizeof(myOD)/sizeof(myOD[0]),            // od_num
    (CAN_ODENTRY *)myOD,                    // od_table
};

msj_obj for tx=6
and we dont have mask and mode_id here
?????

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:34 GMT

Content originally posted in LPCWare by Ex-Zero on Sat Dec 08 06:35:57 MST 2012

Quote:

that use msj_obj=0

What's wrong with msg_obj 0 :confused:

Quote:

..and we dont send index ,sub-index,and cmd bytes...

Then 'we' should do that ;) What CAN is transmitting is still ID, DLC and data. Even for SDO. #6 of this thread is describing SDO (colored) :)

Quote:

...and in canopen configuration...msj_obj for tx=6...

what's obviously tx for answering SDO messages to this node (=20). Do you want to send a SDO to yourself ?

Quote:

...and we dont have mask and mode_id here...

CANOpen SDO IDs for this node (20 =0x14) are clear :eek:

Listening to 0x600 + node = 0x614
Answering 0x580 + node = 0x594

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:35 GMT

Content originally posted in LPCWare by alireza.roozitalab on Sat Dec 08 08:34:31 MST 2012
thanks for replay zero

Quote:
what's obviously tx for answering SDO messages to this node (=20). Do you want to send a SDO to yourself ?

no i dont want:D

so if i want to client send a canopen message to server ("test") i should config msj_obj like this code in server?

msg_obj.msgobj  = 0;
msg_obj.mode_id = 0x614;
msg_obj.mask    = 0x0;
msg_obj.dlc     = 8; 
    msg_obj.data[0] = 0x40;
msg_obj.data[1] = 0x0; 
        msg_obj.data[2] = 0x10;
msg_obj.data[3] = 0x00;
    msg_obj.data[4] = 0x00;     
msg_obj.data[5] = 0x00;
msg_obj.data[6] = 0x00;
    msg_obj.data[7] = 0x00; 
(*rom)->pCAND->can_transmit(&msg_obj);

and client send "test" that i can read that from msj_obj 0 in server?

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:35 GMT

Content originally posted in LPCWare by Ex-Zero on Sat Dec 08 09:01:52 MST 2012
Whoever sends a correct SDIO message like SDIO read (#6 in [COLOR=Red]RED[/COLOR]) to this node (0x14), gets a SDO answer (#6 in[COLOR=Blue] BLUE[/COLOR]) :eek:

If that's another LPC11Cxx (perhaps 0x15) you can of course use msg_obj 0 to transmit this message :)

And of course this node (0x15) can receive the answer in CAN_rx Callback, if a valid msg_obj (0 isn't available, it's used for TX :() is configured to receive ID 0x594 :D

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:36 GMT

Content originally posted in LPCWare by alireza.roozitalab on Sun Jan 06 03:23:12 MST 2013
i want to set index 0x6040 a servo driver (using canopen protocol)to the 0x000f that the device id is 0x20
the configuration of msg.obj is:

msg_obj.msgobj  = 0;
msg_obj.mode_id = 0x5A0;
msg_obj.mask    = 0x0;
msg_obj.dlc     = 8; 
msg_obj.data[0] = 0x2B;
msg_obj.data[1] = 0x40; 
msg_obj.data[2] = 0x60;
msg_obj.data[3] = 0x0F;
msg_obj.data[4] = 0x00;     
msg_obj.data[5] = 0x00;
msg_obj.data[6] = 0x00;
msg_obj.data[7] = 0x00; 
(*rom)->pCAND->can_transmit(&msg_obj);

is it true code?
it isn't work true

tanks
alireza roozitalab

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:36 GMT

Content originally posted in LPCWare by Ex-Zero on Sun Jan 06 09:15:59 MST 2013

Quote: alireza.roozitalab

is it true code?

SDO download (= write to Node) ID is[COLOR=Red] 0x600 + Node[/COLOR]

Message ID: [COLOR=Red]0x620[/COLOR] LEN:8 D0-7: [COLOR=Blue]0x2B[/COLOR][COLOR=DarkOrange] 0x40 0x60[/COLOR][COLOR=Lime] 0x0F[/COLOR] [COLOR=Purple]0x00 0x00[/COLOR] 0x00 0x00

is[COLOR=Blue] writing an uint16[/COLOR] of [COLOR=Purple]0x0000[/COLOR] to Node 0x20,[COLOR=Orange] index 0x6040[/COLOR], [COLOR=Lime]subindex 0x0F :eek:
[/COLOR]

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:37 GMT

Content originally posted in LPCWare by alireza.roozitalab on Sun Jan 06 22:58:42 MST 2013
tanks zero i forgot this

so i change my code to:

\
msg_obj.msgobj  = 0;
msg_obj.mode_id = 0x620;
msg_obj.mask    = 0x0;
msg_obj.dlc     = 8; 
msg_obj.data[0] = 0x2B;
msg_obj.data[1] = 0x40; 
msg_obj.data[2] = 0x60;
msg_obj.data[3] = 0x00;
msg_obj.data[4] = 0x0F;     
msg_obj.data[5] = 0x00;
msg_obj.data[6] = 0x00;
msg_obj.data[7] = 0x00; 
(*rom)->pCAND->can_transmit(&msg_obj);

but this dont set parameter to 000f too!!!!:confused::(
i have another question
can sdo rx code= 1100 =0xc
can sdo tx code= 1011 =0xb

if i want to transmit data why i should use sdo rx code?

THANK YOU VERY MUCH

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:37 GMT

Content originally posted in LPCWare by Ex-Zero on Sun Jan 06 23:16:30 MST 2013

Quote:

...but this dont set parameter to 000f too!!!!

That's a complete valid CANopen command :)

If that's not working it's either a problem with your Node or your Node is expecting another command like write unsigned8 or unsigned32 instead unsigned16 :confused:

Quote:

i have another question
can sdo rx code= 1100 =0xc
can sdo tx code= 1011 =0xb

if i want to transmit data why i should use sdo rx code?

I don't understand this code :o Where does it come from :confused:

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:38 GMT

Content originally posted in LPCWare by alireza.roozitalab on Mon Jan 07 00:19:33 MST 2013
look at the function code in this two picture from cia
the function code for sdo rx = 1100
and the function code for sdo tx =1011

[IMG]http://knowledgebase.nxp.com/attachment.php?attachmentid=924&stc=1&d=1357542645http://[/IMG]

[IMG]http://knowledgebase.nxp.com/attachment.php?attachmentid=924&stc=1&d=1357542090[/IMG]

and the servo drive canopen catalog is in
servo driver

the parameters are unsigned16:confused::confused:

Re: canopen

lpcware — Thu, 16 Jun 2016 01:23:39 GMT

Content originally posted in LPCWare by Ex-Zero on Mon Jan 07 01:46:33 MST 2013

Quote:

i have another question
can sdo rx code= 1100 =0xc
can sdo tx code= 1011 =0xb

if i want to transmit data why i should use sdo rx code?

That's 'slave device' or Node view :eek: So writing to your Node is a 'slave device' RX command ;)

Therefore I prefer 'SDO Upload', that's less confusing :)

Is your Node responding to your SDO message at all? Usually it's easier to read a SDO, did you try that already?