There is a way to configure CANopen modules on power up. The CANopen master (or some other node delegated to do this) configures locations in a devices object dictionary. This is all done before the CANopen master changes the system from PRE-OPERATIONAL to OPERATIONAL.
So a device can be configured to place encoder values into TPDO1 at bytes 3..6 and report that periodically and/or only when changed. Once set OPERATIONAL that device now broadcasts the information. It can also have a suppression value that prevents massive numbers of messages from overrunning the bus. Like report on change but no more often than every 10mS. On the receive side it's much the same. Now called an RPDO1 the configuration for that PDO is set up to direct bytes 3..6 from that message into a specific memory location of the Object Dictionary (OD). The Object Dictionary is configured as an Index:SubIndex. Generally in Hex format as say 4000:12 where the index is 16 bits and the subindex is 8 bits. The size of the object is also defined in the Object Dictionary so it could be as simple as one byte or 4 bytes or even be a pointer to a string or array and require multiple byte PDO messages to transfer data. Since this could all be configured on power up it there could be a translation program from HAL to OD. And as per my previous posting this is where I start to get lost as to how the HAL ultimately is configured and used to abstract hardware from the software. BTW, CANopen also has a Service Data Object message (SDO) which is used as a request/answer protocol. In either case when the value is written into the OD it doesn't just have to be data written to a location. It can also be a function that is called with that data. Or to read from the OD the read doesn't actually access a location but calls a function that perhaps generates an I2C message to hardware to pull out an A/D value. That value is then returned as the SDO reply. John Dammeyer http://www.autoartisans.com > -----Original Message----- > From: Nicklas Karlsson [mailto:nicklas.karlsso...@gmail.com] > Sent: March-09-19 8:05 AM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] CANopen: SOEM/SOES, CANfestival, anything > more? --> Configuration > > During configuration there are no possibility to pass a string from the *.ini > or > *.hal file? Only possibility is parameters and hal pins? > > > > > Several library options, some tests done by Luminize in Machinekit. > > > > > > https://github.com/machinekit/machinekit/issues/589 > > > > https://github.com/luminize/canopen-machinekit > > > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
