40 lines
1.4 KiB
Text
40 lines
1.4 KiB
Text
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================================================================================
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CANopen shell commands
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================================================================================
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Show status report:
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copen status
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Start / stop workers:
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copen <bus> start
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copen <bus> stop
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- stop will fail if clients are still running.
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Send NMT commands:
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copen <bus> nmt <start|stop|preop|reset|commreset> [id=0] [timeout_ms=0]
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- id 0 = broadcast
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- timeout > 0: wait for state change (heartbeat), 3 tries
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Note: state change response is not a mandatory CANopen feature.
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Read SDO:
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copen <bus> readsdo <id> <index_hex> <subindex_hex> [timeout_ms=50]
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- index & subindex: hexadecimal without "0x" or "h"
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- defaults to 3 tries on timeout
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Write SDO:
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copen <bus> writesdo <id> <index_hex> <subindex_hex> <value> [timeout_ms=50]
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- index & subindex: hexadecimal without "0x" or "h"
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- value: prefix "0x" = hex, else decimal, string if no decimal
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- defaults to 3 tries on timeout
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Show node core attributes:
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copen <bus> info <id> [timeout_ms=50]
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- prints device type, error register, device name etc.
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Note: some attributes read are optional and may be empty/zero.
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Scan bus for nodes:
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copen <bus> scan [[startid=1][-][endid=127]] [timeout_ms=50]
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- loops "info" over multiple node ids (default: all)
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Note: a full scan with default timeout takes ~20 seconds
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