================================================================================
CANopen test/example session on Renault Twizy (SEVCON Gen4)
================================================================================

##
## Init
##

OVMS > level verbose
Logging level for * set to verbose

OVMS > can can1 start active 500000
Can bus can1 started in mode active at speed 500000Kbps

OVMS > copen can1 start
CANopen worker started, 1 worker(s) running.
I (129494) events: Signal(power.can1.on)
I (129494) canopen: Worker started on can1
I (129494) events: Signal(canopen.worker.start)

OVMS > copen status
CANopen status:
  Active workers: 1
  can1:
    Active clients: 0
    Jobs waiting  : 0
    Jobs processed: 0
    - timeouts    : 0
    - other errors: 0


##
## Switch on (SEVCON Gen4 booting)
## 

I (162904) canopen: can1 node 1 new state: Booting
I (162904) events: Signal(canopen.node.state)
I (163474) canopen: can1 node 1 new state: Operational
I (163474) events: Signal(canopen.node.state)

OVMS > metrics list co.
co.can1.nd1.emcy.code
co.can1.nd1.emcy.type
co.can1.nd1.state                        Operational


##
## Get node info
## 

OVMS > copen can1 info 1
Node #1:
 Device type: 0x00000000
 Error state: 0x00
 Vendor ID: 0x0000001e
 Product: 0x0712302d
 Revision: 0x00010019
 S/N: 0x47c5…………
 Device name: Gen4 (Renault Twizy)11 November 2011 12
 HW version: 0x00000003
 SW version: 0712.0001


##
## Scan nodes
## 

OVMS > copen can1 scan
Scan #1-127...
Node #1:
 Device type: 0x00000000
 Error state: 0x00
 Vendor ID: 0x0000001e
 Product: 0x0712302d
 Revision: 0x00010019
 S/N: 0x47c5…………
 Device name: Gen4 (Renault Twizy)11 November 2011 12
 HW version: 0x00000003
 SW version: 0712.0001
Node #23: SDO access failed
Node #25: SDO access failed
Node #27: SDO access failed
Node #30: SDO access failed
Node #87: SDO access failed
Done.
D (242624) canopen: ReadSDO #23 0x1000.00: InitUpload failed, CANopen error code 0x00000000
D (242824) canopen: ReadSDO #25 0x1000.00: InitUpload failed, CANopen error code 0x00000000
D (243074) canopen: ReadSDO #27 0x1000.00: InitUpload failed, CANopen error code 0x00000000
D (243474) canopen: ReadSDO #30 0x1000.00: InitUpload failed, CANopen error code 0x00000000
D (253014) canopen: ReadSDO #87 0x1000.00: InitUpload failed, CANopen error code 0x00000000


##
## SEVCON login
## 

OVMS > copen can1 readsdo 1 5000 1
ReadSDO #1 0x5000.01: contsize=1 xfersize=1 dec=0 hex=0x00 str=''

# 0 = not logged in

OVMS > copen can1 writesdo 1 5000 3 0
WriteSDO #1 0x5000.03: dec=0 => OK
OVMS > copen can1 writesdo 1 5000 2 0x4bdf
WriteSDO #1 0x5000.02: hex=0x00004bdf => OK
OVMS > copen can1 readsdo 1 5000 1
ReadSDO #1 0x5000.01: contsize=1 xfersize=1 dec=4 hex=0x04 str='(binary)'

# 4 = logged in level 4 → success


##
## Statistics
## 

OVMS > copen status 
CANopen status:
  Active workers: 1
  can1:
    Active clients: 0
    Jobs waiting  : 0
    Jobs processed: 148
    - timeouts    : 121
    - other errors: 5


##
## NMT
## 

OVMS > copen can1 nmt preop
NMT command result: OK
I (371354) canopen: can1 node 1 emergency: code=0x8200 type=0x10 data: 01 4f 02 01 01
I (371354) events: Signal(canopen.node.emcy)
I (371464) canopen: can1 node 1 new state: PreOperational
I (371464) events: Signal(canopen.node.state)
I (372894) canopen: can1 node 1 emergency: code=0x1000 type=0x11 data: 81 46 00 00 00
I (372894) events: Signal(canopen.node.emcy)

OVMS > metrics list co.
co.can1.nd1.emcy.code                    4096
co.can1.nd1.emcy.type                    17
co.can1.nd1.state                        PreOperational

OVMS > copen can1 nmt start 
NMT command result: OK
I (389454) canopen: can1 node 1 new state: Operational
I (389454) events: Signal(canopen.node.state)
I (392884) canopen: can1 node 1 emergency: code=0x0000 type=0x10 data: 81 46 01 4f 27
I (392884) events: Signal(canopen.node.emcy)

OVMS > copen can1 nmt start metrics list co.
co.can1.nd1.emcy.code                    0
co.can1.nd1.emcy.type                    16
co.can1.nd1.state                        Operational


##
## Emergency monitoring (pushing buttons in parked mode)
## 

I (421894) canopen: can1 node 1 emergency: code=0x1000 type=0x11 data: 8e 48 00 00 00
I (421894) events: Signal(canopen.node.emcy)
I (422184) canopen: can1 node 1 emergency: code=0x0000 type=0x10 data: 8e 48 01 4f ff
I (422184) events: Signal(canopen.node.emcy)

I (424864) canopen: can1 node 1 emergency: code=0x1000 type=0x11 data: 8e 48 00 00 00
I (424864) events: Signal(canopen.node.emcy)
I (425124) canopen: can1 node 1 emergency: code=0x0000 type=0x10 data: 8e 48 01 4f 08
I (425124) events: Signal(canopen.node.emcy)