145 lines
2.4 KiB
Plaintext
145 lines
2.4 KiB
Plaintext
================================================================================
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CANopen test frames
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================================================================================
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## Init
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- open two shells, i.e. async & telnet
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log level verbose
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can can1 start active 500000
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copen can1 start
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copen status
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can can1 status
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# …optional:
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can log trace
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can log crtd /store/crtd1
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vfs cat /store/crtd1
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vfs tail /store/crtd1
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## Heartbeat/state
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can can1 rx standard 701 00
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can can1 rx standard 701 04
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can can1 rx standard 701 05
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can can1 rx standard 701 7f
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metrics list co.
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## EMCY
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can can1 rx standard 081 12 34 56 11 22 33 44 55
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metrics list co.
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## NMT
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# shell 1:
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copen can1 nmt stop 1 5000
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# shell 2:
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can can1 rx standard 701 04
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↓
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NMT command result: OK
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I (6203824) canopen: can1 node 1 new state: Stopped
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I (6203824) events: Signal(canopen.node.state)
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## Read SDO [expedited]
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# shell 1:
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copen can1 readsdo 1 2720 01 5000
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# shell 2:
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can can1 rx standard 581 4B 20 27 01 03 00 00 00
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↓
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ReadSDO #1 0x2720.01: size=2 dec=3 hex=0x3 txt='(binary)'
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# shell 1:
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copen can1 readsdo 1 2720 01 5000
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# shell 2:
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can can1 rx standard 581 47 20 27 01 43 41 4e 00
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↓
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ReadSDO #1 0x2720.01: size=3 dec=5128515 hex=0x4e4143 txt='CAN'
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## Read SDO [segmented]
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# shell 1:
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copen can1 readsdo 1 2720 02 5000
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# shell 2:
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can can1 rx standard 581 40 20 27 02 00 00 00 00
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# …
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can can1 rx standard 581 00 48 65 6c 6c 6f 20 57
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# …
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can can1 rx standard 581 15 6f 72 6c 64 21 00 00
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↓
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ReadSDO #1 0x2720.02: size=12 dec=1819043144 hex=0x6c6c6548 txt='Hello World!'
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## Write SDO [expedited]
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# shell 1:
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copen can1 writesdo 1 2720 02 0x11223344 5000
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# shell 2:
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can can1 rx standard 581 60 20 27 02 00 00 00 00
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↓
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WriteSDO #1 0x2720.02: size=4 hex=0x11223344 => OK
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## Write SDO [expedited]
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# shell 1:
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copen can1 writesdo 1 2720 02 "Hello World!" 5000
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# shell 2:
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can can1 rx standard 581 60 20 27 02 00 00 00 00
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# …
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can can1 rx standard 581 20 00 00 00 00 00 00 00
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# …
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can can1 rx standard 581 30 00 00 00 00 00 00 00
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↓
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WriteSDO #1 0x2720.02: size=12 str='Hello World!' => OK
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## Node info
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copen can1 info 1
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## Node scan
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copen can1 scan 1-10
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# full scan (~20 seconds):
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copen can1 scan
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## SEVCON login
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# get login level:
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copen can1 readsdo 1 5000 1
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→ 0
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# login:
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copen can1 writesdo 1 5000 3 0
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copen can1 writesdo 1 5000 2 0x4bdf
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# get login level:
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copen can1 readsdo 1 5000 1
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→ 4
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