Time-stamp protocol

[abh10]

I am using CANopenNode in NMT Master mode with great success on RPi Linux. There are two slave nodes on the bus and I need to set the time on these by time-stamp broadcast. The Time-stamp protocol isn't implemented in CANopenNode and I am looking for some help/guidance on how to do that. Thank you in advance.

[Martin Wagner]

There are two ways:

hacky one:

1. see CANopen.c CO_sendNmtcommand()
2. CANopen.c add check in " Verify features from CO_OD" table
3. CANopen.c add your OIDs to "Indexes for CANopenNode message objects" table, adjust accordingly
4. Init and worker are up to you

proper one:

1. create new CO_timestamp.c / .h
2. implement your functions based on other file (I think CO_SYNC is a good small example)
3. CANopen.h #include "CO_timestamp.h". This should only be necessary there!
4. CANopen.c add check in " Verify features from CO_OD" table
5. CANopen.c add your OIDs to "Indexes for CANopenNode message objects" table, adjust accordingly
6. CANopen.c add your object to static object (somewhere after static CO_CANmodule_t COO_CANmodule;)
7. CANopen.c add your object to dynamic object allocation (somewhere after / Initialize CANopen object /) in CO_new().
8. CANopen.c place your init and worker next to the other objects init and workers.

Hope that helps

[abh10]

Martin,
Thanks a lot for your comment.
I need to look deeper into the code to understand how this works.
One thing though: I am using the libedssharp eds-editor to set up my OD.
As far as I can see, it doesn't support adding a feature flag for Time-Stamp producer, so I will need to add this manually(?)
I was wondering, if I only need to be a Time-Stamp producer and not a Time-stamp consumer, do I need to worry about OIDs, OD entry 1012 etc? -After all, I just need to send a single CAN frame with a fixed known CAN_ID and 6 databytes. So, I wonder if there is an even more hacky way to do this by calling CO_CANsend in stack/socketCAN/CO_driver.c directly?

[Martin Wagner]

As far as I can see, it doesn't support adding a feature flag for Time-Stamp producer, so I will need to add this manually(?)

Yes.

I was wondering, if I only need to be a Time-Stamp producer and not a Time-stamp consumer, do I need to worry about OIDs, OD entry 1012 etc

I don't know the timestamp protocol or assigned OD entries.

even more hacky way

you need to add a tx buffer to the CAN driver so you can use CO_CANsend()

even even more hacky way...

yes you can just send it using socketCAN.