Activity for Asma
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Asma posted a comment on discussion Open Discussion
Hello Janez, I can't perform a test using the lastest canopen version since I do not have for the moment an eeprom . Howerver I am using canopen v 1.0 , for both the consumer and the producer. I simulated the same sketech ,that I expected to have using PDOs, by writting to the (6200,01) OD entry of the salve through an SDO command sent from the master and as a consequence the led was on and I had sdo request and response on candump terminal and also the value of that OD entry was changed to 0x08,...
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I maybe misunderstood you. on candump I only have the TPDO (COBID = 0x181) from the producer , that is mapped to Read_digital_input8bit[0] . The Write_digital_output_8_bit[0] variable is always null, which is normal since the consumer is not receiving any PDO from the producer. Other thing, for the COBID of the RPDO it shoud be = (NODEID of the consumer = 0x30) +[ CANID (of the TPDO of the producer) = 0x181] , right? I aslo configured the RPDO , on the consumer side, to only see the data stored on...
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I maybe misunderstood you. on candump I only have the TPDO (COBID = 0x181) from the producer , that is mapped to Read_digital_input8bit[0] . The Write_digital_output_8_bit[0] variable is always null, which is normal since the consumer is not receiving any PDO from the producer. Other thing, for the COBID of the RPDO it shoud be = (NODEID of the consumer = 0x30) +[ CANID (of the TPDO of the producer) = 0x181] , right? I aslo configured the RPDO , on the consumer side, to only see the data stored on...
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Hello Janez, Thank you for the information. However, I still not have any RPDO on the consumer device side. The result of the simulation and the RPDO mapping configuration are attached.
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Hi Janez, For the RPDO, I set its parameters as follows: For the OD_Entry= (0x1400,0x01) : COBID = 0x181 ( the NODEID of the producer = 0x01) For the OD_Entry=(1600,0x01) : COBID = 0x62000108
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Hello, I am using the CANopenPIC project to simulate a basic I/O profil device. I have two nodes : one master and the other is a slave. I can sent a PDO from the master (NODEID= 0x01) but this TPDO does not trigger the RPDO of the slave(NODEID= 0x30), as expected. I used the EDO to edit the RPDO1 parameter, for TPDO1 I am using the default settings. So (its COBID = 0x181) So for the RPDO, I set its COBID to 0x181 to match the TPDO of interest . the mapping parameters are as default. When I press...
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Actually , a second auto setup solved the issue.
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Actually , a second auto setup solve the issue.
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Hi , I hope this post finds you well. I did many research before posting this thread, but I didn't find an answer although it seems quite trivial. Hope that someone could help me. I am trying to control a motor in the troque mode. For that I am using a PIC32 based master device and a provided drvier : cl4-E , from nanotec. For this driver to run the motor in the torque mode, bit 8 in the controlword should be set from "1" to "0". The close loop is enabled as well. Here is the OD entries required...
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Hi , I hope this post finds you well. I did many research before posting this thread, but I didn't find an answer although it seems quite trivial. Hope that someone could help me. I am trying to control a motor in the troque mode. For that I am using a PIC32 based master device and a provided drvier : cl4-E , from nanotec. For this driver to run the motor in the torque mode, bit 8 in the controlword should be set from "1" to "0". The close loop is enabled as well. Here is the OD entries required...
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Hi Janez , Thank you for the clarification . This is true I am calling sdo read and write functions inside the timer interrupt. When doing that in the mainline, I can saw the request and the response queries in the candump, however the master does not communicate anymore with the can analyzer, as attached The master 's state is not indicated in candump although the runled is on on the master board. and for your question , I am using MAX32 and MPLAB. Regards, Asma
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Hi Janez , Thank you for your answer , and sorry for the delay. I was testing another part of the program and I am still waiting for some components to test the proposed configuration . When all thing will be set , I will test the proposed configuration and I will post the result as well. Meanwhile , I noticed that my master node send an emergency message when I am executing an sdo task triggered by pressing a button, the message I got : 081 [8] 00 61 01 29 00 00 00 00, as attached. I am trying to...
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exactly , I am connecting the eeprom to the MAX32 network shield through SPI2A module. I already checked in the network shield , normally SPI2A module pins are enabled by default. Also , I put high the write protection pin of the eeprom through a pull up resistor, to enable the writting process. Attached an illustration of the SPI2A and the eeprom pins that I used . Regards
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I am using MAX32 development board (which uses PIC32MX795F512L ) associated with MAX32 network shield as well and an external 25LC128 eeprom. Regards
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Hi Janez, First of all , I would like to thank you a lot, again for sharing such great stack project. Indeed, based on the provided CANOpen I was able to set up my first CANOpen netwrok that consists of tow nodes : one is a master and the second is the slave. I am testing basic tasks , and I am gettin promising results :) . One of those tasks is to modify OD parameters of the slave node. This parameter is the producer time value. As a first step , I read (1017,0)h OD entry , (please see read producer...
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Hi Janez, First of all , I would like to thank you a lot, again for sharing such great stack project. Indeed, based on the provided CANOpen I was able to set up my first CANOpen netwrok that consists of tow nodes : one is a master and the second is the slave. I am testing basic tasks , and I am gettin promising results :) . One of those tasks is to modify OD parameters of the slave node. This parameter is the producer time value. As a first step , I read (1017,0)h OD entry , (please see read producer...
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Hi Janez, First of all , I would like to thank you a lot, again for sharing such great stack project. Indeed, based on the provided CANOpen I was able to set up my first CANOpen netwrok that consists of tow nodes : one is a master and the second is the slave. I am testing basic tasks , and I am gettin promising results :) . One of those tasks is to modify OD parameters of the slave node. This parameter is the producer time value. As a first step , I read (1017,0)h OD entry , (please see read producer...
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Hi Janez, First of all , I would like to thank you again , a lot for sharing such great stack project. Indeed, based on the provided CANOpen I was able to set up my first CANOpen netwrok that consists of tow nodes : one is a master and the second is the slave. I am testing basic tasks , and I am gettin promising results :) . One of those tasks is to modify OD parameters of the slave node. This parameter is the producer time value. As a first step , I read (1017,0)h OD entry , (please see read producer...
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Hi Janez, First of all , I would like to thank you a lot for sharing such great stack project. Indeed, based on the provided CANOpen I was able to set up my first CANOpen netwrok that consists of tow nodes : one is a master and the second is the slave. I am testing basic tasks , and I am gettin promising results :) . One of those tasks is to modify OD parameters of the slave node. This parameter is the producer time value. As a first step , I read (1017,0)h OD entry , (please see read producer time...
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Hi Janez, First of all , I would like to thank you a lot for sharing such great stack project. Indeed, based on the provided CANOpen I was able to set up my first CANOpen netwrok that consists of tow nodes : one is a master and the second is the slave. I am testing basic tasks , and I am gettin promising results :) . One of those tasks is to modify OD parameters of the slave node. This parameter is the producer time value. As a first step , I read (1017,0)h OD entry , (please see read producer time...
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Hi Janez, Thank you for your time, Actually , I have no bootup messages when pressing the buttons as shown in the attachment. Regards,
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Hi Janez, Thank you for your time, Actually , I have no bootup messages when pressing the buttons as shown in the attachment. Maybe I had set the NMT startup parameter wrong (I put 0x00000001 as default value to enable the NMT master) Regards,
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Thank you for the answer, I agree with you. Maybe I had set the NMT startup parameter wrong (I put 0x00000001 as default value to enable the NMT master) ? is that the right value?
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Hi Janez, Thank you for your time, Actually , I have no bootup messages when pressing the buttons as shown in the attachment. Besides enabling nmt master functionnality to change states of slaves I aim to reset the master itself since it appears always in pre-operationnal state and for me I need to send and receive PDOs , so I need the operationnal state. So, I though doing reset to it can resovle the issue. Knowing that I am using the same stack in the slave as in the master. I cannot see why I...
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Hi Janez, Thank you for your time, Actually , I have no bootup messages when pressing the buttons as shown in the attachment. Besides enabling nmt master functionnality to change states of slaves I aim to reset the master itself since it appears always in pre-operationnal state and for me I need to send and receive PDOs , so I need the operationnal state. So, I though doing reset to it can resovle the issue. Knowing that I am using the same stack in the slave as in the master. I cannot see why I...
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Hi Janez, Thank you for your time, Actually , I have no bootup messages when pressing the buttons. When pressing the buttons, no messages appear as shown in the attachment. Acutally, besides enabling nmt master functionnality to change states of slaves I aim to reset the master itself since it appears always in pre-operationnal state and for me I need to send and receive PDOs , so I need the operationnal state. So, I though doing reset to it can resovle the issue. Knowing that I am using the same...
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Hi Janez, Thank you for your time, Actually , the only thing I have is the states of the two nodes. When pressing the button, no messages appear as shown in the attachment. Regards,
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Hi everyone, I aim to implement a master node using the CANopenPic program. ////////////////////////////////// NMT master /////////////////////////////////////////////////////// So , I started by enabling NMT master functionnality through the OD editor by set CO_NO_NMT_MASTER to 1. Then I used the CO_sendNMTcommand function that is aleady in Canopen.c , in order to reset my node , when pressing a button , usnig the following lines of code: if(!PORTDbits.RD6) { e1= CO_sendNMTcommand(CO, CO_NMT_RESET_NODE,...
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Hi everyone, I aim to implement a master node using the CANopenPic program. ////////////////////////////////// NMT master /////////////////////////////////////////////////////// So , I started by enabling NMT master functionnality through the OD editor by set CO_NO_NMT_MASTER to 1. Then I used the CO_sendNMTcommand function that is aleady in Canopen.c , in order to reset my node , when pressing a button , usnig the following lines of code: if(!PORTDbits.RD6) { e1= CO_sendNMTcommand(CO, CO_NMT_RESET_NODE,...
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Hi everyone, I aim to implement a master node using the CANopenPic program. ////////////////////////////////// NMT master /////////////////////////////////////////////////////// So , I started by enabling NMT master functionnality through the OD editor by set CO_NO_NMT_MASTER to 1. Then I used the CO_sendNMTcommand function that is aleady in Canopen.c , in order to reset my node , when pressing a button , usnig the following lines of code: if(!PORTDbits.RD6) { e1= CO_sendNMTcommand(CO, CO_NMT_RESET_NODE,...
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Hi Janez, Thank you for the reference , I will take look through it for sure. Regards
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Hi Janez , Hi everyone, I am trying to write to the OD using the CANOpenPIC program after some changes : led1 = OD_writeOutput8Bit[0]; led2 = OD_writeOutput8Bit[1]; LATAbits.LATA3 = (led1&0x01) ? 1 : 0; LATAbits.LATA2 = (led2&0x01) ? 1 : 0; buttons1 = 0; buttons2 = 0; if(!PORTDbits.RD6) buttons1 |= 0x01; if(!PORTDbits.RD7) buttons2 |= 0x01; OD_readInput8Bit[0] = buttons1; OD_readInput8Bit[1] = buttons2; /// this code works well when I write to the OD using SDO commands on ./canopend teminal using...
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Hi Janez , Thank you for the clarification. Best Regards
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Hi Janez , I appreciate so much your assistance. Thanks to your guidness , I started to interpret better the CANopen messages. Indeed , I succedded in getting the microcontroller in the operationnal state by resetting it. And I succedded in reading the values of leds and buttons through SDO commands by reading OD_writeOutput8Bit[0] and OD_readInput8Bit[0] respectively. For the OD_readInput8Bit[0] variable I have 4 , that I suppose it corresponds to 6000h OD entry, subindex 1. Knowing that I hold...
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thank you for the informations , I will check for that and sreenshoot the result here. By leds= buttons, I did not mean the variables themselves but its values . Since the value of buttons variable will be received by the leds variable through RPDO. Regards
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Button pressed screenshoot
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Hi Janez , Thank you for assisting me. //////PART 1 ///////////////////////// I tried to follow the steps that you proposed , when I did reset to the pic I got the following can message 81 03 with CAN Id 000, and then I executed the SDO commands , and it works fine. Then I executed cangen can0 -I 230 -L2 -g100 -Di commands after pressing buttons but I had noeither flashing led nor button pressed in candump. //////PART 2///////////////////////// On other hand I executed the program following the tutorial...
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Hi Janez , Thank you for assisting me. I tried to follow the steps that you proposed to Also I already did basic push buttons algorithm to align with the CANOpenPic implementation by testing this command if(!PORTDbits.RD6) led1=1; And by the way , I was wrong the last time when trying to explain the follwing instructions: if(!PORTDbits.RD6) buttons |= 0x08; LATAbits.LATA3 = (leds&0x08) ? 1 : 0; That stands for if button RD6 is pressed assign to variable buttons the value 0x08 and than the value (leds...
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Hi Janez , Thank you for your assistance. While I was asked you , I run CANOpen v1.0 and it ran properly as showen in the attachment. However I will for sure test the steps you mentionned and give the feedback reagrding the result. On other hand , I tried to execute some PDOs but I got no result in candump. Than , I tried to use trace to see if I have a transmit PDO, as showen in the screenshoot, I pressed and hold the button (RD6) and trying to read its status in OD but I got nothing. Knowing that...
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Hi Janez , I ran candump can0 and ./canopend vcan0 -i1 -c "stdio" also ./canopend can0 -i1 -c "stdio", I get the same result. In ifconfig it shows that there are Tx and Rx packets using these commands. Attached the output results. Best Regards.
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Thank you for your answer . Actually this make more sense for me since tha microcontroller is connected to the real can device of linux, so the master should be executed on this real can interface. On other hand , I had tried that but I got the same message saying that the microcontroller is the operationnal state and I have always no acess to the program interface. Knowing that I am not using yet neither an eeprom nor an external crytal, could that be the source of the issue , regarding the crystal...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , After many tries , the PIC is sending data to my Raspberry PI CAN :) and I can saw data using candump can0 And by the way , for those who will be using MAX32 developement board, the essential thing to know is that this board does not use the standard CAN pins of the PIC , and there is no software pin mapping possible for PIC32MX725F512L(to enable these pins) , at least in my knkowledge . So to get access to CAN signal I used Max32 network shield with the mother board as well. Back to me...
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Hi Janez , Thank you for your explanation it is more clear now for me. And thanks for your words :) , it encourages me to go ahead. I will work on that , and hopefully I will win :) Many thanks again!
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Hi Janez , I already adjusted the clock configuration and I think it is fine, But I still have the same error. That is why I would like to check with you the running steps: -sudo ip link set up can0 type can bitrate 250000 -candump can0 , these two commands are to activate CAN interface for the microcontroller,and to monitor the CAN traffic So now I need to activate the CAN network for linux by creating the virtual CAN device and connecting it the CAN network by doing the following : -sudo modprobe...
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okay , I get it now. Many thanks!
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If I have well understand, you said that if I use raspberry pi instead of linux to run CANopenPIC program I will be able only to get bootup and heartbeat meassages from the PIC, which mean I cannot nor send neither receive other data to and from the microcontroller (send the TPDO of the button state ,when it is pressed, to raspberry pi and receive the RPDO , from the raspberry pi , of the button state and as a result put the led high when it is pressed) So , if I want to run the program as expected...
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it is about the raspberry pi , If I have well understand, you said that if I use raspberry pi instead of linux to run CANopenPIC program I will be able only to get bootup and heartbeat meassages from the PIC, which mean I cannot nor send neither receive other data to and from the microcontroller (send the TPDO of the button state ,when it is pressed, to raspberry pi and receive the RPDO , from the raspberry pi , of the button state and as a result put the led high when it is pressed) So , if I want...
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Hi Janez, Thank you for your answer. So when running Raspberry Pi as a master , what I will get are bootup and heartbeat messages from PIC , the others TPDO such as pressing button could not be sent to the Raspberry Pi and the Raspberry Pi could not nor receive the button state as RPDO nor send this state as TPDO the flash the led in MAX32. I don"t really see why since Raspberry Pi will replace linux interface, so the program should run as aspected as for linux ? For the CAN communication I am working...
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Hi everyone, I am trying to implement the CANopenPic program on MAX32 development board, So I did some adjustmenst to respect the given implemtation requirments since it uses explorer 16 development borad. I have a question regarding the 8 Mhz quartz used in the experiment, Explorer 16 board has a built in 8 Mhz quartz which is I guess used in the experiment. For MAX32 board the quartz can reach a value of 80Mhz , so the adjustment is already done in the software that is the variable CO_FSYS 64000...
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we can see trough MPLAB X IDE debugger that the load data which were intially equal to zero received the value of writeData , that was sent to the eeprom through spi but loadData variable is always enchanged (initially equal to zero) , which normally carry the value stored in the eeprom. Thank you in advance for your help!
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Hi everyone, I am trying to read/write data to/from eeprom through SPI interface using PIC32MX , MPLAB IDE X and XC 32 compiler, writing is ok but I cannot read data , I checked that using MPLAB Debugger. here is the code part of eeprom reading function: char readEEPROM( int address) { / Wait until EEPROM is not busy / waitBusy(); / Select EEPROM / LATAbits.LATA0 = 0; /* Initiate Read */ spi_o( READ); /* Address must be 16-bits but we're transferring it in two 8-bit sessions */ spi_o (address >>...
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Dear Janez, thank you! you put me on the right way
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Dear Janez, thank you for your reply. I followed the same instructions, Just for the building process of the project, execuse me for this question , I am newbie to MPLAB X IDE, I added the main_PIC32 source file to the project then I need to compile qnd build it , am I right? . thank you in advance.
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Dear Janez, thank you for your reply. Execuse me for this question , I am newbie to MPLAB X IDE. I followed the same instructions, I would like to check the building process of the project, with you: I need to add the main_PIC32 source file to the project then compiling and building it , am I right? . thank you in advance.
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Dear Janez, thank you for your reply. I followed the same instructions, Execuse me for this question , I am newbie with MPLAB X IDE. I would like to check the building process of the project, with you: I need to add the main_PIC32 source file to the project then compiling and building it , am I right? . thank you in advance.
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Dear Janez, thank you for your reply. I followed the same instructions, just I would like to check the building process of the project: I need to add the main_PIC32 source file to the project then compiling and building it , am I right? Execuse me for this question , I am newbie with MPLAB X IDE. thank you in advance.
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Hi , who have an idea about such compiling error ? Thanks in advance
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Hi , I always have the error while compiling using MPLAB X IDE 2.50 and the XC32 compiler, I try to compile the main_PIC32. Any suggestion? Thanks in advance
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It seems that the code files were damaged , I re download them and it seems to be ok :)
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Hi , when I looked in CO_TIME.h file a found that the program block, where the structer CO_TIME_t is defined , is inactive , so the compiler could not read it. I did some research it is called inactive preprocessor block. how to enable that block so that the compiler could read it? Any idea ?
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Hello everyone, I am trying to run the provided CANOpen stack on a Development chipkit (MAX32), but I get error while compiling the program , as showed in the attachment, saying that there are two data type which are unkown . Actually it is not declared before so it normal that the compilation does not work. I am a little confusing about that. Is there anyone who has encoutred the same issue? thanks in advance :)
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