/
canopen-master.py
executable file
·462 lines (438 loc) · 24.9 KB
/
canopen-master.py
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#!/usr/bin/env python3
import can
from functools import reduce
import logging
from operator import xor
import RPi.GPIO as GPIO
import signal
from time import sleep
from sys import exit
import socketcanopen
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)
DEFAULT_CAN_INTERFACE = "vcan0"
REDUNDANT_CAN_INTERFACE = "vcan1"
PIN_ENABLE_N = 16
PIN_ADDRESS_N = [12, 13, 14, 15, 17, 18, 19]
PIN_ADDRESS_PARITY_N = 20
PIN_RUNLED0 = 41
PIN_ERRLED0 = 40
PIN_RUNLED1 = 39
PIN_ERRLED1 = 38
def sigterm_handler(signum, frame):
GPIO.cleanup()
exit()
signal.signal(signal.SIGTERM, sigterm_handler)
GPIO.setmode(GPIO.BCM)
GPIO.setup(PIN_ENABLE_N, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(PIN_ADDRESS_N, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(PIN_ADDRESS_PARITY_N, GPIO.IN, pull_up_down=GPIO.PUD_UP)
runled0 = socketcanopen.RunIndicator(PIN_RUNLED0)
errled0 = socketcanopen.ErrorIndicator(PIN_ERRLED0)
runled1 = socketcanopen.Indicator(PIN_RUNLED1, socketcanopen.Indicator.OFF)
errled1 = socketcanopen.Indicator(PIN_ERRLED1, socketcanopen.Indicator.ON)
default_bus = can.Bus(DEFAULT_CAN_INTERFACE, bustype="socketcan")
redundant_bus = can.Bus(REDUNDANT_CAN_INTERFACE, bustype="socketcan")
active_bus = default_bus
class ResetNode(Exception):
pass
class ResetCommunication(Exception):
pass
while True:
try:
if GPIO.input(PIN_ENABLE_N) == GPIO.HIGH:
logger.warning("Enable_n is high")
sleep(1)
raise ResetNode
while True:
try:
address_n = [
GPIO.input(PIN_ADDRESS_N[6]),
GPIO.input(PIN_ADDRESS_N[5]),
GPIO.input(PIN_ADDRESS_N[4]),
GPIO.input(PIN_ADDRESS_N[3]),
GPIO.input(PIN_ADDRESS_N[2]),
GPIO.input(PIN_ADDRESS_N[1]),
GPIO.input(PIN_ADDRESS_N[0])]
address_parity_n = reduce(xor, address_n)
if address_parity_n != GPIO.input(PIN_ADDRESS_PARITY_N):
logger.warning("Address parity mismatch")
sleep(1)
raise ResetCommunication
node_id = 0
for bit in address_n:
node_id = (node_id << 1) | (not bit)
if node_id == socketcanopen.BROADCAST_NODE_ID:
logger.warning("Invalid Node ID")
sleep(1)
raise ResetCommunication
canopen_od = socketcanopen.ObjectDictionary({
socketcanopen.ODI_DEVICE_TYPE: socketcanopen.Object(
parameter_name="Device type",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=0x00000000
),
socketcanopen.ODI_ERROR: socketcanopen.Object(
parameter_name="Error register",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
default_value=0x00
),
socketcanopen.ODI_SYNC: socketcanopen.Object(
parameter_name="COB-ID SYNC",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=0x00000000 + (socketcanopen.FUNCTION_CODE_SYNC << socketcanopen.FUNCTION_CODE_BITNUM), # 0x40000000 + ... if SYNC producer
),
socketcanopen.ODI_SYNC_TIME: socketcanopen.Object(
parameter_name="Communication cycle period",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=1000000 # 1 second, 32-bit, in us
),
socketcanopen.ODI_TIME_STAMP: socketcanopen.Object(
parameter_name="COB-ID time stamp object",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=(socketcanopen.FUNCTION_CODE_TIME_STAMP << socketcanopen.FUNCTION_CODE_BITNUM) + node_id
),
socketcanopen.ODI_EMCY_ID: socketcanopen.Object(
parameter_name="COB-ID emergency message",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=(socketcanopen.FUNCTION_CODE_EMCY << socketcanopen.FUNCTION_CODE_BITNUM) + node_id
),
socketcanopen.ODI_HEARTBEAT_CONSUMER_TIME: socketcanopen.Object(
parameter_name="Consumer Heartbeat Time",
object_type=socketcanopen.ObjectType.ARRAY,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
sub_number=1,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="Number of Entries",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=1,
high_limit=127,
default_value=1,
),
socketcanopen.ODSI_HEARTBEAT_CONSUMER_TIME: socketcanopen.SubObject(
parameter_name="Consumer Heartbeat Time",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=(1 << 16) + 2000 # Node-ID 1, 16-bit, in ms
),
}
),
socketcanopen.ODI_HEARTBEAT_PRODUCER_TIME: socketcanopen.Object(
parameter_name="Producer heartbeat time",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
default_value=1000 # 16-bit, in ms
),
socketcanopen.ODI_IDENTITY: socketcanopen.Object(
parameter_name="Identity Object",
object_type=socketcanopen.ObjectType.RECORD,
data_type=socketcanopen.ODI_DATA_TYPE_IDENTITY,
sub_number=4,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="number of entries",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=1,
high_limit=4,
default_value=4
),
socketcanopen.ODSI_IDENTITY_VENDOR: socketcanopen.SubObject(
parameter_name="Vendor ID",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=0x00000000
),
socketcanopen.ODSI_IDENTITY_PRODUCT: socketcanopen.SubObject(
parameter_name="Product code",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=0x00000001
),
socketcanopen.ODSI_IDENTITY_REVISION: socketcanopen.SubObject(
parameter_name="Revision number",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=0x00000000
),
socketcanopen.ODSI_IDENTITY_SERIAL: socketcanopen.SubObject(
parameter_name="Serial number",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=0x00000001
)
}
),
socketcanopen.ODI_NMT_INHIBIT_TIME: socketcanopen.Object(
parameter_name="NMT inhibit time",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
default_value=0 # in ms
),
socketcanopen.ODI_SDO_SERVER: socketcanopen.Object(
parameter_name="Server SDO parameter",
object_type=socketcanopen.ObjectType.RECORD,
data_type=socketcanopen.ODI_DATA_TYPE_SDO_PARAMETER,
sub_number=2,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="number of entries",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=2,
high_limit=2,
default_value=2
),
socketcanopen.ODSI_SDO_SERVER_DEFAULT_CSID: socketcanopen.SubObject(
parameter_name="COB-ID Client->Server (rx)",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=(socketcanopen.FUNCTION_CODE_SDO_RX << socketcanopen.FUNCTION_CODE_BITNUM) + node_id
),
socketcanopen.ODSI_SDO_SERVER_DEFAULT_SCID: socketcanopen.SubObject(
parameter_name="COB-ID Server->Client (tx)",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=(socketcanopen.FUNCTION_CODE_SDO_TX << socketcanopen.FUNCTION_CODE_BITNUM) + node_id
),
}
), #TODO: add Client SDO parameter Object(s)
socketcanopen.ODI_TPDO1_COMMUNICATION_PARAMETER: socketcanopen.Object(
parameter_name="transmit PDO parameter",
object_type=socketcanopen.ObjectType.RECORD,
data_type=socketcanopen.ODI_DATA_TYPE_PDO_COMMUNICATION_PARAMETER,
sub_number=2,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="largest sub-index supported",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limt=2,
high_limit=6,
default_value=2
),
socketcanopen.ODSI_TPDO_COMM_PARAM_ID: socketcanopen.SubObject(
parameter_name="COB-ID used by PDO",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=node_id
),
socketcanopen.ODSI_TPDO_COMM_PARAM_TYPE: socketcanopen.SubObject(
parameter_name="transmission type",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x00,
high_limit=0xFF,
default_value=1 # synchronous
)
}
),
socketcanopen.ODI_TPDO1_MAPPING_PARAMETER: socketcanopen.Object(
parameter_name="transmit PDO mapping",
object_type=socketcanopen.ObjectType.RECORD,
data_type=socketcanopen.ODI_DATA_TYPE_PDO_MAPPING_PARAMETER,
sub_number=2,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="number of mapped application objects in PDO",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x00,
high_limit=0x40,
default_value=2
),
0x01: socketcanopen.SubObject(
parameter_name="PDO mapping for the 1st application object to be mapped",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=(socketcanopen.ODI_SYNC << 16) + (socketcanopen.ODSI_VALUE << 8) + 32
),
0x02: socketcanopen.SubObject(
parameter_name="PDO mapping for the 2nd application object to be mapped",
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=(socketcanopen.ODI_SYNC_TIME << 16) + (socketcanopen.ODSI_VALUE << 8) + 32
),
}
),
socketcanopen.ODI_NMT_STARTUP: socketcanopen.Object(
parameter_name="NMT Startup",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=0x00000023 # Flying master, NMT master start, NMT master
),
socketcanopen.ODI_NMT_SLAVE_ASSIGNMENT: socketcanopen.Object(
parameter_name="NMT slave assignment",
object_type=socketcanopen.ObjectType.ARRAY,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
sub_number=0x7F,
subs=dict(list({
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="Highest sub-index supported",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x7F,
high_limit=0x7F,
default_value=0x7F
)
}.items()) + list({index: socketcanopen.SubObject(
parameter_name="Node-ID {}".format(index),
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
low_limit=0x00000000,
high_limit=0xFFFFFFFF,
default_value=0x00000000
) for index in range(1, 0x80)}.items())
)
),
socketcanopen.ODI_REQUEST_NMT: socketcanopen.Object(
parameter_name="NMT flying master timing parameters",
object_type=socketcanopen.ObjectType.ARRAY,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
sub_number=0x80,
subs=dict(list({
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="Highest sub-index supported",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x80,
high_limit=0x80,
default_value=0x80
)
}.items()) + list({index: socketcanopen.SubObject(
parameter_name="Node-ID {}".format(index),
access_type=socketcanopen.AccessType.RO,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x00,
high_limit=0xFF,
default_value=0x00
) for index in range(1, 0x81)}.items())
)
),
socketcanopen.ODI_BOOT_TIME: socketcanopen.Object(
parameter_name="Boot time",
object_type=socketcanopen.ObjectType.VAR,
access_type=socketcanopen.AccessType.RW,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED32,
default_value=0x00001388 # 5 sec
),
socketcanopen.ODI_NMT_FLYING_MASTER_TIMING_PARAMETERS: socketcanopen.Object(
parameter_name="NMT flying master timing parameters",
object_type=socketcanopen.ObjectType.ARRAY,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
sub_number=6,
subs={
socketcanopen.ODSI_VALUE: socketcanopen.SubObject(
parameter_name="Highest sub-index supported",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED8,
low_limit=0x06,
high_limit=0x06,
default_value=0x06
),
socketcanopen.ODSI_NMT_FLYING_MASTER_TIMING_PARAMS_TIMEOUT: socketcanopen.SubObject(
parameter_name="NMT master timeout",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
low_limit=0x0000,
high_limit=0xFFFF,
default_value=100
),
socketcanopen.ODSI_NMT_FLYING_MASTER_TIMING_PARAMS_DELAY: socketcanopen.SubObject(
parameter_name="NMT master negotiation time delay",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
low_limit=0x0000,
high_limit=0xFFFF,
default_value=500
),
socketcanopen.ODSI_NMT_FLYING_MASTER_TIMING_PARAMS_PRIORITY: socketcanopen.SubObject(
parameter_name="NMT master priority",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
low_limit=0x0000,
high_limit=0xFFFF,
default_value=node_id % 3
),
socketcanopen.ODSI_NMT_FLYING_MASTER_TIMING_PARAMS_PRIORITY_TIME_SLOT: socketcanopen.SubObject(
parameter_name="Priority time slot",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
low_limit=0x0000,
high_limit=0xFFFF,
default_value=1500
),
socketcanopen.ODSI_NMT_FLYING_MASTER_TIMING_PARAMS_DEVICE_TIME_SLOT: socketcanopen.SubObject(
parameter_name="socketcanopen device time slot",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
low_limit=0x0000,
high_limit=0xFFFF,
default_value=10
),
socketcanopen.ODSI_NMT_FLYING_MASTER_TIMING_PARAMS_DETECT_TIME: socketcanopen.SubObject(
parameter_name="Multiple NMT master detect cycle time",
access_type=socketcanopen.AccessType.CONST,
data_type=socketcanopen.ODI_DATA_TYPE_UNSIGNED16,
low_limit=0x0000,
high_limit=0xFFFF,
default_value=4000 + 10 * node_id
),
}
),
})
nmt_slave_assignments = canopen_od.get(socketcanopen.ODI_NMT_SLAVE_ASSIGNMENT)
nmt_slave_assignment = nmt_slave_assignments.get(0x02)
nmt_slave_assignment.value = 0x00000009 # Mandatory slave
nmt_slave_assignments.update({0x02: nmt_slave_assignment})
canopen_od.update({socketcanopen.ODI_NMT_SLAVE_ASSIGNMENT: nmt_slave_assignments})
with socketcanopen.Node(active_bus, node_id, canopen_od, run_indicator=runled0, err_indicator=errled0) as node:
while True:
signal.pause() # Replace with application code and interact with Object Dictionary (node.od)
except ResetCommunication:
try:
node.reset_communication()
except NameError:
pass
except ResetNode:
try:
node.reset()
except NameError:
pass