Hi Nicklas, Can you point me in the direction of the documentation and code examples for this? Not really sure where to look. In order to familiarize myself with the TI TMS320F28379D processor I bought a LaunchPad https://www.ti.com/tool/LAUNCHXL-F28379D
So far I have serial, timer working and CAN almost functional so I'm cloning a simple version of the CANUSB. Below is the output when connected to it with PuTTY at 115200 baud. TMS320F28379D Interface Program 1.00a >? TMS320F28379D Interface Program 1.00a C)lose CAN Port e)cho user input toggle O)pen CAN Port S)et CAN Bitrate 0..8 t)ransmit 11 bit message tiiilnnnn... T)ransmit 29 bit message teeeeeeeelnnnn... ? -- This help screen > Once I've got CAN totally functional I'm going to connect a couple of encoders to the quadrature connectors and use the second processor to read those. There are also PWM outputs so I could theoretically create a module that does closed loop motor control. For now it's all experimental but having it report say spindle RPM into LinuxCNC would be a good exercise. John > From: Nicklas SB Karlsson [mailto:nk@nksb.online] > CANopen protocol are used on both CAN and Ethercat networks. Should be > possible to use same configuration method for both but driver to > send/receive is different. > > Familiar with CANopen if anybode need help there. > > > Den 2021-02-27 kl. 13:46, skrev Curtis Dutton: > > This sounds like the ethercat driver already does most of what you are > > discussing. It would be a good place to start if you planned on building > > something. > > > > > > On Sat, Jan 23, 2021, 2:24 PM John Dammeyer <jo...@autoartisans.com> wrote: > > > >>> From: Nicklas SB Karlsson [mailto:nk@nksb.online] > >>> > >>> Den 2021-01-23 kl. 01:31, skrev John Dammeyer: > >>>>> From: andy pugh [mailto:bodge...@gmail.com] > >>>>> On Fri, 22 Jan 2021 at 23:16, John Dammeyer <jo...@autoartisans.com> > >> wrote: > >>>>>> And I take it from your answer that this sort of driver at this > >> point in time does not exist. > >>>>> Not as far as I know, but it might be a fairly simple thing to create. > >>>>> It need to create HAL pins then gather the data from wherever, and put > >>>>> it on the HAL pins. > >>>>> > >>>>> -- > >>>> That's probably more of a patchy method. > >>>> > >>>> CANopen has a number of states and needs some sort of master to > >> co-ordinate the state changes. > >>>> INIT, PRE-OPERATIONAL and OPERATIONAL are the 3 main ones. There's > >> also an ERROR and STOPPING etc. > >>> If I remember correct CANopen devices start in pre-operational mode, a > >>> SYNC is usually sent periodically and just because of this. > >> The start with a RESET status message. Then PRE-OP. The SYNC is not > >> needed or required. The transition to OPERATIONAL happens when the NMT > >> master decides it's ready for that. > >> > >>> > >>> Once devices are configured data in the PDOs need to be mapped in hal > >>> and this require some more driver support. > >>> > >>> > >>> It is probably also useful with SDO communication which is usually used > >>> to configure devices. Configuration may equally well may be done by > >>> external tool if CiA309-3 gateway is implemented, protocol is text but > >>> graphical user interface may communicate using it have, have a simple > >>> one currently hardcoded entries. > >> I disagree. > >> > >> The full CANopen spec is designed to be infinitely configurable making > >> much of it very complicated. Dynamic configuration of devices on power up, > >> although possible isn't required for a fixed hardware product that doesn't > >> change. This adds complexity. > >> > >> Once I finish my mill cabinet upgrade and a few other projects I do intend > >> on getting back to my CANopen Lite project which includes an application > >> for working with CANopen messages. > >> > >> Things were going really well until I ran into the issue that the Lazarus > >> sockets library did not support SocketCAN the way that the C and Python > >> libraries do. Which means I have to upgrade sockets.pp first. And that's > >> where I stopped and restarted other unfinished projects. > >> > >> The attached screen shots show however that it did work with the Lawicel > >> CANUSB. This software is written with the "Write Once" "Compile anywhere" > >> model and therefore has been tested and runs on WIN-7, WIN-10, Raspberry > >> Pi3B, BeagleBone Black and LinuxCNC. > >> > >> CANopen Lite is designed to work as a simpler version of CANopen that > >> doesn't have all the bells and whistles that a full CANopen implementation > >> might. However it has been tested with COTS CANopen devices like displays, > >> battery chargers, and CANopen based servo motors. > >> > >> In addition to the desktop application there will be a number of different > >> CANopen device samples that demonstrate how to create say a display module, > >> relay module or I/O module etc. Maybe even a motor or two. > >> > >> Mapping HAL PINs into Object Dictionary locations is the easiest way to > >> deal LinuxCNC. A readable configuration file in the same way that the HAL > >> file is read on start-up is one way to populate the object dictionary with > >> the HAL PINs that someone will want made visible on the CAN bus. It will > >> all depend on how access to the PINs is granted at the core program level. > >> > >> Anyway, it's a work in progress. Be a few months before I can get back to > >> it and I really want access to Raspberry Pi HAT MCP2515 CAN devices and the > >> internal CAN devices in a Beaglebone Black. And for that, there's some low > >> level OS library work required. > >> > >> John Dammeyer > >> > >> > >> > >> _______________________________________________ > >> Emc-users mailing list > >> Emc-users@lists.sourceforge.net > >> https://lists.sourceforge.net/lists/listinfo/emc-users > >> > > _______________________________________________ > > Emc-users mailing list > > Emc-users@lists.sourceforge.net > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
