canopen 0.3.0.dev6

CANopen stack implementation

A Python implementation of the CANopen standard.

Features

• NMT master

• SDO client

• PDO producer/consumer

• SYNC producer

• EMCY consumer

Installation

Install from PyPI using pip:

$ pip install canopen

Documentation

Documentation can be found on Read the Docs:

http://canopen.readthedocs.io/

It can also be generated locally using Sphinx:

$ python setup.py build_sphinx

Hardware support

This library support multiple hardware and drivers through the python-can package. At the time of writing this includes:

• Kvaser

• Peak CAN

• IXXAT

• USB2CAN

• Anything supported by socketcan on Linux

It is also possible to integrate this library with a custom backend.

Examples

Here are some quick examples:

import canopen

# Start with creating a network representing one CAN bus
network = canopen.Network()

# Add some nodes with corresponding Object Dictionaries
network.add_node(6, '/path/to/object_dictionary.eds')
network.add_node(7, '/path/to/object_dictionary.eds')

# Connect to the CAN bus
# Arguments are passed to a python-can bus
# (see https://python-can.readthedocs.io/en/latest/bus.html).
network.connect(channel=0, bustype='kvaser', bitrate=250000)

# Read a variable using SDO
device_name = network[6].sdo['ManufacturerDeviceName'].raw
vendor_id = network[6].sdo[0x1018][1].raw

# .phys takes factor into consideration (if supported)
network[6].sdo['ApplicationCommands']['CommandSpeed'].phys = 1502.3

# Accessing value descriptions as strings (if supported)
network[6].sdo['ApplicationCommands']['RequestedControlMode'].desc = 'Speed Mode'

# Accessing individual bits
network[6].sdo['ApplicationCommands']['CommandAll'].bits[2:3] = 2

# Change state to operational (NMT start)
network[6].nmt.state = 'OPERATIONAL'
network[7].nmt.state = 'OPERATIONAL'

# Disconnect from CAN bus
network.disconnect()

TODO

There are a lot of things that still needs implementing and fixing. Pull requests are most welcome!

• Documentation (docs + API)

• Unit tests

• SDO block transfer

• TIME

• XDD support