durand 0.4.0

CANopen library providing functionality to implement nodes

CANopen library to implement slave nodes.

Backends:

• CAN interfaces via python-can

Synopsis

• Pure python implementation

• Under MIT license (2021 Günther Jena)

• Source is hosted on GitHub.com

• Tested on Python 3.7, 3.8, 3.9 and 3.10

• Unit tested with pytest, coding style checked with Flake8, static type checked with mypy, static code checked with Pylint, documented with Sphinx

• Supporting CiA301 (EN 50325-4)

Feature List

• object dictionary * provides callbacks for validation, update, download and read * supports records, arrays and variables

• EDS support * dynamically generation of EDS file * automatically provided via object 0x1021 (“Store EDS”)

• 128 SDO servers by default (can be reduced to 1) * expitited, segmented and block transfer for up- and download * COB-IDs dynamically configurable * custom up- and download handlers supported

• 512 TPDOs and 512 RPDOs by default (can be reduced to 0) * dynamically configurable * transmission types: synchronous (acyclic and every nth sync) and event driven * inhibit time supoorted

• EMCY service * COB-ID dynamically configurable * inhibit time supported

• Producer Heartbeat service * dynamically configurable

• NMT service * boot-up service * callback for state change provided

• SYNC (slave) service * COB-ID dynamically configurable * callback for received sync provided

• CiA305 Layer Setting Service * fast scan supported * baudrate and node id configuring supoorted * identify remote slave supported

• Scheduling supporting threaded and async operation

Install

pip install durand

Credits

This library would not be possible without:

• python-canopen: CANopen library (by Christian Sandberg)

• python-can: CAN interface library (by Brian Thorne)