Project coding for STG-826 PLC 1 analog input 5 digital Inputs 1 analog Output 3 digital Outputs CANopen Communication Protocol with CANopenNode needs to work
I am looking for an example of code where this communication functions with the initialization and pre-operational configuration and with trigger from client will move to Operational.
I need to finish this as fast as possible. If there is someone that belives they can help me do this I will be willing to compansate them. The initial deadline i was given and will not reach was 5 september. (PS. On holiday and unavailable from 12th till the 28th of august 2022)
I have got it to transmit and gather the application data andcan send a contant stream of the data. I understance CanOpen i cannot find out how to put it into the code using the existing CanOpen Code. How can I use the Canopen Library itself with HAL to run a standard CAN Open Communication with PDO and SDO implementation. I am looking for an example of code where this communication functions with the initialization and pre-operational configuration and with trigger from client will move to Operational.
The states i go through:
- 0x00 Initialization --> Pre-Operational: TX one message 700+NodeID with 0x00 (Status = Initialization) SDO communication not possible PDO communication not possible
- 0x7F Pre-Operational: TX message 700+NodeID with 0x7F (Status = Pre-Operational) SDO communication possible PDO communication not possible
- 0x05 Operational: TX message 700+NodeID with 0x05 (Status = Operational) SDO communication possible PDO communication possible
- 0x04 Stop: TX message 700+NodeID with 0x04 (Status = Stop) SDO communication not possible PDO communication not possible NMT messages come only from master and control the client states. It can be for all (Identifier=0x000, DLC=1, command at Byte 0) or for one device (Identifier=0x000, DLC>=2, command at Byte 0, nodeID at Byte 1)
Byte 0:
- 0x01 Start Remote Node
- 0x02 Stop Remote Node
- 0x80 Enter Pre-Operational
- 0x81 Reset Node
- 0x82 Reset Communication
The problem is that i need to first use Canopen for initialization.
TPDO + RPDO:
I Currently am using the main program located in: Coding-for-STG-820\PLC1\Src\main.c Source code: https://github.com/Santon-Switchgear/Coding-for-STG-820.git
