CANopen Object Browser for generic CAN Interfaces

The CANopen Object Browser is a tool to display and browse through a CANopen Object Dictionary based on EDS-Files. The program allows an online access to any connected CANopen device. This means to read and to write individual parameter values of a connected device.

The Object Dictionary window displays the CANopen object dictionary of a CANopen device taken either from an EDS-File or from a XML-File. On the left side of the window all objects are listed in a tree view order by categories. To navigate through the object tree use either the cursor-up/-down keys or click with the mouse on an item. On the right side all attributes and attribute values of the highlighted object are shown.

Parameter values can be entered in hexadecimal, decimal or octal form according to ANSI-C syntax. The value range of the data type will be checked by the program. But the value range of the parameter will be check by the device. Data access is only possible if a device is connected to the CAN-Interface board.

Please note: Do not connect the program to a real application with a running CANopen network. This can damage your application.

Currently (COPbrorwser v0.5) the following CAN devices are supported:

• IXXAT Automation: all CAN devices with VCI driver (VCI V2; tested with iPC-I320/PCI and USB-to-CAN compact)
• PEAK-System Technik: all CAN devices with PCAN driver (PCAN-Basic V1.0 + PCAN-Light V1.55; tested with PCAN-USB)
• Vector Informatik: all CAN devices with VXL driver (VXL library V3.0; tested with CANcaseXL, USB)
• M+K GmbH: RS-CAN-Wandler with ASPopen Interface (SW.M16C.MEW.C1R1.CANopen.ASP.2005.06)
• UV Software: CANopen-over-TCP/IP (CANopen Gateway using BerliOS SocketCAN)

IXXAT VCI V2	PEAK PCAN-Basic	Vector VX library	RS-CAN-Wandler	TCP/IP Client

CANopen Object Browser for Linux with BerliOS SocketCAN

The CANopen Object Browser is a tool to display and browse through a CANopen Object Dictionary based on EDS-files. The program allows an online access to any connected CANopen device. This means to read and to write individual parameter values of a connected device.

The CANopen Object Browser for Linux is a Qt3 GUI application (http://www.trolltech.com/qt/) running on Linux systems (Kernel 2.6.x) and uses BerliOS socketCAN to access the CAN-Bus (http://socketcan.berlios.de/). Furthermore the program offers a gateway function for interfacing CANopen with TCP/IP.

Please note: Do not connect the program to a real application with a running CANopen network. This can damage your application.

The CANopen Commandline Tool is a text-based program to request CANopen services from CANopen devices on the command line by entering commands at the program´s prompt or processing them from a batch file.

The syntax for these commands is taken from the CANopen specification CiA DS-309/3 (Interfacing CANopen with TCP/IP – ASCII Mapping). The program is build on the UVS CANopen Master library, which exists for several microcontrollers and even for some CAN interface boards from different vendors and for different operating systems. Here the CANopen Commandline Tool uses the SocketCAN interface on Linux operating systems; it runs well with a PEAK PCAN-USB-Dongle on Debian Etch and on a MPC5200B evaluation board with an Embedded Linux. Furthermore the program offers a gateway function for interfacing CANopen with TCP/IP.

The program allows reading and writing of individual parameter values of any connected CANopen device. Due to the fact, that the UVS CANopen Master library is not a complete CANopen stack, some limitations must be taken into account. But the missing CANopen services can be build up manually from the CAN layer 2 commands of the program.

Usage: can_open <interface> [<option>...]
Options:
 -g, --gateway=<port>         operate in gateway mode on <port>
 -i, --id=<node-id>           node-id of CANopen Master (default=-1)
     --net=<network>          set default network number (default=1)
     --node=<node-id>         set default node-id (default=1)
     --echo                   echo input stream to output stream
     --prompt                 prefix input stream with a prompt
     --syntax                 show input syntax and exit
 -h, --help                   display this help and exit
     --version                show version information and exit
Examples:
 1. Local mode:     can_open <socket-can> --prompt
 2.1 Gateway mode:  can_open <socket-can> --gateway <port> --echo
 2.2 Remote mode:   can_open <ip-addr>:<port> --prompt
In local mode and in remote mode press ^D to leave the interactive input.
In gateway mode press ^C to close the port and exiting the program.

This little program is for accessing a CANopen-over-TCP/IP gateway (e.g. the UVS CANopen Commandline Tool in gateway mode) from a Windows console.

With this text-based program you can access any CANopen device connected to a CANopen-over-TCP/IP gateway over ethernet by entering commands for CANopen services at the program´s prompt or processing them from a batch file. The syntax is taken from the CANopen specification CiA DS-309/3 (Interfacing CANopen with TCP/IP - ASCII Mapping) and is described here.

copnet <address>:<port> [/PROMPT | /P] [/ECHO | /E]
copnet (/HELP  | /?)
copnet (/ABOUT | /µ)
Options:
 /P, /PROMPT  prefix input stream with a prompt
 /E, /ECHO    echo input stream to output stream
 /?, /HELP    display this help and exit
 /µ, /ABOUT   show version information and exit

Yes, this is another CAN monitor using SocketCAN on Linux OS. The BerliOS CAN utilities already offers the great candump program, but I hate this messing around with binary masks for identifier filtering. So I wrote this little program to have an exclude list for single identifiers or identifier ranges (see program option –exclude or just -x). Precede the list with a ~ and you get an include list.

Usage: can_moni <interface> [<options>]
Options:
 -t, --time=(abs|rel|zero)    absolute or relative time
 -i, --id=(hex|dec|oct)       display mode of COB-IDs
 -d, --data=(hex|dec|oct)     display mode of data bytes
 -a, --ascii=(on|off)         display data bytes as ascii
 -x, --exclude=[~]<id-list>   exclude COB-IDs: <id>[-<id>]{,<id>[-<id>]}
 -h, --help                   display this help and exit
     --version                output version information and exit

This is a port of the CAN Monitor program from Linux to Mac. It is running with a PCAN-USB device or PCAN-USB FD device on macOS Mountain Lion and hopefully on later versions of the world´s mostest advanced OS.

Usage: can_moni <interface> [<option>...]
Options:
 -t, --time=(ZERO|ABS|REL)   absolute or relative time (default=0)
 -i  --id=(HEX|DEC|OCT)      display mode of CAN-IDs (default=HEX)
 -d, --data=(HEX|DEC|OCT)    display mode of data bytes (default=HEX)
 -a, --ascii=(ON|OFF)        display data bytes in ASCII (default=ON) 
 -x, --exclude=[~]<id-list>  exclude CAN-IDs: <id>[-<id>]{,<id>[-<id>]}
     --code=<id>             acceptance code for 11-bit IDs (default=0x000)
     --mask=<id>             acceptance mask for 11-bit IDs (default=0x7FF)
     --xtd-code=<id>         acceptance code for 29-bit IDs (default=0x00000000)
     --xtd-mask=<id>         acceptance mask for 29-bit IDs (default=0x1FFFFFFF)
 -m, --mode=(2.0|FDF[+BRS])  CAN operation mode: CAN 2.0 or CAN FD format
     --listen-only           monitor mode (transmitter is off)
     --no-status-frames      suppress reception of status frames
     --no-remote-frames      suppress reception of remote frames
 -b, --baudrate=<baudrate>   CAN 2.0 bit timing in kbps (default=250)
     --bitrate=<bit-rate>    CAN FD bit rate (as a string)
 -v, --verbose               show detailed bit rate settings
 -y, --trace=(ON|OFF)        write a trace file (default=OFF)
 -L, --list-boards           list all supported CAN interfaces and exit
 -T, --test-boards           list all available CAN interfaces and exit
 -h, --help                  display this help screen and exit
     --version               show version information and exit
Interfaces:
  PCAN-USB1
  PCAN-USB2
  PCAN-USB3
  PCAN-USB4
  PCAN-USB5
  PCAN-USB6
  PCAN-USB7
  PCAN-USB8
CAN 2.0 baud rate index (default=3):
  0 = 1000 kBit/s
  1 = 800 kBit/s
  2 = 500 kBit/s
  3 = 250 kBit/s
  4 = 125 kBit/s
  5 = 100 kBit/s
  6 = 50 kBit/s
  7 = 20 kBit/s
  8 = 10 kBit/s
CAN FD bit rate as comma-separeted <key>=<value>-list:
  f_clock=<value>      frequency in Hz or
  f_clock_mhz=<value>  frequency in MHz
  nom_brp=<value>      bit-rate prescaler (nominal)
  nom_tseg1=<value>    time segment 1 (nominal)
  nom_tseg2=<value>    time segment 2 (nominal)
  nom_sjw=<value>      sync. jump width (nominal)
  nom_sam=<value>      sampling (only SJA1000)
  data_brp=<value>     bit-rate prescaler (FD data)
  data_tseg1=<value>   time segment 1 (FD data)
  data_tseg2=<value>   time segment 2 (FD data)
  data_sjw=<value>     sync. jump width (FD data).
Examples:
  125kbps:1000kbps     f_clock_mhz=80,nom_brp=2,nom_tseg1=255,nom_tseg2=64,nom_sjw=64,data_brp=2,data_tseg1=31,data_tseg2=8,data_sjw=8
  250kbps:2000kbps     f_clock_mhz=80,nom_brp=2,nom_tseg1=127,nom_tseg2=32,nom_sjw=32,data_brp=2,data_tseg1=15,data_tseg2=4,data_sjw=4
  500kbps:4000kbps     f_clock_mhz=80,nom_brp=2,nom_tseg1=63,nom_tseg2=16,nom_sjw=16,data_brp=2,data_tseg1=7,data_tseg2=2,data_sjw=2
  1000kbps:8000kbps    f_clock_mhz=80,nom_brp=2,nom_tseg1=31,nom_tseg2=8,nom_sjw=8,data_brp=2,data_tseg1=3,data_tseg2=1,data_sjw=1
  2000kbps:10000kbps   f_clock_mhz=80,nom_brp=1,nom_tseg1=31,nom_tseg2=8,nom_sjw=1,data_brp=2,data_tseg1=2,data_tseg2=1,data_sjw=1

The MacCAN Monitor App is a little demo program to show the functionally of the PCBUSB library: the macOS Library for PCAN-USB interfaces.

The program displays received CAN messages in a table view; its size is limited to 1024 rows. Furthermore it is possible to send single standard CAN messages with 0 to 8 data bytes. Only PCAN-USB devices from PEAK-System Technik GmbH are supported; and only the first channel of a device. The PCAN-USB interface number is taken from the IO registry. USB interface and CAN baud rate must be chosen once the program is started; they cannot be changed afterwards.

Please note: Do not connect your CAN device to a real CAN network when using this program, this might damage your application.

CANopen Master Library in C

[To Be Continued]

Softwarepaket CANopen Master Library für Infineon C16x

• Initialisierung des on-chip CAN Controllers (82527-kompatibel):
  • Baudraten: 10kBit/s bis 1MBit/s (gemäß CiA Bit-timing Tabelle)
• SDO-Protokoll (segmented und expedited, gemäß CiA DS-301 Version 4.0):
  • Einfacher Zugriff auf 8-bit, 16-bit und 32-bit Objektwerte (CiA Encoding Rules)
  • Einstellbare Time-out Überwachung (bei Time-out wird ein SDO-Abort gesendet)
  • Detaillierte Fehlerrückgabe (Kommunikationsfehler bzw. SDO-Abort Codes)
• NMT-Broadcast (Network Management gemäß CiA DS-301 Version 4.0):
  • Start_remote_node
  • Stop_remote_node
  • Enter_preoperational_state
  • Reset_node
  • Reset_communication
• LSS-Services (Layer Settings Services gemäß CiA DSP-305 Version 1.0):
  • Switch_mode_global
  • Switch_mode_selective
  • Configure_node_id
  • Configure_bit_timing
  • Activate_bit_timing
  • Store_configuration
  • Inquiry Services
• Baudraten-Detektor und Node-Scanner (*Special Feature by UV Software*):
  • Der Baudraten-Detektor erkennt die aktuelle Baudrate des CAN-Netzwerk.
  • Der Node-Scanner liefert die Anzahl der angeschlossenen CANopen-Knoten.
• Event-Queue für ereignis-gesteuerte Nachrichtenverarbeitung, z.B. für:
  • asynchrone PDOs
  • Emergency-Messages
  • Heartbeat-Messages
• Zugriff auf CAN Layer 2:
  • Transmit Message (z.B. für TxPDOs, SYNC-Objekt, TIME-Objekt)
  • Request Message (z.B. für RTR-PDOs, Node-Guarding)
• ASCII-codierte RS-232 Schnittstelle (*Special Feature by UV Software*):
  • Zugriff auf das Objektverzeichnis aller angeschlossenen CANopen-Knoten über RS-232
  • Syntax in Anlehnung an DriveServer Spezifikation (siehe http://www.DriveCom.org)

Das Paket zeichnet sich durch die minimale Verwendung von Mikrocontroller-Ressourcen aus. Die Softwarelibrary liegt auch für Mikrocontroller Infineon XC16x (TwinCan) und Mitsubishi M16C (Renesas) vor.

Preise: auf Anfrage