Author: Uwe Vogt

Download: CANopen Commanline Tool for Linux

Description

The CANopen Commanline 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 BerliOS SocketCAN 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.

Syntax

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.

Summary

Program	CANopen Commanline Tool (Linux)
Current Version	Version 0.2.34 of February 25, 2009
Documentation	README, Syntaxbeschreibung and program options --help and --syntax
License	UVS Freeware License (without warranty or support)
Standards	CANopen Specifications: CiA DS-301, CiA DS-309. IEEE 802.3, RFC 2045
Drivers	BerliOS SocketCAN, PEAK Linux driver
Category	Industrial Communication, CANopen, SocketCAN, TCP/IP
Operating System	Linux (2.6.x)
Older Versions	http://www.uv-software.com/files/downloads/socketCAN/can_open/

Download: CANopen-over-TCP/IP Client for Windows

Description

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.

Syntax

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

Summary

Program	CANopen-over-TCP/IP Client (Windows)
Current Version	Version 0.1.1 of January 26, 2009
Documentation	README, Syntaxbeschreibung and program option /HELP
License	UVS Freeware License (without warranty or support)
Standards	IEEE 802.3, RFC 2045
Driver	Winsock
Category	Industrial Communication, CANopen, TCP/IP
Operating System	Windows 2K/XP

Download: CAN Monitor for Linux

Description

Yes, this is another CAN monitor program using SocketCAN on Linux OS. The BerliOS CAN utilities already offer 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.

Syntax

Usage: can_moni <interface> [<options>]
Options:
 -t, --time=(abs|rel|zero)   absolute or relative time
 -i, --id=(hex|dec|oct)      display mode of CAN-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 CAN-IDs: <id>[-<id>]{,<id>[-<id>]}
 -h, --help                  display this help and exit
     --version               output version information and exit

Summary

Program	can_moni (CAN Monitor for Linux)
Current Version	Version 0.1.17 of August 20, 2007
Documentation	README and program option --help
License	GNU General Public License (GPL V2)
Standard	CAN Spezifikation 2.0
Driver	BerliOS SocketCAN
Category	Industrial Communication, CAN, SocketCAN
Operating System	Linux (2.6.x)
Older Versions	http://www.uv-software.com/files/downloads/socketCAN/can_moni/