CANopen stack implementation
Project description
A Python implementation of the CANopen standard. The application will act as a master.
Hardware support
This library support multiple hardware and drivers through the python-can package. At the time of writing this includes:
Kvaser
Peak CAN
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 .raw (always an integer)
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
PDO
SYNC
TIME
XDD support
Release history Release notifications | RSS feed
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