CANfestival-arm主站设计几个常用的命令

1、./TestMasterMicroMod -l ../lib/libcanfestival_can_socket.so -i 0x00 -m 0 -M 500K

 void help(void)
 {
   printf("**************************************************************\n");
   printf("*  TestMasterMicroMod                                        *\n");
   printf("*                                                            *\n");
   printf("*  A simple example for PC.                                  *\n");
   printf("*  A CanOpen master that control a MicroMod module:          *\n");
   printf("*  - setup module TPDO 1 transmit type                       *\n");
   printf("*  - setup module RPDO 1 transmit type                       *\n");
   printf("*  - setup module hearbeatbeat period                        *\n");
   printf("*  - disable others TPDOs                                    *\n");
   printf("*  - set state to operational                                *\n");
   printf("*  - send periodic SYNC                                      *\n");
   printf("*  - send periodic RPDO 1 to Micromod (digital output)       *\n");
   printf("*  - listen Micromod's TPDO 1 (digital input)                *\n");
   printf("*  - Mapping RPDO 1 bit per bit (digital input)              *\n");
   printf("*                                                            *\n");
   printf("*   Usage:                                                   *\n");
   printf("*   ./TestMasterMicroMod  [OPTIONS]                          *\n");
   printf("*                                                            *\n");
   printf("*   OPTIONS:                                                 *\n");
   printf("*     -l : Can library [\"libcanfestival_can_virtual.so\"]     *\n");
   printf("*                                                            *\n");
   printf("*    Slave:                                                  *\n");
   printf("*     -i : Slave Node id format [0x01 , 0x7F]                *\n");
   printf("*                                                            *\n");
   printf("*    Master:                                                 *\n");
   printf("*     -m : bus name [\"1\"]                                    *\n");
   printf("*     -M : 1M,500K,250K,125K,100K,50K,20K,10K                *\n");
   printf("*                                                            *\n");
   printf("**************************************************************\n");
 }

2、./CANOpenShell load#../lib/libcanfestival_can_socket.so,0,500K,0,1

void help_menu(void)
{
	printf("   MANDATORY COMMAND (must be the first command):\n");
	printf("     load#CanLibraryPath,channel,baudrate,nodeid,type (0:slave, 1:master)\n");
	printf("\n");
	printf("   NETWORK: (if nodeid=0x00 : broadcast)\n");
	printf("     ssta#nodeid : Start a node\n");
	printf("     ssto#nodeid : Stop a node\n");
	printf("     srst#nodeid : Reset a node\n");
	printf("     scan : Reset all nodes and print message when bootup\n");
	printf("     wait#seconds : Sleep for n seconds\n");
	printf("\n");
	printf("   SDO: (size in bytes)\n");
	printf("     info#nodeid\n");
	printf("     rsdo#nodeid,index,subindex : read sdo\n");
	printf("        ex : rsdo#42,1018,01\n");
	printf("     wsdo#nodeid,index,subindex,size,data : write sdo\n");
	printf("        ex : wsdo#42,6200,01,01,FF\n");
	printf("\n");
	printf("   Note: All numbers are hex\n");
	printf("\n");
	printf("     help : Display this menu\n");
	printf("     quit : Quit application\n");
	printf("\n");
	printf("\n");
}

3、ifconfig can0 up 启动CAN0

4、ip link set can0 type can bitrate 500000 设置CAN0波特率500K赫兹；

5、./configure --cc=arm-linux-gnueabihf-gcc --arch=arm --os=unix --kerneldir=/usr/src/linux-3.5.7  --prefix=$PWD/myinstall --target=unix  --can=socket  --timers=unix --       debug=WAR,MSG

配置CANfestival源码，下一步make，make install就行。

6、./objdictedit.py ../examples/TestMasterMicroMod/TestMaster.od

用objdictedit.py工具编辑上一级文件中的TestMasterMicroMod的对象字典。

7、特别注意，主站配置SDO CLIENT！