A Python implementation of the CANopen standard.
- NMT master
- SDO client
- PDO producer/consumer
- SYNC producer
- EMCY consumer
Install from PyPI using pip:
$ pip install canopen
If you want to be able to change the code while using it, clone it then install it in develop mode:
$ git clone git@github.com:christiansandberg/canopen.git $ cd canopen $ pip install -e .
Documentation can be found on Read the Docs:
http://canopen.readthedocs.io/
It can also be generated from a local clone using Sphinx:
$ python setup.py build_sphinx
This library supports multiple hardware and drivers through the python-can package. At the time of writing this includes:
- SocketCAN on Linux
- Kvaser
- Peak CAN
- IXXAT
- USB2CAN
It is also possible to integrate this library with a custom backend.
Here are some quick examples of what you can do:
import canopen
# Start with creating a network representing one CAN bus
network = canopen.Network()
# Add some nodes with corresponding Object Dictionaries
node = 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 SDO
device_name = node.sdo['ManufacturerDeviceName'].raw
vendor_id = node.sdo[0x1018][1].raw
# Read PDO configuration from node
node.pdo.read()
# Transmit SYNC every 100 ms
network.sync.start(0.1)
# Change state to operational (NMT start)
network[6].nmt.state = 'OPERATIONAL'
network[7].nmt.state = 'OPERATIONAL'
# Read a value from Tx PDO 1
node.pdo.tx[1].wait_for_reception()
speed = node.pdo.tx[1]['ApplicationStatus.ActualSpeed'].phys
# Disconnect from CAN bus
network.sync.stop()
network.disconnect()There are a lot of things that still needs implementing and fixing. Pull requests are most welcome!
- Documentation (docs + API)
- Unit tests
- Period transmit using BCM
- SDO block transfer
- TIME
- XDD support