site de la carte: http://www.peak-system.com/fileadmin/media/linux/index.htm
c'est celle la: http://www.peak-system.com/PCAN-PCI.207.0.html?&L=1
lsmod | grep can can_dev 14748 1 sja1000 lspci 04:02.0 Network controller: PEAK-System Technik GmbH PCAN-PCI CAN-Bus controller (rev 02) dmesg | grep can [ 22.653508] intel_rng: Firmware space is locked read-only. If you can't or [ 22.785070] peak_pci 0000:04:02.0: can0 at reg_base=0xf847e000 cfg_base=0xf8466000 irq=18 [ 22.785958] peak_pci 0000:04:02.0: can1 at reg_base=0xf847e400 cfg_base=0xf8466000 irq=18
Linux/include/linux/can/dev.h
http://lxr.free-electrons.com/source/include/linux/can/dev.h
http://www.armadeus.com/wiki/index.php?title=CAN_bus_Linux_driver
sudo modprobe can sudo modprobe can-dev sudo modprobe can-raw sudo modprobe mcp251x
sudo ip link set can0 up type can bitrate 125000 sudo ip link set can0 up type can bitrate 500000
which ip /sbin/ip sudo ifconfig can0 up cat /proc/net/can/version rev 20090105 abi 8
cat /proc/net/can/stats
0 transmitted frames (TXF)
0 received frames (RXF)
0 matched frames (RXMF)
0 % total match ratio (RXMR)
0 frames/s total tx rate (TXR)
0 frames/s total rx rate (RXR)
0 % current match ratio (CRXMR)
0 frames/s current tx rate (CTXR)
0 frames/s current rx rate (CRXR)
0 % max match ratio (MRXMR)
0 frames/s max tx rate (MTXR)
0 frames/s max rx rate (MRXR)
0 current receive list entries (CRCV)
0 maximum receive list entries (MRCV)
supporté par la carte PEAK: http://www.canfestival.org/
http://www.canfestival.org/doc
manuel: http://dev.automforge.net/CanFestival-3/raw-file/tip/objdictgen/doc/manual_en.pdf
borderouge:/local/users/bvandepo/rtcenter/workspace/CanFestival-3/doc/CANOpen_memento/CANOpen_memento.pdf
video: https://www.youtube.com/watch?feature=player_embedded&v=pA9w0MKpbC8
https://developer.mbed.org/users/sam_grove/notebook/canopen/
/home/rtcenter/ copié sur borderouge vers /local/users/bvandepo/rtcenter/workspace/CanFestival-3/doc/manual/en
copié sur borderouge vers /local/users/bvandepo/copieIvo
borderouge:/local/users/bvandepo/rtcenter/Bureau/Documentation FESTO/Documentation/CanOpen/557344g1.pdf
borderouge:/local/users/bvandepo/rtcenter/Bureau/Documentation FESTO/Documentation/CMMP-AS/557326g1.pdf
borderouge:/local/users/bvandepo/rtcenter/Bureau/Documentation FESTO/Documentation/CMMP-AS/557332g1.pdf
borderouge:/local/users/bvandepo/rtcenter/Bureau/beremizWD>
python hmi.py
borderouge:/local/users/bvandepo/rtcenter/Bureau> grep -nRi canopen *
Documentation FESTO/Readme.txt:9: - Fieldbus support for CanOpen,
Documentation FESTO/Readme.txt:21: \CMMP-AS-...-CO Device with CANopen interface
Documentation FESTO/Readme.txt:30: \CANopen\EDS EDS for CANopen
Documentation FESTO/Liesmich.txt:9: - Feldbus-Support f�r CanOpen,
Documentation FESTO/Liesmich.txt:22: \CMMP-AS-...-CO Ger�te mit CANopen-Schnittstelle
Documentation FESTO/Liesmich.txt:31: \CANopen\EDS EDS f�r CANopen
Documentation FESTO/FB-Tools/CAN/CMMP-AS-C10-11A-P3.eds:12:Description=CanOpen Info Set
Documentation FESTO/FB-Tools/CAN/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
Documentation FESTO/FB-Tools/CAN/CMMP-AS-C5-3A.eds:12:Description=CanOpen Info Set
Documentation FESTO/FB-Tools/CAN/CMMP-AS-C5-11A-P3.eds:12:Description=CanOpen Info Set
Manuel/presentation_generale.svg:834: y="608.05261">CANOpen</tspan></text>
Manuel/reseau_canopen.svg:17: sodipodi:docname="reseau_canopen.svg"
Manuel/reseau_canopen.svg:600: sodipodi:role="line">CANOpen</tspan></text>
Manuel/reseau_canopen.svg:782: y="58.860645">Réseau CANOpen - Node Id</tspan></text>
Sixaxes_LAAS_bla/build/OD_0_0.c:1917:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
Sixaxes_LAAS_bla/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
Sixaxes_LAAS_bla/build/CF_0.c:134: if(!canOpen(&nodename##Board,&nodename##_Data)){\
Sixaxes_LAAS_bla/build/CF_0.c:135: fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
Sixaxes_LAAS_bla/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
Sixaxes_LAAS_bla/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
Sixaxes_LAAS_bla/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_LAAS_bla/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_LAAS_bla/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_LAAS_bla/plc.xml~:8432: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_LAAS_bla/plc.xml~:8452: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_LAAS_bla/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_bla/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_bla/plc.xml:8010:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_LAAS_bla/plc.xml:8496:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_LAAS_bla/plc.xml:8503:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_LAAS_bla/plc.xml:8512: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_LAAS_bla/plc.xml:8532: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_LAAS_bla/plc.xml:9053:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_bla/plc.xml:9335:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface/build/OD_0_0.c:2188:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
Sixaxes_LAAS_interface/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
Sixaxes_LAAS_interface/build/CF_0.c:134: if(!canOpen(&nodename##Board,&nodename##_Data)){\
Sixaxes_LAAS_interface/build/CF_0.c:135: fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
Sixaxes_LAAS_interface/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
Sixaxes_LAAS_interface/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
Sixaxes_LAAS_interface/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_LAAS_interface/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_LAAS_interface/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_LAAS_interface/plc.xml~:8432: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_LAAS_interface/plc.xml~:8452: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_LAAS_interface/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface/plc.xml:12942:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_LAAS_interface/plc.xml:13428:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_LAAS_interface/plc.xml:13435:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_LAAS_interface/plc.xml:13444: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_LAAS_interface/plc.xml:13464: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_LAAS_interface/plc.xml:13985:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface/plc.xml:14267:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface_camera/build/OD_0_0.c:1917:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
Sixaxes_LAAS_interface_camera/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
Sixaxes_LAAS_interface_camera/build/CF_0.c:134: if(!canOpen(&nodename##Board,&nodename##_Data)){\
Sixaxes_LAAS_interface_camera/build/CF_0.c:135: fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
Sixaxes_LAAS_interface_camera/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
Sixaxes_LAAS_interface_camera/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
Sixaxes_LAAS_interface_camera/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_LAAS_interface_camera/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_LAAS_interface_camera/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_LAAS_interface_camera/plc.xml~:8432: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_LAAS_interface_camera/plc.xml~:8452: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_LAAS_interface_camera/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface_camera/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface_camera/plc.xml:12228:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_LAAS_interface_camera/plc.xml:12714:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_LAAS_interface_camera/plc.xml:12721:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_LAAS_interface_camera/plc.xml:12730: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_LAAS_interface_camera/plc.xml:12750: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_LAAS_interface_camera/plc.xml:13271:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_LAAS_interface_camera/plc.xml:13553:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_original/build/OD_0_0.c:1917:CO_Data OD_0_0_Data = CANOPEN_NODE_DATA_INITIALIZER(OD_0_0);
Sixaxes_original/build/CF_0.c:67: * Used to align PLC tick-time on CANopen SYNC
Sixaxes_original/build/CF_0.c:134: if(!canOpen(&nodename##Board,&nodename##_Data)){\
Sixaxes_original/build/CF_0.c:135: fprintf(stderr,"Cannot open CAN intefrace %s at speed %s\n for CANopen node \"" #nodename "\"",nodename##Board.busname, nodename##Board.baudrate);\
Sixaxes_original/CanOpenMaster@canfestival/FestoMaster@CanOpenNode/eds/CMMP-AS-C2-3A.eds:12:Description=CanOpen Info Set
Sixaxes_original/CanOpenMaster@canfestival/baseplugin.xml:2:<BaseParams Name="CanOpenMaster" IEC_Channel="0"/>
Sixaxes_original/plc.xml~:7930:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_original/plc.xml~:8416:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_original/plc.xml~:8423:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_original/plc.xml~:8432: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_original/plc.xml~:8452: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_original/plc.xml~:8973:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_original/plc.xml~:9255:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_original/plc.xml:7956:MODE_OPERATION (Variable CANOpen PCL->drive)]]>
Sixaxes_original/plc.xml:8442:MODE_OPERATION_DISPLAY (Variable CANOpen drive->PLC)]]>
Sixaxes_original/plc.xml:8449:TARGET_POSITION (Variable CANOpen PLC->drive)]]>
Sixaxes_original/plc.xml:8458: STATUSWORD (Variable CANOpen drive->PLC)
Sixaxes_original/plc.xml:8478: CONTROLWORD (Variable CANOpen PLC->drive)
Sixaxes_original/plc.xml:8999:<![CDATA[Le mot STATUSWORD est la variable CANOpen envoyee a chaque cycle par le drive a l automate. Il decrit l etat du drive en fonction du mode (homing, interpolated position mode).]]>
Sixaxes_original/plc.xml:9281:<![CDATA[Le mot CONTROLWORD est la variable CANOpen envoyee a chaque cycle par l'automate au drive. Il permet de controler le drive en fonction du mode (homing, interpolated position mode).]]>