Implementation of necessary subset of CanOpen 2.a to control Faulhaber Motion Controller.

Implemented Features:

• Network Management (controlling the Can301 State Machine)
• SDO expedited transfer
• EDS file loading
• PDO transfer
• CanOpen StandardDataTypes
• generic pre-defined connection set (301_v04020005_cor3.pdf pg. 86)
• 402 StateMachine

Todo:

• 402:

  • Node
  • read current state
  • Read available Motion Profiles
  • Set Motion Profile

• PDO mapping (301_v04020005_cor3.pdf pg. 93; 135; 139 for transmission type)

• complete object dictionary dump and restore

• Sync Message (to trigger pdo)

• use contents in EDS file (but how o0)

Not that important todos:

• respect inhibit times (specified as multiples of 100 microsec)

• local object dictionary prepopulated with can standard defaults

  • could be used to implement a can master (device)

• datatypes in object dictionary (301_v04020005_cor3.pdf pg. 88)

• datatype coding with datatype info in object dictionary

• sdo block transfer

• specific connection-set

  • overwrite standards with values in eds file
  • respect restricted CAN-IDs (301_v04020005_cor3.pdf pg. 87)

• print canopen frame in human readable form (we can use EDS file for this)