CANopenSocket/group__CO__CANopen__309__3__Syntax.html

Command strings start with '"["<sequence>"]"' followed by:

[[<net>] <node>] r[ead] <index> <subindex> [<datatype>]        # SDO upload.

[[<net>] <node>] w[rite] <index> <subindex> <datatype> <value> # SDO download.


[[<net>] <node>] start                   # NMT Start node.

[[<net>] <node>] stop                    # NMT Stop node.

[[<net>] <node>] preop[erational]        # NMT Set node to pre-operational.

[[<net>] <node>] reset node              # NMT Reset node.

[[<net>] <node>] reset comm[unication]   # NMT Reset communication.


[<net>] set network <value>              # Set default net.

[<net>] set node <value>                 # Set default node.

[<net>] set sdo_timeout <value>          # Configure SDO time-out.

[<net>] set sdo_block <value>            # Enable/disable SDO block transfer.


help [datatype|lss]                      # Print this or datatype or lss help.

led                                      # Print status LED diodes.

log                                      # Print message log.


Response:

"["<sequence>"]" OK | <value> |

                 ERROR:<SDO-abort-code> | ERROR:<internal-error-code>


  Every command must be terminated with <CR><LF> ('\\r\\n'). characters. Same

  is response. String is not null terminated, <CR> is optional in command.

  Comments started with '#' are ignored. They may be on the beginning of the

  line or after the command string.

  'sdo_timeout' is in milliseconds, 500 by default. Block transfer is

  disabled by default.

  If '<net>' or '<node>' is not specified within commands, then value defined

  by 'set network' or 'set node' command is used.


Datatypes:

b                  # Boolean.

i8, i16, i32, i64  # Signed integers.

u8, u16, u32, u64  # Unsigned integers.

x8, x16, x32, x64  # Unsigned integers, displayed as hexadecimal, non-standard.

r32, r64           # Real numbers.

t, td              # Time of day, time difference.

vs                 # Visible string (between double quotes if multi-word).

os, us             # Octet, unicode string, (mime-base64 (RFC2045) based, line).

d                  # domain (mime-base64 (RFC2045) based, one line).

hex                # Hexagonal data, optionally space separated, non-standard.


LSS commands:

lss_switch_glob <0|1>                  # Switch state global command.

lss_switch_sel <vendorID> <product code> \\

               <revisionNo> <serialNo> #Switch state selective.

lss_set_node <node>                    # Configure node-ID.

lss_conf_bitrate <table_selector=0> \\

                 <table_index>         # Configure bit-rate.

lss_activate_bitrate <switch_delay_ms> # Activate new bit-rate.

lss_store                              # LSS store configuration.

lss_inquire_addr [<LSSSUB=0..3>]       # Inquire LSS address.

lss_get_node                           # Inquire node-ID.

_lss_fastscan [<timeout_ms>]           # Identify fastscan, non-standard.

lss_allnodes [<timeout_ms> [<nodeStart=1..127> <store=0|1>\\

                [<scanType0> <vendorId> <scanType1> <productCode>\\

                 <scanType2> <revisionNo> <scanType3> <serialNo>]]]

                                       # Node-ID configuration of all nodes.


  All LSS commands start with '\"[\"<sequence>\"]\" [<net>]'.

  <table_index>: 0=1000 kbit/s, 1=800 kbit/s, 2=500 kbit/s, 3=250 kbit/s,

                 4=125 kbit/s, 6=50 kbit/s, 7=20 kbit/s, 8=10 kbit/s, 9=auto

  <scanType>: 0=fastscan, 1=ignore, 2=match value in next parameter