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CANopenNode / CANopenSocket

Obsolete repository, replaced by CANopenDemo and CANopenLinux
Apache License 2.0
208 stars 119 forks source link

Outdated tutorial? #2

Closed neomonkey closed 7 years ago

neomonkey commented 7 years ago

SDO transfer works with pican2 and can0 quite nice by the information I got from the tutorial. I was wondering if there is a way to add a part which would explain how the CANopenSocket is handling SDO messages longer than 64 bits. I couldn't figure that out at all (or it is because the same problems as now).

CANopenNode commented 7 years ago

SDO communication is described in standard CiA301. Variables <=32 bits are transferred in one request-response. This is so-called expedited transfer. 32 bits is used for SDO protocol. Longer variables are transfered with segmented transfer with multiple request-response pairs. They may optionally be transfered with block transfer.