Configuration Package

A configuration package contains one or more configurations for the CANopen stack. The configuration package needs to hold the EDS/DCF files for each device, the bus configuration and the launch files for the different configurations.

Consequently, the structure of the configuration package should look as follows:

{package_name}
├── config
│   ├── {bus_config_name_1}
│   |   ├── bus.yml
│   |   ├── {device1}.eds
│   |   ├── {device...}.eds
│   |   └── {slave_n}.eds
│   └── {bus_config_name_2}
│       ├── bus.yml
│       ├── {device1}.eds
│       ├── {device...}.eds
│       └── {slave_n}.eds
├── launch
│   ├── {bus_config_name_1}.launch.py
|   └── {bus_config_name_1}.launch.py
├── CMakeLists.txt
└── package.xml

Bus Configuration File

The ros2_canopen stack relies on a YAML configuration file that is used for configuring the bus topology and specifying configurations for each device. The file details which devices connected to the bus, which EDS/DCF file applies to them, which parameters of the EDS/DCF files should be overwritten and which drivers should be used to control the devices.

Structure

The YAML configuration file has the following sections:

options: # General options especially dcf_path
  [configuration item]: [value]

master: # The configuration of the master
  [configuration item]: [value]
  [...]

defaults: # Defaults that apply to all slave nodes
  [configuration item]: [value]
  []

nodes: # Configurations for all slave nodes
  - [device_name]:
      [configuration item]: [value]
      [...]

Options Section

The options section holds general options. Right now these are only the following.

Options Configuration

configuration item	description
dcf_path	The directory in which the generated .bin file will be available at runtime. You can set this to “@BUS_CONFIG_PATH@” and it will be auto-generated by cmake.

Master Section

The master section has a number of configuration options. These are not unique to ros2_canopen but come from the lely core library. Below you find a list of possible configuration items.

Master Configuration

configuration item	description
node_id	The node-ID (default: 255)
driver	The fully qualified class name of the master to use.
package	The ros2 package name in which the master class can be found.
baudrate	The baudrate in kbit/s (default: 1000)
vendor_id	The vendor-ID (default: 0x00000000)
product_code	The product code (default: 0x00000000)
revision_number	The revision number (default: 0x00000000).
serial_number	The serial number (default: 0x00000000).
heartbeat_multiplier	The multiplication factor used to obtain the slave heartbeat consumer time from the master heartbeat producer time (default: see options section).
heartbeat_consumer	Specifies whether the master should monitor the heartbeats of the slaves (default: true).
heartbeat_producer	The heartbeat producer time in ms (default: 0).
emcy_inhibit_time	The EMCY inhibit time in multiples of 100 μs (default: 0, see object 1015).
sync_period	The SYNC interval in μs (default: 0).
sync_window	The SYNC window length in μs (default: 0, see object 1007).
sync_overflow	The SYNC counter overflow value (default: 0, see object 1019).
error_behavior	A dictionary of error behaviors for different classes or errors (default: {1: 0x00}, see object 1029).
nmt_inhibit_time	The NMT inhibit time in multiples of 100 μs (default: 0, see object 102A).
start	Specifies whether the master shall switch into the NMT operational state by itself (default: true, see bit 2 in object 1F80).
start_nodes	Specifies whether the master shall start the slaves (default: true, see bit 3 in object 1F80).
start_all_nodes	Specifies whether the master shall start all nodes simultaneously (default: false, see bit 1 in object 1F80).
reset_all_nodes	Specifies whether all slaves shall be reset in case of an error event on a mandatory slave (default: false, see bit 4 in object 1F80).
stop_all_nodes	Specifies whether all slaves shall be stopped in case of an error event on a mandatory slave (default: false, see bit 6 in object 1F80).
boot_time	The timeout for booting mandatory slaves in ms (default: 0, see object 1F89).
boot_timeout	The timeout for booting all slaves in ms (default: 2000ms).

Device Section

The device configuration enables configuring the characteristics of the connected CANopen device.

Note

It is important to note, that you choose the operation (simple nodes or managed nodes) by choosing either only lifecycle drivers or only simple drivers.

Mixing them will not work!

Device Configuration

configuration item	description
driver	The fully qualified class name of the driver to use.
package	The ros2 package name in which the driver class can be found.
enable_lazy_load	A flag that states whether the driver is loaded on start-up.
dcf	The filename of the EDS/DCF describing the slave (mandatory).
dcf_path	The directory in which the generated .bin file will be available at runtime (default: see options section).
node_id	The node-ID (default: 255, can be omitted if specified in the DCF).
revision_number	The revision number (default: 0x00000000, can be omitted if specified in the DCF).
serial_number	The serial number (default: 0x00000000, can be omitted if specified in the DCF).
heartbeat_multiplier	The multiplication factor used to obtain master heartbeat consumer time from the slave heartbeat producer time (default: see options section).
heartbeat_consumer	Specifies whether the slave should monitor the heartbeat of the master (default: false).
heartbeat_producer	The heartbeat producer time in ms (default: 0).
error_behavior	A dictionary of error behaviors for different classes or errors (default: {}, see object 1029).
rpdo	The Receive-PDO configuration (see below).
tpdo	The Transmit-PDO configuration (see below).
boot	Specifies whether the slave will be configured and booted by the master (default: true, see bit 2 in object 1F81).
mandatory	Specifies whether the slave is mandatory (default: false, see bit 3 in object 1F81).
reset_communication	Specifies whether the NMT reset communication command may be sent to the slave (default: true, see bit 4 in object 1F81).
software_file	The name of the file containing the firmware (default: “”, see object 1F58).
software_version	The expected software version (default: 0x00000000, see object 1F55).
configuration_file	The name of the file containing the configuration (default: “<dcf_path>/<name>.bin” (where <name> is the section name), see object 1F22).
restore_configuration	The sub-index of object 1011 to be used when restoring the configuration (default: 0x00).
sdo_timeout_ms	The timeout to use for SDO reads/writes to this device. (default: 20ms)
sdo	Additional SDO requests to be sent during configuration (see below).

Further references

The dcfgen documentation gives more details on the usage of the dcfgen tool for generating DCF: https://opensource.lely.com/canopen/docs/dcf-tools/

Variables

@BUS_CONFIG_PATH@: Automatic config path definition if configuration package structure is followed.

Configuration Package CMake

In order to build the configuration package and generate the necessary runtime artifacts from the bus configuration file and eds/dcf files, the lely_core_libraries package contains an extra CMAKE macro.

cogen_dcf(target)

Target: the name of the configuration (e.g. for config/{bus_config_name_1} is bus_config_name_1)

cogen_dcf(bus_config)