CANopenNode
TPDO Error: Object Dictionary entry 0x1a0002
Hi, I have faced with TPDO problem.
MCU: ESP32-C6
I`m trying to send TPDO like in a video example here (https://www.youtube.com/watch?v=R-r5qIOTjOo)
But there is some error in object Dictionary when CO_CANopenInitPDO is calling.
err = CO_CANopenInitPDO(CO, CO->em, OD, activeNodeId, &errInfo);
if (err != CO_ERROR_NO)
{
if (err == CO_ERROR_OD_PARAMETERS)
{
ESP_LOGE(TAG, "[CO_CANopenInitPDO]: Object Dictionary entry 0x%lx", errInfo);
}
else
{
ESP_LOGE(TAG, "PDO initialization failed: %d", err);
}
}
I (731) CO_ESP32: Initializing
I (735) CO_ESP32: main task running.
I (739) CO_ESP32: Allocated 6640 bytes for CANopen objects
I (745) CO_ESP32: CANopenNode - Reset communication
I (751) gpio: GPIO[10]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (760) gpio: GPIO[11]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (770) CO_driver: Driver installed
I (774) CO_driver: Driver started
I (778) CO_driver: Creating Tx Task
I (782) CO_driver: tx task running
I (786) CO_driver: Creating Rx Task
I (790) CO_driver: rx task running
E (795) CO_ESP32: [CO_CANopenInitPDO]: Object Dictionary entry 0x1a0002
I (801) CO_ESP32: creating periodic task
I (806) CO_ESP32: Periodic task running
I (811) CO_ESP32: periodic task created
I (815) CO_ESP32: CANopenNode is running
May be somebody could help me It's an .xpd file but for an opportunity to upload it to github I added ".txt" in end E_test.xpd.txt
Just clear "Count Label" parameter from all manufacturer and device profile parameters.
Count Label "TPDO" is allowed only on objects 0x1800-0x19FF.
For more information see https://github.com/CANopenNode/CANopenNode/blob/master/doc/objectDictionary.md#object-dictionary-requirements-by-canopennode
@CANopenNode Thank you! The error message in logs has despaired. But I have no idea why I can't see TPDO CAN messages by sniffer.
My test TPDO mapping:
This part of code
for (uint8_t i = 0; i < OD_CNT_TPDO; i++)
{
printf("TPDO[%d] CANID:0x%x transmissionType: %d dataLength: %d valid: %s\n",
i,
CO->TPDO[i].PDO_common.configuredCanId,
CO->TPDO[i].transmissionType,
CO->TPDO[i].PDO_common.dataLength,
CO->TPDO[i].PDO_common.valid ? "true" : "false");
}
shows me logs:
TPDO[0] CANID:0x181 transmissionType: 254 dataLength: 8 valid: true
TPDO[1] CANID:0x281 transmissionType: 254 dataLength: 2 valid: true
TPDO[2] CANID:0x381 transmissionType: 254 dataLength: 5 valid: true
TPDO[3] CANID:0x481 transmissionType: 254 dataLength: 4 valid: true
I suppose it's good logs but sniffer is empty
Your device is pre-operational (0x7F). To see PDOs, it must be operational (0x05).
Se also https://github.com/CANopenNode/CANopenDemo
@CANopenNode Got it!
I tried to find reason why my node can't work on operational mode.
x1001_errorRegister shows me 16 as I understand it means communication error
CO_ERR_REG_COMMUNICATION = 0x10U, /**< bit 4, communication error */
For reading 0x1003 I have written code
if (OD_RAM.x1001_errorRegister > 0)
{
OD_entry_t *errors_entry = OD_find(OD, 0x1003);
uint8_t numbers_of_errors = 0;
OD_get_u8(errors_entry, 0x00, &numbers_of_errors, false);
if (numbers_of_errors > 0)
{
printf("0x1003 ERROR DUMP:\n");
for (uint8_t i = 1; i <= numbers_of_errors; i++)
{
uint32_t error_dump = 0;
OD_get_u32(errors_entry, i, &error_dump, false);
printf("Error #%d: code: 0x%lx\n", i, error_dump);
}
}
}
It shows me :
0x1003 ERROR DUMP:
Error #1: code: 0x1a108200
bit 0-15 (0x8200) shows:
/** 0x82xx, Protocol Error */
CO_EMC_PROTOCOL_ERROR = 0x8200U,
What means bit 16-31 (0x1a10)? How to interpretate it? And hoe to fix this problem?
https://github.com/CANopenNode/CANopenDemo/tree/master/tutorial#emergency-messages
Dne ponedeljek, 9. september 2024 je Timur Ruziev napisal:
@CANopenNode Got it!
I tried to find reason why my node can't work on operational mode.
x1001_errorRegistershows me16as I understand it means communication errorCO_ERR_REG_COMMUNICATION = 0x10U, /**< bit 4, communication error */For reading 0x1003 I have written code
if (OD_RAM.x1001_errorRegister > 0) { OD_entry_t *errors_entry = OD_find(OD, 0x1003); uint8_t numbers_of_errors = 0; OD_get_u8(errors_entry, 0x00, &numbers_of_errors, false); if (numbers_of_errors > 0) { printf("0x1003 ERROR DUMP:\n"); for (uint8_t i = 1; i <= numbers_of_errors; i++) { uint32_t error_dump = 0; OD_get_u32(errors_entry, i, &error_dump, false); printf("Error #%d: code: 0x%lx\n", i, error_dump); } } }It shows me :
0x1003 ERROR DUMP: Error #1: code: 0x1a108200bit 0-15 (0x8200) shows:
/** 0x82xx, Protocol Error */ CO_EMC_PROTOCOL_ERROR = 0x8200U,What means bit 16-31 (0x1a10)? How to interpretate it? And hoe to fix this problem?
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@CANopenNode Thank you! I fixed the error above but I have faced with new trouble.
TPDO messages is constantly zero. I'm changing variable from OD.
OD_RAM.x6000_test_1 = OD_RAM.x6000_test_1 + 5;
printf("OD_RAM.x6000_test_1: 0x%lX\n", OD_RAM.x6000_test_1);
OD_RAM.x6000_test_1: 0x6
OD_RAM.x6000_test_1: 0xB
OD_RAM.x6000_test_1: 0x10
OD_RAM.x6000_test_1: 0x15
OD_RAM.x6000_test_1: 0x1A
This variable is mapped to TPDO
But PDO is constantly zero
How to solve it?