EDS/DCF tools
The dcf-tools Python module contains tools to parse and generate EDS/DCF
files. Most importantly, it contains the dcfgen tool, which can be used to
generate the DCF of a CANopen master.
dcfchk
The dcfchk tool can be used to check an EDS/DCF file for errors. It takes a
single argument: the name of the file to be checked. Any issues are printed as
warnings to stderr. The tool terminates with exit code 1 if issues are
found, and 0 if not.
Options
| Option | Description |
|---|---|
-n ID, --node_id ID |
The node-ID (default: 255). |
-p, --print |
Print the PDO mappings. |
dcfgen
The dcfgen tool has a single argument: the name of the YAML file containing
the configuration of the master. It generates the file master.dcf and,
optionally, master.bin, containing the serial number of the master and the
revision and serial numbers of the slaves, as well as their expected software
version. For each slave, a .bin file is generated which contains the SDO
requests used to configure the slave during boot-up.
Options
| Option | Description |
|---|---|
-d DIR, --directory DIR |
The directory in which to store the generated file(s). |
-r, --remote-pdo |
Generate remote PDO mappings. |
-S, --no-strict |
Do not abort in case of an invalid slave EDS/DCF. |
-v, --verbose |
Print generated the SDO requests. |
YAML configuration
The YAML file has two special sections: options and master. All other
sections are assumed to describe slaves, unless their name begins with ., in
which case they are ignored.
options
The options section is optional and contains default values for some of the
parameters in the master and slave sections:
| Keyword | Description |
|---|---|
dcf_path |
The directory in which the generated .dcf and .bin files will be available at runtime (default: ""). |
heartbeat_multiplier |
The multiplication factor used to obtain heartbeat consumer times from heartbeat producer times (default: 3.0). |
master
The master section is mandatory and has the following parameters:
| Keyword | Description |
|---|---|
node_id |
The node-ID (default: 255). |
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). |
Slaves
All other sections are assumed to describe slaves. The name of the section is
the basename for the generated .bin file, if any. The slave section has the
following parameters:
| Keyword | Description |
|---|---|
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 |
Additional SDO requests to be sent during configuration (see below). |
rpdo and tpdo
The rpdo and tpdo entries in a slave section can be used to configure
communication and mapping parameters of pre-existing Receive-PDOs and
Transmit-PDOs on a slave. Each entry in rpdo and tpdo is a number (starting
from 1) containing one or more of the following options:
| Keyword | Description |
|---|---|
enabled |
Specifies whether the PDO is enabled (default: true, if the COB-ID is valid). |
cob_id |
The COB-ID. If the most significant bit is set, the PDO will be ignored by the master. If the value is auto, an unused 11-bit COB-ID will be assigned. This can be used for at most 96 PDOs outside the pre-defined connection set (COB-ID: 0x680 - 0x6DF). |
transmission |
The transmission type. |
inhibit_time |
The inhibit time of the (corresponding master) TPDO in multiples of 100 μs. |
event_timer |
The event timer of the (corresponding master) TPDO in ms. |
event_deadline |
The deadline for (corresponding master) RPDO reception in ms. |
sync_start |
The SYNC start value of the (corresponding master) TPDO. |
mapping |
The PDO mapping. This is an array of dictionaries, each containing an index and sub_index entry. |
sdo
For each slave, additional SDO write requests can be specified. They are executed after the automatically generated SDO requests for configuring heartbeats and PDOs.
The sdo entry is an array of dictionaries, each containing the following
entries:
| Keyword | Description |
|---|---|
index |
The object index (mandatory). |
sub_index |
The object sub-index (default: 0x00). |
value |
The value to be written (default: 0). |