What's Changed
* Respect rtr_allowed in Pdo.Map.Save() by skalkoto in https://github.com/christiansandberg/canopen/pull/228
* Shutdown an already running periodic PDO before starting a new one by ventussolus in https://github.com/christiansandberg/canopen/pull/230
* added SDO Abort if a timeout occurs when sending a SDO request by jnu144 in https://github.com/christiansandberg/canopen/pull/239
* added argument for block transfer to enable/disable CRC Support by jnu144 in https://github.com/christiansandberg/canopen/pull/240
* Check writeability for SDO download on LocalNode by semiversus in https://github.com/christiansandberg/canopen/pull/241
* PDO: Allow subscription without calling read() or save() by acolomb in https://github.com/christiansandberg/canopen/pull/253
* Do not raise an exception in "_check_statusword_configured" just log … by Lauszus in https://github.com/christiansandberg/canopen/pull/268
* Export Eds or Dcf by unsanded in https://github.com/christiansandberg/canopen/pull/254
* eds: Fix exception in comment parsing with hexadecimal line count. by acolomb in https://github.com/christiansandberg/canopen/pull/279
* Document how to run the Python unit tests by henrikbrixandersen in https://github.com/christiansandberg/canopen/pull/280
* Fix canmatrix export by walmis in https://github.com/christiansandberg/canopen/pull/287
* Add 'relative' property for COB-ID vars relative to the node-ID by henrikbrixandersen in https://github.com/christiansandberg/canopen/pull/281
CiA 402
Thanks acolomb and af-silva.
Support for the CiA 402 device profile for "drives and motion control" was
overhauled in this release, bringing some backwards-incompatible changes.
The goal is to make the library more flexible and easier to use from an
application requiring DS402 functions, especially when controlling several
synchronized motors.
CAUTION: The following changes will likely require adaptation if you are
using the respective functions in your application code!
* The BaseNode402.homing() method no longer changs the DS402 power state
machine. A suitable state needs to be set by the application before using
it. (249)
* Remove the broken parameter set_new_home from the BaseNode402.homing()
implementation, which did not work as intended. (250)
* After homing, restore the previous operation mode only when explicitly
requested using the restore_op_mode parameter. (262)
* Minimize side-effects of operation mode switching. Do not clear the
target values and keep the power state unchanged. This must now be
handled in the application, but enables some use-cases where switching
modes on the fly is desirable. (251)
* Changes to the Controlword no longer trigger an immediate RPDO
transmission if already configured as periodic. That is the case when
.start() has been called or the .period property was set externally. For
an RPDO whose transmission type indicates that it needs a SYNC object to
apply, the immediate sending is also skipped. Check the .is_periodic
property to see whether this will change anything in your usage.
* The .op_mode property is now handled via PDO if possible, otherwise
setup_402_state_machine() logs a warning and falls back to SDO, just like
for the Statusword. Note that if the PDO is expected periodically, the
getter still blocks (up to 0.2 seconds) until a TPDO update was
received. (257)
* Reduce overhead in setup_402_state_machine() procedure by not switching
the NMT state or the power state automatically. The application should be
responsible for that. Only the NMT STOPPED state will now trigger an
error before trying to read SDOs. Reading the PDO configuration can even
be skipped altogether using the optional read_pdos parameter. (259)
Enhancements:
* The documentation page concerning device profiles was extended to include
the relevant API description for the BaseNode402 class.
* All timeout and waiting durations have been moved to constants in the
BaseNode402 class. They can thus now be overridden per instance.
* BaseNode402.is_homed() to check whether homing is necessary, switching the
operation mode automatically as required. (248)
* Make PDO subscription available without calling read() or save(). (253)
* The DS402 power state machine is now more flexible by trying to reach any
target state even if there is no direct transition. Some bugs were fixed
as well, such as not trying transitions which only the drive itself can
trigger. (264)
Run-time optimizations:
* Supported operation modes are now cached internally to avoid reading
object 0x6502 repeatedly as it should never change. (247)
* Several actions which depend on an updated Statusword value now wait for a
TPDO reception (up to 0.2 seconds), if the PDO is expected periodically.
This can reduce some delays previously caused by checking loops with fixed
delays. (263)
New Contributors
* skalkoto made their first contribution in https://github.com/christiansandberg/canopen/pull/228
* ventussolus made their first contribution in https://github.com/christiansandberg/canopen/pull/230
* jnu144 made their first contribution in https://github.com/christiansandberg/canopen/pull/239
* semiversus made their first contribution in https://github.com/christiansandberg/canopen/pull/241
* Lauszus made their first contribution in https://github.com/christiansandberg/canopen/pull/268
* walmis made their first contribution in https://github.com/christiansandberg/canopen/pull/287
**Full Changelog**: https://github.com/christiansandberg/canopen/compare/v1.2.1...v2.0.0