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Canopen integration

Skill easyzoom/aix-skills/skills/canopen-integration

Reusable Agent Skills for embedded systems, MCU debugging, firmware workflows, and AI automation. （嵌入式、MCU 调试、固件流程与 AI 自动化的可复用 Agent Skills 集合）。

Install
npx -y skills add easyzoom/aix-skills --skill canopen-integration

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Use when integrating, configuring, or debugging CANopen nodes, object dictionaries, NMT, SDO, PDO, heartbeat, SYNC, EMCY, EDS/DCF files, or CANopenNode-style stacks

SKILL.md

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CANopen Integration

Overview

Use this skill to debug CANopen by separating raw CAN bring-up, node identity, object dictionary, NMT state, SDO configuration, PDO mapping, heartbeat, and application semantics. CANopen cannot work reliably until raw CAN timing works.

When To Use

Use this skill when:

  • The user is adding or debugging CANopen master/slave nodes, object dictionaries, EDS/DCF files, PDOs, SDOs, NMT, heartbeat, SYNC, or EMCY.
  • The issue involves missing PDOs, SDO aborts, node state, heartbeat timeout, wrong COB-IDs, mapping errors, or network management.
  • The implementation uses CANopenNode, a vendor stack, or a custom CANopen layer.

Do not use this skill for low-level CAN bit timing or transceiver bring-up. Use canbus-integration first when raw CAN frames are not proven.

First Questions

Ask for:

  • CANopen stack, node ID, bitrate, raw CAN evidence, and network topology.
  • Object dictionary entries, EDS/DCF, PDO mapping, COB-IDs, and NMT state.
  • Master tool or peer node, SDO abort codes, heartbeat settings, and logs.
  • Whether SYNC, TIME, EMCY, LSS, or boot-up messages are required.
  • Exact frame capture from a CAN analyzer if available.

Debug Workflow

  1. Prove raw CAN. Confirm bitrate, sample point, transceiver, termination, and error counters.

  2. Prove node identity. Check node ID, boot-up message, NMT state, heartbeat producer/consumer, and expected COB-IDs.

  3. Validate object dictionary. Confirm index/subindex types, access rights, defaults, persistence, and application backing storage.

  4. Debug SDO first. Use SDO reads/writes to verify OD entries before enabling PDO mapping.

  5. Debug PDO mapping. Check mapping parameters, transmission type, inhibit/event timers, SYNC, and payload length.

  6. Add safety behavior. Handle heartbeat loss, EMCY, bus-off recovery, and safe outputs explicitly.

Common Failures

  • Raw CAN works only at another bitrate or with missing termination.
  • Node ID conflicts with another node or creates unexpected COB-IDs.
  • OD type/access flags do not match the master expectation.
  • PDO mapping is changed while the PDO is enabled.
  • Heartbeat consumer timeout is shorter than realistic bus or boot timing.
  • Application updates OD values without atomicity or endian consistency.

Verification

Before claiming CANopen works:

  • State bitrate, node ID, stack, NMT state, and object dictionary source.
  • Confirm boot-up, heartbeat, and SDO read/write of key OD entries.
  • Confirm PDO mapping and timing with a CAN trace.
  • Confirm heartbeat timeout, EMCY, or bus-off behavior if safety-related.

Example

User:

CANopen 主站读 SDO 返回 abort。

Agent:

  1. Captures the abort code, index/subindex, node ID, and COB-ID.
  2. Checks OD type, access rights, and backing variable.
  3. Verifies raw CAN and NMT state before changing application logic.

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