57 lines
2.5 KiB
Plaintext
Executable File
57 lines
2.5 KiB
Plaintext
Executable File
# Configuration file for canopen.cgi
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# canopen.cgi is an application usually accessible by a web server like
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# apache. Query string contains commands to canopend. canopend is an
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# application, which runs in background. It is a CANopen device with
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# master functionality and command interface (via socket). One typical
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# command is read or write specific object(variable) in specific device.
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# (Each CANopen device has own Object Dictionary, collection of all
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# variables. Any variable on any CANopen device can be read or written,
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# if we know its address (nodeID + index + subindex). CANopen SDO client
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# (master device - canopend) sends Service Data Object (SDO) via CANopen
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# network, and one of the SDO servers (slave devices) responses with
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# requested information.)
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# Name of the local domain socket, link to canopend. */
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socketPath /tmp/CO_command_socket
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# Whitelist and Blacklist of CANopen objects, which are allowed or not
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# allowed to be accessed by canopen.cgi. Whitelist is generated from all
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# lines, which begins with 'allow'. Blacklist is generated from all
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# lines, which begins with 'deny'.
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# Each Object from query string is first NOT allowed, to be accessed. If
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# it matches ANY pattern from the whitelist, it is allowed. (Whitelist,
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# which allows everything would then be just one line: 'allow *'.) On
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# the end, object is verified with blacklist. If it matches any pattern
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# from there, it won't be passed as command to canopend.
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#
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# Format of the parameter in Query string: wnniiiissll=xxxx
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# Where w, nn, iiii, ss, ll, xxxx are fixed width fields with the following meaning:
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# w - 'W'rite or 'R'ead.
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# nn - node ID in hex format.
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# iiii - Object Dictionary index in hex format.
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# ss - Object Dictionary subindex in hex format.
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# ll - length of variable (1 to FFFFFFFF) in hex format. If reading, this value is ignored.
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# xxxx - Value to be written in hex and little endian format. If reading, this value is ignored.
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#
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# Parameter and pattern strings are not case sensitive.
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# Communication segment - up to 0x1FFF
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allow R??[01]* # allow read all.
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# Manufacturer segment - 0x2000 to 0x5FFF
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allow R??[2-5]* # allow read all.
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# Example of write access to some objects
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allow [RW]032110* # allow r/w on NodeId 3, index 0x2110, any subindex.
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deny W0321100[2-4E]* # deny write on NodeId 3, index 0x2110, subindex 0x02, 0x03, 0x04 and 0x0E.
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allow [RW]0321200[!45]* # allow r/w on NodeId 3, index 0x2120, subindex 0x00-0x03 and 0x06-0x09.
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# Device profile segment - above 0x6000
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allow R??[6-9A_F]* # allow read all
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