Lab 11 read-only SDO hardware validation
Date: 2026-08-11
Board: ESP32-C3
Serial port used during validation: /dev/ttyUSB0
ESP-IDF: v5.5.4
CAN TX/RX: GPIO19/GPIO18
CAN bitrate: 500000 bit/s
Motor Node-ID: 0x01

Flash result:
Chip is ESP32-C3 (QFN32) (revision v0.4)
Wrote 209296 bytes at 0x00010000
Hash of data verified.
Hard resetting via RTS pin...

Application and TWAI initialization:
I lab_11_sdo_read: First read-only CANopen SDO experiment
I lab_11_sdo_read: Target esp32c3, TX GPIO19, RX GPIO18, bitrate 500000 bit/s
I lab_11_sdo_read: Motor Node-ID 0x01; SDO request 0x601, response 0x581
W lab_11_sdo_read: Read-only: this program has no SDO write or motor command
I can_bus: TWAI ready: TX GPIO19, RX GPIO18, 500000 bit/s, normal mode

Device Type:
I canopen_sdo: Read request: Node-ID 0x01, object 0x1000:00
I can_bus: TX CAN-ID 0x601 DLC 8 DATA [40 00 10 00 00 00 00 00]
I can_bus: TX acknowledged: CAN-ID 0x601
I can_bus: RX CAN-ID 0x581 DLC 8 DATA [43 00 10 00 92 01 04 00]
I lab_11_sdo_read: Device Type 0x1000:00 = 0x00040192 (262546)

Error Register:
I can_bus: TX CAN-ID 0x601 DLC 8 DATA [40 01 10 00 00 00 00 00]
I can_bus: TX acknowledged: CAN-ID 0x601
I can_bus: RX CAN-ID 0x581 DLC 8 DATA [4F 01 10 00 00 00 00 00]
I lab_11_sdo_read: Error Register 0x1001:00 = 0x00 (0)

Identity Object:
I can_bus: TX CAN-ID 0x601 DLC 8 DATA [40 18 10 00 00 00 00 00]
I can_bus: TX acknowledged: CAN-ID 0x601
I can_bus: RX CAN-ID 0x581 DLC 8 DATA [4F 18 10 00 04 00 00 00]
I lab_11_sdo_read: Identity entries 0x1018:00 = 0x04 (4)

I can_bus: RX CAN-ID 0x581 DLC 8 DATA [43 18 10 01 CD 04 00 00]
I lab_11_sdo_read: Vendor ID 0x1018:01 = 0x000004CD (1229)

I can_bus: RX CAN-ID 0x581 DLC 8 DATA [43 18 10 02 B9 5A 00 00]
I lab_11_sdo_read: Product Code 0x1018:02 = 0x00005AB9 (23225)

I can_bus: RX CAN-ID 0x581 DLC 8 DATA [43 18 10 03 34 12 90 78]
I lab_11_sdo_read: Revision Number 0x1018:03 = 0x78901234 (2022707764)

I can_bus: RX CAN-ID 0x581 DLC 8 DATA [43 18 10 04 12 90 78 56]
I lab_11_sdo_read: Serial Number 0x1018:04 = 0x56789012 (1450741778)

Abort handling:
I lab_11_sdo_read: Abort demo: read unsupported Identity sub-index 0x05
I can_bus: TX CAN-ID 0x601 DLC 8 DATA [40 18 10 05 00 00 00 00]
I can_bus: TX acknowledged: CAN-ID 0x601
I can_bus: RX CAN-ID 0x581 DLC 8 DATA [80 18 10 05 11 00 09 06]
W canopen_sdo: SDO Abort 0x06090011: sub-index does not exist
I lab_11_sdo_read: Abort was handled; program continues normally

Heartbeat after SDO reads:
I can_bus: RX CAN-ID 0x701 DLC 1 DATA [05]
I can_bus: RX CAN-ID 0x701 DLC 1 DATA [05]
I can_bus: RX CAN-ID 0x701 DLC 1 DATA [05]

Validation conclusion:
- Firmware flashing and hash verification succeeded.
- The motor acknowledged every shown 0x601 request.
- Matching 0x581 expedited SDO responses were received and decoded.
- Abort 0x06090011 was decoded and did not stop the application.
- Motor heartbeat 0x701 DATA 05 continued once per second.
- No SDO download, NMT command, Controlword, mode, position, or velocity command was sent.