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CANopenNode is free and open source CANopen protocol stack.
CANopen is the internationally standardized (EN 50325-4) (CiA301) higher-layer protocol for embedded control system built on top of CAN. For more information on CANopen see http://www.can-cia.org/
CANopenNode is written in ANSI C in object-oriented way. It runs on different microcontrollers, as standalone application or with RTOS. Linux implementation with CANopen master functionalities is included.
Variables (communication, device, custom) are ordered in CANopen Object Dictionary and are accessible from both: C code and from CANopen network.
CANopenNode homepage is https://github.com/CANopenNode/CANopenNode
Documentation with Getting started,
LSS usage and Trace usage is in doc
directory.
Code is documented in header files. Running doxygen
in project base directory will produce complete html documentation.
Just open CANopenNode/doc/html/index.html in the browser. Alternatively browse
documentation online.
Report issues on https://github.com/CANopenNode/CANopenNode/issues
Older and still active discussion group is on Sourceforge http://sourceforge.net/p/canopennode/discussion/387151/
Contributions are welcome. Best way to contribute your code is to fork
a project, modify it and then send a pull request. Some basic formatting
rules should be followed: Linux style with indentation of 4 spaces. There is
also a codingStyle
file with example and a configuration file for
clang-format
tool.
-----------------------
| Program start |
-----------------------
|
-----------------------
| CANopen init |
-----------------------
|
-----------------------
| Start threads |
-----------------------
| | |
-------------------- | --------------------
| | |
----------------------- ----------------------- -----------------------
| CAN receive thread | | Timer interval thread | | Mainline thread |
| | | | | |
| - Fast response. | | - Realtime thread with| | - Processing of time |
| - Detect CAN ID. | | constant interval, | | consuming tasks |
| - Partially process | | typically 1ms. | | in CANopen objects: |
| messages and copy | | - Network synchronized| | - SDO server, |
| data to target | | - Copy inputs (RPDOs, | | - Emergency, |
| CANopen objects. | | HW) to Object Dict. | | - Network state, |
| | | - May call application| | - Heartbeat. |
| | | for some processing.| | - LSS slave |
| | | - Copy variables from | | - May cyclically call |
| | | Object Dictionary to| | application code. |
| | | outputs (TPDOs, HW).| | |
----------------------- ----------------------- -----------------------
-----------------------
| SDO client (optional) |
| |
| - Can be called by |
| external application|
| - Can read or write |
| any variable from |
| Object Dictionary |
| from any node in the|
| CANopen network. |
-----------------------
-----------------------
| LSS Master (optional) |
| |
| - Can be called by |
| external application|
| - Can do LSS requests |
| - Can request node |
| enumeration |
-----------------------
make
.Object Dictionary is one of the most important parts of CANopen. Its implementation in CANopenNode is quite outdated and there are efforts to rewrite it. Anyway, currently it is fully operational and works well.
To customize the Object Dictionary it is necessary to use external application: libedssharp. It can be used in Windows or Linux with Mono.
Please note: since rearrangement in directory structure it is necessary to
manually update CO_OD.c file - it must include: 301/CO_driver.h
, CO_OD.h
and
301/CO_SDOserver.h
.
CANopenNode can run on many different devices. Each device (or microcontroller) must have own interface to CANopenNode. CANopenNode can run with or without operating system.
It is not practical to have all device interfaces in a single project. For that reason CANopenNode project only includes interface to Linux socketCAN. Interfaces to other microcontrollers are in separate projects. See deviceSupport.md for list of known device interfaces.
RTR (remote transmission request) is a feature of CAN bus. Usage of RTR is not recommended for CANopen and it is not implemented in CANopenNode.
Object 0x1F80 from Object Dictionary enables the NMT slaves to start automatically or allows it to start the whole network. It is specified in DSP302-2 standard. Standard allows two values for slaves for object 0x1F80:
When node is stated (in NMT operational state), it is allowed to send or receive Process Data Objects (PDO). If Error Register (object 0x1001) is set, then NMT operational state is not allowed.
All CANopen objects calculates next timer info for OS. Calculation is based on various timers which expire in known time. Can be used to put microcontroller into sleep and wake at the calculated time.
See CHANGELOG.md
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
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