This library provides simple CANopen functionalities. It uses the SocketCAN package and is therefore only for Linux. It is an extension of libcanopen. Notably, it supports PDO transfers and implements some of the CANopen communication profile for drives.

The library can be built with CMake and installed locally as follows.

mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=../install ..
make
make install

If you use this library together with EEROS it might be advantageous to use the build scripts therein.

The library can be used as follows.

The library can be added to the target project by addding the following CMake statements to the topmost CMakeLists.txt file.

set(CMAKE_PREFIX_PATH pathTo/canopenlib/install/)

find_package(canopenlib)

include_directories(${canopenlib_INCLUDE_DIR})
link_directories(${canopenlib_DIR})

add_executable(main main.cpp)
target_link_libraries(main canopenlib)

The library API is accessible as follows.

#include "canopenlib.h"

int main() {
  can_socket_open();
  ...
}

Before you can start your application you have to bring up your interface with

/sbin/ip link set up can0 type can bitrate 125000

Choose your interface and bitrate accordingly.

The basic functionality for NMT commands and SDO transfers can be found in

• canopen.c / canopen.h (basic functionality)
• canopen-com.c / canopen-com.h (sending and receiving packages)
• can-if.c / can-if.h (socket handling)

Our extensions include

• canopen-drv.c / canopen-drv.h (adds PDO support)
• canopen-Faulhaber-drv.c / canopen-Faulhaber-drv.h (support for Faulhaber drives)