CANopenPIC is a CANopen stack running on PIC microcontrollers.

It is based on CANopenNode, which is free and open source CANopen Stack and is included as a git submodule.

CANopen is the internationally standardized (EN 50325-4) (CiA301) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/

Clone the project from git repository and get submodules:

$ git clone https://github.com/CANopenNode/CANopenPIC.git
$ cd CANopenPIC
$ git submodule init
$ git submodule update

Visit Microchip and Install MplabX IDE, XC32 C compiler for PIC32 or XC16 C compiler for others. Works on Linux, Mac or Windows.

Open project, build and program your microcontroller.

Program is tested on Explorer16 board from Microchip, devices PIC32MX795F512L and dsPIC33FJ256GP710. CAN transciever chip is soldered to the Explorer16 board.

You can connect the PIC device into your CANopen network and watch the CAN messages. TPDO is sent on buttons pressed. Correct RPDO will switch leds on explorer16 board.

You can also use Linux computer, (USB to) CAN interface and CANopenSocket as another CANopen node. It also includes CAN monitor and command line interface for master access of the CANopen network. There is also some Getting started guide. Here is quick example for explorer16 board leds and buttons:

sudo ip link set up can0 type can bitrate 250000
candump can0
# Pressing some buttons will produce PDO

#another terminal
cd CANopenSocket/canopend/
./canopend can0 -i3 -c "" &
cd ../canopencomm/
./canopencomm 0x30 w 0x1017 0 i16 5000 #set heartbeat to 5 seconds
cangen can0 -I 230 -L2 -g100 -Di #leds should be blinking now

#candump output
  can0  730   [1]  00
  can0  1B0   [2]  00 00
  can0  703   [1]  05       # canopend heartbeat
  can0  730   [1]  05       # PIC heartbeat
  can0  1B0   [2]  01 00    # button pressed
  can0  1B0   [2]  00 00
  can0  703   [1]  05
  can0  730   [1]  05
  can0  630   [8]  2B 17 10 00 88 13 00 00
  can0  5B0   [8]  60 17 10 00 00 00 00 00
  can0  703   [1]  05
  can0  703   [1]  05
  can0  703   [1]  05
  can0  703   [1]  05
  can0  703   [1]  05
  can0  730   [1]  05
  can0  703   [1]  05
  can0  230   [2]  00 00    # cangen
  can0  230   [2]  01 00
  can0  230   [2]  02 00
  can0  230   [2]  03 00
  can0  230   [2]  04 00
  can0  230   [2]  05 00
  can0  703   [1]  05

CANopenPIC is distributed under the terms of the GNU General Public License version 2 with the classpath exception.

CANopenPIC is free and open source software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

CANopenNode can be easely used also in commercial embedded projects. Following clarification and special linking exception to the GNU General Public License is included to the distribution terms of CANopenNode:

Linking this library statically or dynamically with other modules is making a combined work based on this library. Thus, the terms and conditions of the GNU General Public License cover the whole combination.

As a special exception, the copyright holders of this library give you permission to link this library with independent modules to produce an executable, regardless of the license terms of these independent modules, and to copy and distribute the resulting executable under terms of your choice, provided that you also meet, for each linked independent module, the terms and conditions of the license of that module. An independent module is a module which is not derived from or based on this library. If you modify this library, you may extend this exception to your version of the library, but you are not obliged to do so. If you do not wish to do so, delete this exception statement from your version.