c-open: CANopen stack

This repository contains a CANopen stack for both master and slaves. The stack implements most of CiA 301 and 305 (LSS). The stack is written to an OS abstraction layer and can also be used in a bare metal application. Using the abstraction layer, the stack can run on Linux, Windows or on an RTOS.

A simple slave is included to serve as an example of how to use the stack. The slave can also be used to run the CiA Conformance Test Tool.

Also included is a simple master example that lists all slaves on the bus and a comprehensive set of unit-tests.

Prerequisites for all platforms

CMake 3.14 or later

Out-of-tree builds are recommended. Create a build directory and run the following commands from that directory. In the following instructions, the root folder for the repo is assumed to be an absolute or relative path in an environment variable named repo.

The cmake executable is assumed to be in your path. After running cmake you can run ccmake or cmake-gui to change settings.

Windows

Visual Studio 2013 or later
Kvaser CANlib SDK

The windows build supports Kvaser devices and requires the Kvaser CANlib SDK. The CMake variable CANLIB_ROOT_DIR should be set to the folder where the CANlib SDK was installed.

Start a Visual Studio developer command prompt, then:

C:\build> cmake %repo% -DCANLIB_ROOT_DIR="C:\Program Files (x86)\Kvaser\Canlib"
C:\build> msbuild ALL_BUILD.vcxproj
C:\build> msbuild RUN_TESTS.vcxproj

This builds the stack and runs the unit tests.

Linux

GCC 4.6 or later

user@host:~/build$ cmake $repo
user@host:~/build$ make all check

This builds the stack and runs the unit tests.

The clang static analyzer can also be used if installed. From a clean build directory, run:

user@host:~/build$ scan-build cmake $repo -DCMAKE_BUILD_TYPE=Debug
user@host:~/build$ scan-build make

rt-kernel

Workbench 2020.1 or later

Set the following environment variables. You should use a bash shell, such as for instance the Command Line in your Toolbox installation. Set the BSP variable to the name of the BSP you wish to build for. Set the RTK variable to the path of your rt-kernel tree.

user@host:~/build$ export RTK=/path/to/rt-kernel
user@host:~/build$ export BSP=<bsp>

Standalone project

This creates standalone makefiles.

user@host:~/build$ cmake $repo \
    -DCMAKE_TOOLCHAIN_FILE=$repo/cmake/tools/toolchain/rt-kernel.cmake \
    -G "Unix Makefiles"
user@host:~/build$ make all

Workbench project

This creates a Makefile project that can be imported to Workbench. The project will be created in the build directory.

user@host:~/build$ cmake $repo \
    -DCMAKE_TOOLCHAIN_FILE=$repo/cmake/tools/toolchain/rt-kernel.cmake \
    -DCMAKE_ECLIPSE_EXECUTABLE=/opt/rt-tools/workbench/Workbench \
    -DCMAKE_ECLIPSE_GENERATE_SOURCE_PROJECT=TRUE \
    -G "Eclipse CDT4 - Unix Makefiles"

A source project will also be created in the $repo folder. This project can also be imported to Workbench. After importing, right-click on the project and choose New -> Convert to a C/C++ project. This will setup the project so that the indexer works correctly and the Workbench revision control tools can be used.

The library and the unit tests will be built. Note that the tests require a stack of at least 6 kB. You may have to increase CFG_MAIN_STACK_SIZE in your bsp include/config.h file.

Contributions

Contributions are welcome. If you want to contribute you will need to sign a Contributor License Agreement and send it to us either by e-mail or by physical mail. More information is available here.

weiwei2002wei / c-open