CANopenNode:CANopen 协议栈

CANopenNode =========== CANopenNode is free and open source CANopen protocol stack. CANopen is the internationally standardized (EN 50325-4) ([CiA301](http://can-cia.org/standardization/technical-documents)) 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. Variables (communication, device, custom) are collected in CANopen Object Dictionary and are accessible from both: C code and from CANopen network. CANopenNode homepage is https://github.com/CANopenNode/CANopenNode This is version 4 of CANopenNode with new Object Dictionary implementation. For older versions `git checkout` branches `v1.3-master` or `v2.0-master`. Characteristics --------------- ### CANopen - [Object Dictionary](https://www.can-cia.org/can-knowledge/canopen/device-architecture/) offers clear and flexible organisation of any variables. Variables can be accessed directly or via read/write functions. - [NMT](https://www.can-cia.org/can-knowledge/canopen/network-management/) slave to start, stop, reset device. Simple NMT master. - [Heartbeat](https://www.can-cia.org/can-knowledge/canopen/error-control-protocols/) producer/consumer error control for monitoring of CANopen devices. - [PDO](https://www.can-cia.org/can-knowledge/canopen/pdo-protocol/) for broadcasting process data with high priority and no protocol overhead. Variables from Object Dictionary can be dynamically mapped to the TPDO, which is then transmitted according to communication rules and received as RPDO by another device. - [SDO](https://www.can-cia.org/can-knowledge/canopen/sdo-protocol/) server enables expedited, segmented and block transfer access to all Object Dictionary variables inside CANopen device. - [SDO](https://www.can-cia.org/can-knowledge/canopen/sdo-protocol/) client can access any Object Dictionary variable on any CANopen device inside the network. - [Emergency](https://www.can-cia.org/can-knowledge/canopen/special-function-protocols/) message producer/consumer. - [Sync](https://www.can-cia.org/can-knowledge/canopen/special-function-protocols/) producer/consumer enables network synchronized transmission of the PDO objects, etc. - [Time-stamp](https://www.can-cia.org/can-knowledge/canopen/special-function-protocols/) producer/consumer enables date and time synchronization in millisecond resolution. - [LSS](https://www.can-cia.org/can-knowledge/canopen/cia305/) CANopen node-id and bitrate setup, master and slave, LSS fastscan. - [CANopen gateway](https://www.can-cia.org/can-knowledge/canopen/cia309/), CiA309-3 Ascii command interface for NMT master, LSS master and SDO client. - CANopen Safety, EN 50325-5, CiA304, "PDO like" communication in safety-relevant networks ### Other - [Suitable for 16-bit microcontrollers and above](#device-support) - [Multithreaded, real-time](#canopenNode-flowchart) - [Object Dictionary editor](#object-dictionary-editor) - Non-volatile storage for Object Dictionary or other variables. Automatic or controlled by standard CANopen commands, configurable. - [Power saving possible](#power-saving) - [Bootloader possible](https://github.com/CANopenNode/CANopenNode/issues/111) (for firmware update) Related projects ---------------- - [CANopenNode](https://github.com/CANopenNode/CANopenNode) (this project): CANopen protocol stack, base for CANopen device. It contains no device specific code (drivers), which must be added separately for each target system. An example shows the basic principles, compiles on any system, but does not connect to any CAN hardware. - [CANopenDemo](https://github.com/CANopenNode/CANopenDemo): Demo device with CANopenNode and different target systems, tutorial and testing tools. - [CANopenNode.github.io](https://github.com/CANopenNode/CANopenNode.github.io): Html documentation, compiled by doxygen, for CANopenDemo, CANopenNode and other devices, available also online: https://canopennode.github.io - [CANopenEditor](https://github.com/CANopenNode/CANopenEditor): Object Dictionary editor, external GUI tool for editing CANopen Object Dictionary for custom device. It generates C source code, electronic data sheet and documentation for the device. It is a fork from [libedssharp](https://github.com/robincornelius/libedssharp). - [CANopenLinux](https://github.com/CANopenNode/CANopenLinux): CANopenNode on Linux devices. It can be a basic CANopen device or more advanced with commander functionalities. - [CANopenPIC](https://github.com/CANopenNode/CANopenPIC): CANopenNode on PIC microcontrollers from Microchip. Works with 16-bit and 32 bit devices. Includes example for Arduino style [Max32](https://reference.digilentinc.com/reference/microprocessor/max32/start) board. - [doc/deviceSupport.md](doc/deviceSupport.md): List of other implementations of CANopenNode on different devices. Documentation, support and contributions ---------------------------------------- All code is documented in the source header files. Some additional documents are in `doc` directory. To generate complete html documentation, run [doxygen](http://www.doxygen.nl/) in the project base directory: `sudo apt install doxygen graphviz pdf2svg; doxygen > /dev/null` Complete generated documentation is also available online: https://canopennode.github.io Tutorial, demo device and tests are available in [CANopenDemo](https://github.com/CANopenNode/CANopenDemo) repository. Report issues on https://github.com/CANopenNode/CANopenNode/issues Older 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. CANopenNode flowchart --------------------- Flowchart of a typical CANopenNode implementation: ~~~ ----------------------- | 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 | | - Gateway (optional): | | | | Object Dictionary to | | - NMT master | | | | outputs (TPDOs, HW). | | - SDO client