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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.

Cloning

Clone the source:

git clone --recurse-submodules <path to source>

This will clone the repository with submodules. If you already cloned the repository without the --recurse-submodules flag then run this in the c-open folder:

git submodule update --init --recursive

Prerequisites for all platforms

  • CMake 3.14 or later

Windows

  • Visual Studio 2017 or later
  • Kvaser CANlib SDK

You can use a windows or unix shell as preferred. The following instructions are for a unix shell. CMake is assumed to be in your path.

The windows build supports Kvaser devices and requires the Kvaser CANlib SDK. CMake should find the SDK but if not a hint can be given by setting -DCANLIB_ROOT_DIR="C:\Program Files (x86)\Kvaser\Canlib" or similar during configuration.

cmake -B build.win32 -A Win32
cmake --build build.win32 --config Release
cmake --build build.win32 --config Release --target check

This builds the project and runs the unit tests.

Linux

  • GCC 4.6 or later
cmake -B build
cmake --build build --target all check

This builds the project and runs the unit tests.

rt-kernel

  • Workbench 2020.1 or later

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.

Standalone project

This creates standalone makefiles.

$ RTK=/path/to/rt-kernel BSP=xmc48relax cmake \
   -B build.xmc48relax \
   -DCMAKE_TOOLCHAIN_FILE=cmake/tools/toolchain/rt-kernel.cmake \
   -G "Unix Makefiles"
$ cmake --build build.xmc48relax

Workbench project

This creates a Makefile project that can be imported to Workbench. The project will be created in the build directory. The build directory should be located outside of the source tree.

$ RTK=/path/to/rt-kernel BSP=xmc48relax cmake \
   -B build.xmc48relax -S /path/to/c-open \
   -DCMAKE_TOOLCHAIN_FILE=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 c-open tree. 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.

Documentation

Documentation for project is build using sphinx.

python3 -m venv myvenv
source myvenv/bin/activate
pip3 install -r docs/requirements.txt

cmake --preset docs
cmake --build --preset docs

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.