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CANopenNode/README.md

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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.
Linux implementation with CANopen master functionalities is included.
Variables (communication, device, custom) are ordered 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](#flowchart-of-a-typical-canopennode-implementation)
- [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)
Documentation, support and contributions
----------------------------------------
Documentation with [Getting started](doc/gettingStarted.md),
[Objec Dictionary](doc/objectDictionary.md) and [LSS usage](doc/LSSusage.md)
is in `doc` directory.
Code is documented in header files. Running [doxygen](http://www.doxygen.nl/)
in project base directory will produce complete html documentation.
Just open CANopenNode/doc/html/index.html in the browser. Alternatively browse
documentation [online](https://canopennode.github.io/CANopenSocket/).
Further documented examples are available in [CANopenSocket](https://github.com/CANopenNode/CANopenSocket) project.
Report issues on https://github.com/CANopenNode/CANopenNode/issues
For discussion on [Slack](https://canopennode.slack.com/) see: https://github.com/robincornelius/libedssharp
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.
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 |
| | | | | - LSS master |
| | | | | - May cyclically call |
| | | | | application code. |
---------------------- ------------------------ -----------------------
~~~
File structure
--------------
- **301/** - CANopen application layer and communication profile.
- **CO_config.h** - Configuration macros for CANopenNode.
- **CO_driver.h** - Interface between CAN hardware and CANopenNode.
- **CO_ODinterface.h/.c** - CANopen Object Dictionary interface.
- **CO_Emergency.h/.c** - CANopen Emergency protocol.
- **CO_HBconsumer.h/.c** - CANopen Heartbeat consumer protocol.
- **CO_NMT_Heartbeat.h/.c** - CANopen Network management and Heartbeat producer protocol.
- **CO_PDO.h/.c** - CANopen Process Data Object protocol.
- **CO_SDOclient.h/.c** - CANopen Service Data Object - client protocol (master functionality).
- **CO_SDOserver.h/.c** - CANopen Service Data Object - server protocol.
- **CO_SYNC.h/.c** - CANopen Synchronisation protocol (producer and consumer).
- **CO_TIME.h/.c** - CANopen Time-stamp protocol.
- **CO_fifo.h/.c** - Fifo buffer for SDO and gateway data transfer.
- **crc16-ccitt.h/.c** - Calculation of CRC 16 CCITT polynomial.
- **303/** - CANopen Recommendation
- **CO_LEDs.h/.c** - CANopen LED Indicators
- **304/** - CANopen Safety.
- **CO_SRDO.h/.c** - CANopen Safety-relevant Data Object protocol.
- **CO_GFC.h/.c** - CANopen Global Failsafe Command (producer and consumer).
- **305/** - CANopen layer setting services (LSS) and protocols.
- **CO_LSS.h** - CANopen Layer Setting Services protocol (common).
- **CO_LSSmaster.h/.c** - CANopen Layer Setting Service - master protocol.
- **CO_LSSslave.h/.c** - CANopen Layer Setting Service - slave protocol.
- **309/** - CANopen access from other networks.
- **CO_gateway_ascii.h/.c** - Ascii mapping: NMT master, LSS master, SDO client.
- **storage/**
- **CO_OD_storage.h/.c** - CANopen data storage base object.
- **CO_storageEeprom.h/.c** - CANopen data storage object for storing data into block device (eeprom).
- **CO_eeprom.h** - Eeprom interface for use with CO_storageEeprom, functions are target system specific.
- **extra/**
- **CO_trace.h/.c** - CANopen trace object for recording variables over time.
- **example/** - Directory with basic example, should compile on any system.
- **CO_driver_target.h** - Example hardware definitions for CANopenNode.
- **CO_driver_blank.c** - Example blank interface for CANopenNode.
- **main_blank.c** - Mainline and other threads - example template.
- **Makefile** - Makefile for example.
- **DS301_profile.xpd** - CANopen device description file for DS301. It
includes also CANopenNode specific properties. This file is also available
in Profiles in Object dictionary editor.
- **DS301_profile.eds**, **DS301_profile.md** - Standard CANopen EDS file and
markdown documentation file, automatically generated from DS301_profile.xpd.
- **OD.h/.c** - CANopen Object dictionary source files, automatically
generated from DS301_profile.xpd.
- **doc/** - Directory with documentation
- **CHANGELOG.md** - Change Log file.
- **deviceSupport.md** - Information about supported devices.
- **gettingStarted.md, LSSusage.md, traceUsage.md** - Getting started and usage.
- **objectDictionary.md** - Description of CANopen object dictionary interface.
- **html** - Directory with documentation - must be generated by Doxygen.
- **CANopen.h/.c** - Initialization and processing of CANopen objects.
- **codingStyle** - Example of the coding style.
- **.clang-format** - Definition file for the coding style.
- **Doxyfile** - Configuration file for the documentation generator *doxygen*.
- **canopend** - Executable for Linux, build with `make`.
- **LICENSE** - License.
- **README.md** - This file.
Object dictionary editor
------------------------
Object Dictionary is one of the most essential parts of CANopen.
To customize the Object Dictionary it is necessary to use external application:
[libedssharp](https://github.com/robincornelius/libedssharp). Latest pre-compiled
[binaries](https://github.com/robincornelius/libedssharp/raw/gh-pages/build/OpenEDSEditor-latest.zip)
are also available. Just extract the zip file and run the `EDSEditor.exe`.
In Linux it runs with mono, which is available by default on Ubuntu. Just set
file permissions to "executable" and then execute the program.
In program, in preferences, set exporter to "CANopenNode_V4". Then start new
project or open the existing project file.
Many project file types are supported, EDS, XDD v1.0, XDD v1.1, old custom XML
format. Generated project file can then be saved in XDD v1.1 file format
(xmlns="http://www.canopen.org/xml/1.1"). Project file can also be exported to
other formats, it can be used to generate documentation and CANopenNode source
files for Object Dictionary.
If new project was started, then `DS301_profile.xpd` may be inserted.
If existing (old) project is edited, then existing `Communication Specific Parameters`
may be deleted and then new `DS301_profile.xpd` may be inserted. Alternative is
editing existing communication parameters with observation to Object Dictionary
Requirements By CANopenNode in [objectDictionary.md](doc/objectDictionary.md).
To clone, add or delete, select object(s) and use right click. Some knowledge
of CANopen is required to correctly set-up the custom Object Dictionary. Separate
objects can also be inserted from another project.
CANopenNode includes some custom properties inside standard project file. See
[objectDictionary.md](doc/objectDictionary.md) for more information.
Device support
--------------
CANopenNode can run on many different devices. Each device (or microcontroller)
must have own interface to CANopenNode. CANopenNode can run with or without
operating system.
It is not practical to have all device interfaces in a single project.
Interfaces to other microcontrollers are in separate projects. See
[deviceSupport.md](doc/deviceSupport.md) for list of known device interfaces.
Some details
------------
### RTR
RTR (remote transmission request) is a feature of CAN bus. Usage of RTR
is not recommended for CANopen and it is not implemented in CANopenNode.
### Error control
When node is started (in NMT operational state), it is allowed to send or
receive Process Data Objects (PDO). If Error Register (object 0x1001) is set,
then NMT operational state may not be allowed.
### Power saving
All CANopen objects calculates next timer info for OS. Calculation is based on
various timers which expire in known time. Can be used to put microcontroller
into sleep and wake at the calculated time.
Change Log
----------
See [CHANGELOG.md](doc/CHANGELOG.md)
License
-------
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
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