├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── canopencgi ├── CANopenCGI.c ├── Makefile └── canopen.conf ├── cocomm ├── Makefile └── cocomm.c ├── docker ├── Dockerfile └── README.md ├── docs ├── CANopen_8h.html ├── CANopen_8h.js ├── CANopen_8h_source.html ├── CO__Emergency_8h.html ├── CO__Emergency_8h.js ├── CO__Emergency_8h_source.html ├── CO__GFC_8c.html ├── CO__GFC_8h.html ├── CO__GFC_8h.js ├── CO__GFC_8h_source.html ├── CO__HBconsumer_8h.html ├── CO__HBconsumer_8h.js ├── CO__HBconsumer_8h_source.html ├── CO__LEDs_8h.html ├── CO__LEDs_8h.js ├── CO__LEDs_8h_source.html ├── CO__LSS_8h.html ├── CO__LSS_8h.js ├── CO__LSS_8h_source.html ├── CO__LSSmaster_8h.html ├── CO__LSSmaster_8h.js ├── CO__LSSmaster_8h_source.html ├── CO__LSSslave_8h.html ├── CO__LSSslave_8h.js ├── CO__LSSslave_8h_source.html ├── CO__NMT__Heartbeat_8h.html ├── CO__NMT__Heartbeat_8h.js ├── CO__NMT__Heartbeat_8h_source.html ├── CO__OD__storage_8h.html ├── CO__OD__storage_8h.js ├── CO__OD__storage_8h_source.html ├── CO__ODinterface_8h.html ├── CO__ODinterface_8h.js ├── CO__ODinterface_8h_source.html ├── CO__PDO_8h.html ├── CO__PDO_8h.js ├── CO__PDO_8h_source.html ├── CO__SDOclient_8h.html ├── CO__SDOclient_8h.js ├── CO__SDOclient_8h_source.html ├── CO__SDOserver_8h.html ├── CO__SDOserver_8h.js ├── CO__SDOserver_8h_source.html ├── CO__SRDO_8c.html ├── CO__SRDO_8h.html ├── CO__SRDO_8h.js ├── CO__SRDO_8h_source.html ├── CO__SYNC_8h.html ├── CO__SYNC_8h.js ├── CO__SYNC_8h_source.html ├── CO__TIME_8h.html ├── CO__TIME_8h.js ├── CO__TIME_8h_source.html ├── CO__config_8h.html ├── CO__config_8h.js ├── CO__config_8h_source.html ├── CO__driver_8h.html ├── CO__driver_8h.js ├── CO__driver_8h_source.html ├── CO__driver__target_8h.html ├── CO__driver__target_8h.js ├── CO__driver__target_8h_source.html ├── CO__epoll__interface_8h.html ├── CO__epoll__interface_8h.js ├── CO__epoll__interface_8h_source.html ├── CO__error_8h.html ├── CO__error_8h.js ├── CO__error_8h_source.html ├── CO__error__msgs_8h_source.html ├── CO__fifo_8h.html ├── CO__fifo_8h.js ├── CO__fifo_8h_source.html ├── CO__gateway__ascii_8h.html ├── CO__gateway__ascii_8h.js ├── CO__gateway__ascii_8h_source.html ├── CO__trace_8h.html ├── CO__trace_8h.js ├── CO__trace_8h_source.html ├── annotated.html ├── annotated_dup.js ├── bc_s.png ├── bdwn.png ├── classes.html ├── closed.png ├── crc16-ccitt_8h.html ├── crc16-ccitt_8h.js ├── crc16-ccitt_8h_source.html ├── dir_4b0ffcb7ab18f30ccfa85879d0b1134f.html ├── dir_4b0ffcb7ab18f30ccfa85879d0b1134f.js ├── dir_61725470c0c4ad532abb3cb1e156c123.html ├── dir_61725470c0c4ad532abb3cb1e156c123.js ├── dir_6b9d3acb0ed2bca35694b645384363d3.html ├── dir_6b9d3acb0ed2bca35694b645384363d3.js ├── dir_77924ae5e158f0fe5749d81e75dc818c.html ├── dir_77924ae5e158f0fe5749d81e75dc818c.js ├── dir_9d7b210e307d5785c6c2b238c23a336b.html ├── dir_9d7b210e307d5785c6c2b238c23a336b.js ├── dir_cfafba98a580ce4b62f8a6fa96d7cbb0.html ├── dir_dedeb03de5db43ead5483ab2f59b049d.html ├── dir_dedeb03de5db43ead5483ab2f59b049d.js ├── dir_e68e8157741866f444e17edd764ebbae.html ├── dir_f17b92000dd778003adbbcb6b5ce4226.html ├── dir_f17b92000dd778003adbbcb6b5ce4226.js ├── doc.png ├── doxygen.css ├── doxygen.png ├── dynsections.js ├── files.html ├── files_dup.js ├── folderclosed.png ├── folderopen.png ├── functions.html ├── functions_b.html ├── functions_c.html ├── functions_d.html ├── functions_dup.js ├── functions_e.html ├── functions_f.html ├── functions_g.html ├── functions_h.html ├── functions_i.html ├── functions_l.html ├── functions_m.html ├── functions_n.html ├── functions_o.html ├── functions_p.html ├── functions_r.html ├── functions_s.html ├── functions_t.html ├── functions_u.html ├── functions_v.html ├── functions_vars.html ├── functions_vars.js ├── functions_vars_b.html ├── functions_vars_c.html ├── functions_vars_d.html ├── functions_vars_e.html ├── functions_vars_f.html ├── functions_vars_g.html ├── functions_vars_h.html ├── functions_vars_i.html ├── functions_vars_l.html ├── functions_vars_m.html ├── functions_vars_n.html ├── functions_vars_o.html ├── functions_vars_p.html ├── functions_vars_r.html ├── functions_vars_s.html ├── functions_vars_t.html ├── functions_vars_u.html ├── functions_vars_v.html ├── functions_vars_w.html ├── functions_w.html ├── globals.html ├── globals_c.html ├── globals_d.html ├── globals_defs.html ├── globals_dup.js ├── globals_enum.html ├── globals_eval.html ├── globals_eval.js ├── globals_eval_o.html ├── globals_f.html ├── globals_func.html ├── globals_func.js ├── globals_func_l.html ├── globals_func_o.html ├── globals_i.html ├── globals_l.html ├── globals_n.html ├── globals_o.html ├── globals_t.html ├── globals_type.html ├── globals_u.html ├── globals_vars.html ├── group__CO__CAN__Message__reception.html ├── group__CO__CAN__Message__reception.js ├── group__CO__CAN__Message__transmission.html ├── group__CO__CAN__Message__transmission.js ├── group__CO__CANopen.html ├── group__CO__CANopen.js ├── group__CO__CANopen__301.html ├── group__CO__CANopen__301.js ├── group__CO__CANopen__301__fifo.html ├── group__CO__CANopen__301__fifo.js ├── group__CO__CANopen__303.html ├── group__CO__CANopen__303.js ├── group__CO__CANopen__304.html ├── group__CO__CANopen__304.js ├── group__CO__CANopen__305.html ├── group__CO__CANopen__305.js ├── group__CO__CANopen__309.html ├── group__CO__CANopen__309.js ├── group__CO__CANopen__309__3.html ├── group__CO__CANopen__309__3.js ├── group__CO__CANopen__309__3__Syntax.html ├── group__CO__CANopen__extra.html ├── group__CO__CANopen__extra.js ├── group__CO__Emergency.html ├── group__CO__Emergency.js ├── group__CO__GFC.html ├── group__CO__GFC.js ├── group__CO__HBconsumer.html ├── group__CO__HBconsumer.js ├── group__CO__LEDs.html ├── group__CO__LEDs.js ├── group__CO__LSS.html ├── group__CO__LSS.js ├── group__CO__LSSmaster.html ├── group__CO__LSSmaster.js ├── group__CO__LSSslave.html ├── group__CO__LSSslave.js ├── group__CO__NMT__Heartbeat.html ├── group__CO__NMT__Heartbeat.js ├── group__CO__ODdefinition.html ├── group__CO__ODdefinition.js ├── group__CO__ODgetSetters.html ├── group__CO__ODgetSetters.js ├── group__CO__ODinterface.html ├── group__CO__ODinterface.js ├── group__CO__PDO.html ├── group__CO__PDO.js ├── group__CO__SDOclient.html ├── group__CO__SDOclient.js ├── group__CO__SDOserver.html ├── group__CO__SDOserver.js ├── group__CO__SRDO.html ├── group__CO__SRDO.js ├── group__CO__STACK__CONFIG.html ├── group__CO__STACK__CONFIG.js ├── group__CO__STACK__CONFIG__COMMON.html ├── group__CO__STACK__CONFIG__COMMON.js ├── group__CO__STACK__CONFIG__CRC16.html ├── group__CO__STACK__CONFIG__CRC16.js ├── group__CO__STACK__CONFIG__DEBUG.html ├── group__CO__STACK__CONFIG__DEBUG.js ├── group__CO__STACK__CONFIG__EMERGENCY.html ├── group__CO__STACK__CONFIG__EMERGENCY.js ├── group__CO__STACK__CONFIG__FIFO.html ├── group__CO__STACK__CONFIG__FIFO.js ├── group__CO__STACK__CONFIG__GATEWAY.html ├── group__CO__STACK__CONFIG__GATEWAY.js ├── group__CO__STACK__CONFIG__LEDS.html ├── group__CO__STACK__CONFIG__LEDS.js ├── group__CO__STACK__CONFIG__LSS.html ├── group__CO__STACK__CONFIG__LSS.js ├── group__CO__STACK__CONFIG__NMT__HB.html ├── group__CO__STACK__CONFIG__NMT__HB.js ├── group__CO__STACK__CONFIG__SDO.html ├── group__CO__STACK__CONFIG__SDO.js ├── group__CO__STACK__CONFIG__SRDO.html ├── group__CO__STACK__CONFIG__SRDO.js ├── group__CO__STACK__CONFIG__SYNC__PDO.html ├── group__CO__STACK__CONFIG__SYNC__PDO.js ├── group__CO__STACK__CONFIG__TIME.html ├── group__CO__STACK__CONFIG__TIME.js ├── group__CO__STACK__CONFIG__TRACE.html ├── group__CO__STACK__CONFIG__TRACE.js ├── group__CO__SYNC.html ├── group__CO__SYNC.js ├── group__CO__TIME.html ├── group__CO__TIME.js ├── group__CO__crc16__ccitt.html ├── group__CO__crc16__ccitt.js ├── group__CO__critical__sections.html ├── group__CO__critical__sections.js ├── group__CO__dataTypes.html ├── group__CO__dataTypes.js ├── group__CO__driver.html ├── group__CO__driver.js ├── group__CO__epoll__interface.html ├── group__CO__epoll__interface.js ├── group__CO__socketCAN.html ├── group__CO__socketCAN.js ├── group__CO__socketCAN__ERROR.html ├── group__CO__socketCAN__ERROR.js ├── group__CO__socketCAN__OD__storage.html ├── group__CO__socketCAN__OD__storage.js ├── group__CO__socketCAN__driver__target.html ├── group__CO__socketCAN__driver__target.js ├── group__CO__trace.html ├── group__CO__trace.js ├── index.html ├── jquery.js ├── md_doc_CHANGELOG.html ├── md_doc_LSSusage.html ├── md_doc_deviceSupport.html ├── md_doc_gettingStarted.html ├── md_doc_objectDictionary.html ├── md_doc_traceUsage.html ├── md_example_DS301_profile.html ├── modules.html ├── modules.js ├── nav_f.png ├── nav_g.png ├── nav_h.png ├── navtree.css ├── navtree.js ├── navtreedata.js ├── navtreeindex0.js ├── navtreeindex1.js ├── navtreeindex2.js ├── navtreeindex3.js ├── navtreeindex4.js ├── navtreeindex5.js ├── navtreeindex6.js ├── navtreeindex7.js ├── navtreeindex8.js ├── navtreeindex9.js ├── open.png ├── pages.html ├── resize.js ├── search │ ├── all_0.html │ ├── all_0.js │ ├── all_1.html │ ├── all_1.js │ ├── all_10.html │ ├── all_10.js │ ├── all_11.html │ ├── all_11.js │ ├── all_12.html │ ├── all_12.js │ ├── all_13.html │ ├── all_13.js │ ├── all_2.html │ ├── all_2.js │ ├── all_3.html │ ├── all_3.js │ ├── all_4.html │ ├── all_4.js │ ├── all_5.html │ ├── all_5.js │ ├── all_6.html │ ├── all_6.js │ ├── all_7.html │ ├── all_7.js │ ├── all_8.html │ ├── all_8.js │ ├── all_9.html │ ├── all_9.js │ ├── all_a.html │ ├── all_a.js │ ├── all_b.html │ ├── all_b.js │ ├── all_c.html │ ├── all_c.js │ ├── all_d.html │ ├── all_d.js │ ├── all_e.html │ ├── all_e.js │ ├── all_f.html │ ├── all_f.js │ ├── classes_0.html │ ├── classes_0.js │ ├── classes_1.html │ ├── classes_1.js │ ├── close.png │ ├── enums_0.html │ ├── enums_0.js │ ├── enums_1.html │ ├── enums_1.js │ ├── enumvalues_0.html │ ├── enumvalues_0.js │ ├── enumvalues_1.html │ ├── enumvalues_1.js │ ├── files_0.html │ ├── files_0.js │ ├── functions_0.html │ ├── functions_0.js │ ├── functions_1.html │ ├── functions_1.js │ ├── functions_2.html │ ├── functions_2.js │ ├── groups_0.html │ ├── groups_0.js │ ├── groups_1.html │ ├── groups_1.js │ ├── groups_2.html │ ├── groups_2.js │ ├── groups_3.html │ ├── groups_3.js │ ├── groups_4.html │ ├── groups_4.js │ ├── groups_5.html │ ├── groups_5.js │ ├── groups_6.html │ ├── groups_6.js │ ├── groups_7.html │ ├── groups_7.js │ ├── groups_8.html │ ├── groups_8.js │ ├── groups_9.html │ ├── groups_9.js │ ├── groups_a.html │ ├── groups_a.js │ ├── groups_b.html │ ├── groups_b.js │ ├── groups_c.html │ ├── groups_c.js │ ├── groups_d.html │ ├── groups_d.js │ ├── mag_sel.png │ ├── nomatches.html │ ├── pages_0.html │ ├── pages_0.js │ ├── pages_1.html │ ├── pages_1.js │ ├── pages_2.html │ ├── pages_2.js │ ├── pages_3.html │ ├── pages_3.js │ ├── pages_4.html │ ├── pages_4.js │ ├── pages_5.html │ ├── pages_5.js │ ├── search.css │ ├── search.js │ ├── search_l.png │ ├── search_m.png │ ├── search_r.png │ ├── searchdata.js │ ├── typedefs_0.html │ ├── typedefs_0.js │ ├── typedefs_1.html │ ├── typedefs_1.js │ ├── typedefs_2.html │ ├── typedefs_2.js │ ├── typedefs_3.html │ ├── typedefs_3.js │ ├── typedefs_4.html │ ├── typedefs_4.js │ ├── typedefs_5.html │ ├── typedefs_5.js │ ├── typedefs_6.html │ ├── typedefs_6.js │ ├── variables_0.html │ ├── variables_0.js │ ├── variables_1.html │ ├── variables_1.js │ ├── variables_10.html │ ├── variables_10.js │ ├── variables_11.html │ ├── variables_11.js │ ├── variables_12.html │ ├── variables_12.js │ ├── variables_13.html │ ├── variables_13.js │ ├── variables_2.html │ ├── variables_2.js │ ├── variables_3.html │ ├── variables_3.js │ ├── variables_4.html │ ├── variables_4.js │ ├── variables_5.html │ ├── variables_5.js │ ├── variables_6.html │ ├── variables_6.js │ ├── variables_7.html │ ├── variables_7.js │ ├── variables_8.html │ ├── variables_8.js │ ├── variables_9.html │ ├── variables_9.js │ ├── variables_a.html │ ├── variables_a.js │ ├── variables_b.html │ ├── variables_b.js │ ├── variables_c.html │ ├── variables_c.js │ ├── variables_d.html │ ├── variables_d.js │ ├── variables_e.html │ ├── variables_e.js │ ├── variables_f.html │ └── variables_f.js ├── splitbar.png ├── structCO__CANinterfaceErrorhandler__t.html ├── structCO__CANinterfaceErrorhandler__t.js ├── structCO__CANmodule__t.html ├── structCO__CANmodule__t.js ├── structCO__CANrx__t.html ├── structCO__CANrx__t.js ├── structCO__CANtx__t.html ├── structCO__CANtx__t.js ├── structCO__EM__t.html ├── structCO__EM__t.js ├── structCO__GFC__t.html ├── structCO__GFC__t.js ├── structCO__GTWA__t.html ├── structCO__GTWA__t.js ├── structCO__HBconsNode__t.html ├── structCO__HBconsNode__t.js ├── structCO__HBconsumer__t.html ├── structCO__HBconsumer__t.js ├── structCO__LEDs__t.html ├── structCO__LEDs__t.js ├── structCO__LSSmaster__fastscan__t.html ├── structCO__LSSmaster__fastscan__t.js ├── structCO__LSSmaster__t.html ├── structCO__LSSmaster__t.js ├── structCO__LSSslave__t.html ├── structCO__LSSslave__t.js ├── structCO__NMT__t.html ├── structCO__NMT__t.js ├── structCO__OD__storage__t.html ├── structCO__OD__storage__t.js ├── structCO__RPDOCommPar__t.html ├── structCO__RPDOCommPar__t.js ├── structCO__RPDOMapPar__t.html ├── structCO__RPDOMapPar__t.js ├── structCO__RPDO__t.html ├── structCO__RPDO__t.js ├── structCO__SDOclient__t.html ├── structCO__SDOclient__t.js ├── structCO__SDOserver__t.html ├── structCO__SDOserver__t.js ├── structCO__SRDOCommPar__t.html ├── structCO__SRDOCommPar__t.js ├── structCO__SRDOGuard__t.html ├── structCO__SRDOGuard__t.js ├── structCO__SRDO__t.html ├── structCO__SRDO__t.js ├── structCO__SYNC__t.html ├── structCO__SYNC__t.js ├── structCO__TIME__t.html ├── structCO__TIME__t.js ├── structCO__TPDOCommPar__t.html ├── structCO__TPDOCommPar__t.js ├── structCO__TPDOMapPar__t.html ├── structCO__TPDOMapPar__t.js ├── structCO__TPDO__t.html ├── structCO__TPDO__t.js ├── structCO__config__t.html ├── structCO__config__t.js ├── structCO__epoll__gtw__t.html ├── structCO__epoll__gtw__t.js ├── structCO__epoll__t.html ├── structCO__epoll__t.js ├── structCO__fifo__t.html ├── structCO__fifo__t.js ├── structCO__t.html ├── structCO__t.js ├── structCO__trace__dataType__t.html ├── structCO__trace__dataType__t.js ├── structCO__trace__t.html ├── structCO__trace__t.js ├── structOD__IO__t.html ├── structOD__IO__t.js ├── structOD__entry__t.html ├── structOD__entry__t.js ├── structOD__extensionIO__t.html ├── structOD__extensionIO__t.js ├── structOD__obj__array__t.html ├── structOD__obj__array__t.js ├── structOD__obj__extended__t.html ├── structOD__obj__extended__t.js ├── structOD__obj__record__t.html ├── structOD__obj__record__t.js ├── structOD__obj__var__t.html ├── structOD__obj__var__t.js ├── structOD__stream__t.html ├── structOD__stream__t.js ├── structOD__subEntry__t.html ├── structOD__subEntry__t.js ├── structOD__t.html ├── structOD__t.js ├── sync_off.png ├── sync_on.png ├── tab_a.png ├── tab_b.png ├── tab_h.png ├── tab_s.png ├── tabs.css └── unionCO__LSS__address__t.html ├── examples └── basicDevice │ ├── .gitignore │ ├── CO_application.c │ ├── CO_application.h │ ├── CO_driver_custom.h │ ├── EDSEditor.png │ ├── Makefile │ ├── OD.c │ ├── OD.h │ ├── README.md │ ├── basicDevice.eds │ ├── basicDevice.md │ ├── basicDevice.xdd │ ├── gateway.Makefile │ ├── testingVariables.c │ └── testingVariables.h ├── test ├── running_canopen │ ├── SDO_transfer.bats │ ├── basic_NMT_SDO_heartbeat.bats │ ├── config_bats.sh │ ├── heartbeat_consumer.bats │ ├── start_canopen.sh │ └── test_all.sh ├── test.md └── test_report.md └── tools ├── get_tools.sh ├── run_canopend_candump.sh └── update_docs.sh /.gitignore: -------------------------------------------------------------------------------- 1 | /cocomm/cocomm 2 | /canopencgi/canopen.cgi 3 | *.o 4 | *.bak 5 | tmp 6 | index.html 7 | 8 | /tools/EDSEditor 9 | 10 | # eclipse 11 | .cproject 12 | .project 13 | .settings/ 14 | 15 | # kdevelop 16 | *.kdev4 17 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "CANopenNode"] 2 | path = CANopenNode 3 | url = https://github.com/CANopenNode/CANopenNode.git 4 | [submodule "test/libs/bats-core"] 5 | path = test/libs/bats-core 6 | url = https://github.com/bats-core/bats-core.git 7 | [submodule "test/libs/bats-support"] 8 | path = test/libs/bats-support 9 | url = https://github.com/bats-core/bats-support.git 10 | [submodule "test/libs/bats-assert"] 11 | path = test/libs/bats-assert 12 | url = https://github.com/bats-core/bats-assert.git 13 | -------------------------------------------------------------------------------- /canopencgi/Makefile: -------------------------------------------------------------------------------- 1 | # Makefile for CANopenCGI. 2 | 3 | 4 | APPL_SRC = . 5 | 6 | 7 | LINK_TARGET = canopen.cgi 8 | 9 | 10 | INCLUDE_DIRS = -I$(APPL_SRC) 11 | 12 | 13 | SOURCES = $(APPL_SRC)/CANopenCGI.c 14 | 15 | 16 | OBJS = $(SOURCES:%.c=%.o) 17 | CC ?= gcc 18 | CFLAGS = -Wall -g $(INCLUDE_DIRS) 19 | LDFLAGS = 20 | 21 | 22 | .PHONY: all clean 23 | 24 | all: clean $(LINK_TARGET) 25 | 26 | clean: 27 | rm -f $(OBJS) $(LINK_TARGET) 28 | 29 | %.o: %.c 30 | $(CC) $(CFLAGS) -c $< -o $@ 31 | 32 | $(LINK_TARGET): $(OBJS) 33 | $(CC) $(LDFLAGS) $^ -o $@ 34 | -------------------------------------------------------------------------------- /cocomm/Makefile: -------------------------------------------------------------------------------- 1 | # Makefile for CANopenCommand. 2 | 3 | APPL_SRC = . 4 | LINK_TARGET = cocomm 5 | INCLUDE_DIRS = -I$(APPL_SRC) 6 | SOURCES = $(APPL_SRC)/cocomm.c 7 | 8 | OBJS = $(SOURCES:%.c=%.o) 9 | CC ?= gcc 10 | OPT = -g 11 | #OPT = -g -pedantic -Wshadow -fanalyzer 12 | CFLAGS = -Wall $(OPT) $(INCLUDE_DIRS) 13 | LDFLAGS = 14 | 15 | .PHONY: all clean 16 | 17 | all: clean $(LINK_TARGET) 18 | 19 | clean: 20 | rm -f $(OBJS) $(LINK_TARGET) 21 | 22 | %.o: %.c 23 | $(CC) $(CFLAGS) -c $< -o $@ 24 | 25 | $(LINK_TARGET): $(OBJS) 26 | $(CC) $(LDFLAGS) $^ -o $@ 27 | -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ubuntu:16.04 2 | 3 | ENV CANOPENSOCKET_SRC https://github.com/CANopenNode/CANopenSocket.git 4 | ENV CANOPENSOCKET_REVISION ee1674c1ca790fc0d5c07a28f4a701d3c929f401 5 | ENV CANOPENSOCKET_DIR /CANopenSocket 6 | ENV APP_DIR /app 7 | 8 | RUN apt-get update && apt-get install -y \ 9 | net-tools \ 10 | can-utils \ 11 | git \ 12 | build-essential \ 13 | && apt-get -q autoremove \ 14 | && apt-get -q clean -y \ 15 | && rm -rf /var/lib/apt/lists/* \ 16 | && rm -f /var/cache/apt/*.bin 17 | 18 | RUN git clone $CANOPENSOCKET_SRC $CANOPENSOCKET_DIR 19 | WORKDIR $CANOPENSOCKET_DIR 20 | RUN git checkout $CANOPENSOCKET_REVISION 21 | RUN git submodule init; git submodule update 22 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-------------------------------------------------------------------------------- /docs/sync_off.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/docs/sync_off.png -------------------------------------------------------------------------------- /docs/sync_on.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/docs/sync_on.png -------------------------------------------------------------------------------- /docs/tab_a.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/docs/tab_a.png -------------------------------------------------------------------------------- /docs/tab_b.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/docs/tab_b.png -------------------------------------------------------------------------------- /docs/tab_h.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/docs/tab_h.png -------------------------------------------------------------------------------- /docs/tab_s.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/docs/tab_s.png -------------------------------------------------------------------------------- /examples/basicDevice/.gitignore: -------------------------------------------------------------------------------- 1 | /basicDevice 2 | /basicDeviceWithGateway 3 | CO_version.h 4 | *.persist 5 | *.persist.old 6 | -------------------------------------------------------------------------------- /examples/basicDevice/EDSEditor.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/CANopenNode/CANopenSocket/1142fb57bcfcd8420346c20764922354a49589b2/examples/basicDevice/EDSEditor.png -------------------------------------------------------------------------------- /test/running_canopen/config_bats.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | 4 | # CAN device for candump 5 | if [[ $can_device = "" ]] ; then 6 | export can_device=vcan0 7 | fi 8 | 9 | # Location of cocomm program 10 | if [[ $cocomm = "" ]] ; then 11 | export cocomm="../../cocomm/cocomm" 12 | fi 13 | 14 | # Heartbeat producer time, 0xA0 = 160ms 15 | if [[ $HB = "" ]] ; then 16 | export HB=A0 17 | fi 18 | 19 | # Heartbeat consumer timeout, 0xF0 = 240ms 20 | if [[ $HB_timeout = "" ]] ; then 21 | export HB_timeout=F0 22 | fi 23 | 24 | # NodeId of device 1 (with command interface) 25 | if [[ $D1 = "" ]] ; then 26 | export D1=01 27 | fi 28 | # NodeId of device 1 + 0x80 29 | if [[ $B1 = "" ]] ; then 30 | export B1=81 31 | fi 32 | # NodeId of device 2 (tested device) 33 | if [[ $D2 = "" ]] ; then 34 | export D2=04 35 | fi 36 | # NodeId of device 2 + 0x80 37 | if [[ $B2 = "" ]] ; then 38 | export B2=84 39 | fi 40 | 41 | # Other 42 | export OK=$'OK\r' 43 | export cocomm_flat=1 44 | export cocomm_candump=$can_device 45 | # export cocomm_socket=/tmp/CO_command_socket #default 46 | # export cocomm_host= 47 | # export cocomm_port= 48 | -------------------------------------------------------------------------------- /test/running_canopen/test_all.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | if [[ $1 = "" ]] ; then 4 | echo "No CAN device specified. Assuming two CANopen devices already running:" 5 | echo " - 'canopend' with nodeId=1 and gateway interface: 'local-/tmp/CO_command_socket'" 6 | echo " - 'basicDevice' with nodeId=4" 7 | echo "If that is not the case, read test.md or try: ./test_all.sh vcan0" 8 | else 9 | echo "Starting two CANopen devices in background with 'start_canopen.sh':" 10 | ./start_canopen.sh $1 11 | fi 12 | 13 | 14 | START=$(date +%s.%N) 15 | 16 | echo -e "\nRunning 'basic_NMT_SDO_heartbeat.bats':" 17 | ./basic_NMT_SDO_heartbeat.bats 18 | echo -e "\nRunning 'heartbeat_consumer.bats':" 19 | ./heartbeat_consumer.bats 20 | echo -e "\nRunning 'SDO_transfer.bats':" 21 | ./SDO_transfer.bats 22 | 23 | END=$(date +%s.%N) 24 | DIFF=$(echo "$END - $START" | bc) 25 | echo -e "Test duration: $DIFF sec\n" 26 | 27 | 28 | if [[ $1 != "" ]] ; then 29 | echo "Cleanup two CANopen devices:" 30 | tmp/stop_canopen.sh 31 | fi 32 | 33 | echo -e "\nPress enter to close..." 34 | read 35 | -------------------------------------------------------------------------------- /tools/get_tools.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | wget "https://github.com/robincornelius/libedssharp/raw/gh-pages/build/OpenEDSEditor-latest.zip" 4 | 5 | if [ $? -eq 0 ] ; then 6 | rm -r EDSEditor 7 | unzip OpenEDSEditor-latest.zip -d EDSEditor 8 | chmod a+x EDSEditor/*.exe 9 | rm OpenEDSEditor-latest.zip 10 | echo "EDSEditor updated successfully." 11 | fi 12 | 13 | echo "Press enter to continue..." 14 | read 15 | -------------------------------------------------------------------------------- /tools/run_canopend_candump.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | if [[ $1 = "" ]] ; then 4 | if [[ $can_device = "" ]] ; then 5 | can_device=vcan0 6 | fi 7 | else 8 | can_device=$1 9 | fi 10 | echo "Using CAN device: '$can_device'" 11 | 12 | # if "can_device" does not exist, create it 13 | if ! grep -q $can_device /proc/net/can/rcvlist_all ; then 14 | echo "ip link: adding and setting up virtual CAN device named '$can_device'" 15 | sudo modprobe vcan 16 | sudo ip link add dev $can_device type vcan 17 | sudo ip link set up $can_device 18 | fi 19 | 20 | echo "Running in background: 'candump -td $can_device" 21 | candump -td $can_device& 22 | 23 | 24 | if [[ $2 = "" ]] ; then 25 | if [[ $co_device = "" ]] ; then 26 | co_device="../CANopenNode/canopend" 27 | fi 28 | else 29 | co_device=$2 30 | fi 31 | 32 | mkdir tmp 33 | echo "Running: '$co_device $can_device -i 1 -s \"tmp/dev1_\" -c \"local-/tmp/CO_command_socket\"'" 34 | echo "-" > tmp/dev1_lss.persist 35 | echo "-" > tmp/dev1_od_comm.persist 36 | $co_device $can_device -i 1 -s "tmp/dev1_" -c "local-/tmp/CO_command_socket" 37 | 38 | rm -r tmp 39 | 40 | echo -e "\nFinished, press enter to close..." 41 | read 42 | -------------------------------------------------------------------------------- /tools/update_docs.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | cd ../CANopenNode 4 | 5 | doxygen > /dev/null 6 | 7 | cd .. 8 | ln -s CANopenNode/doc/html/index.html 9 | 10 | echo "Press enter to continue..." 11 | read 12 | --------------------------------------------------------------------------------