lely-canopen Lely CANopen support

Lely CANopen is an open-source CANopen (CiA 301/302/305/315) protocol stack.

The port configuration (LELY_NO_* feature switches) is generated from Kconfig in apps/include/canutils/lely/config.h.

Feature selection

CONFIG_CANUTILS_LELYCANOPEN enables the build. The individual CANopen services are selected with the CONFIG_CANUTILS_LELYCANOPEN_* options, including:

  • SDEV – static device description support (selects OBJNAME)

  • MASTER – NMT master support

  • EMCY – emergency (EMCY) objects

  • CSDO / SSDO – client / server SDO

  • RPDO / TPDO / MPDO – process data objects

  • SYNC / TIME – SYNC and TIME producers/consumers

  • LSS – layer setting services

  • NG / NMTBOOT / NMTCFG – node guarding and master boot/config

  • OBJDEFAULT / OBJLIMITS / OBJNAME / OBJUPLOAD / OBJFILE – object dictionary features

Tools

CONFIG_CANUTILS_LELYCANOPEN_TOOLS_COCTL builds coctl, the Lely CANopen control tool (an interactive ASCII gateway). It requires SocketCAN (NET_CAN).

Examples

Two ready-to-run demos built on this library are provided:

Both can run on the simulator over the CAN character driver. See Testing a CANopen network on the simulator for how to set up a virtual CAN network and observe the traffic.