Introduction

This package is aimed to be a modern, efficient and compliant CANopen stack written entirely in go. It features both slave & master control and supports dynamic OD creation directly via EDS file.

This project has been inspired by two other existing projects:

• CANopenNode a C implementation slave side.
• canopen a python implementation mostly for master control.

This project implements both slave & master side using an efficient API. Currently the following is implemented :

Service name	Implemented
SDO server	yes
SDO client	yes
NMT master	yes
NMT slave	yes
HB producer	yes
HB consumer	yes
TPDO	yes
RPDO	yes
EMERGENCY producer	yes
EMERGENCY consumer	yes
SYNC producer	yes
SYNC consumer	yes
TIME producer	yes
TIME consumer	yes
LSS producer	no
LSS consumer	no

Basic Example

This is a short example that connects to socketcan, reads remote node device name \ and performs a network scan.

package main

import (
    "fmt"

    "github.com/samsamfire/gocanopen/pkg/network"
    "github.com/samsamfire/gocanopen/pkg/od"
)

func main() {

    network := network.NewNetwork(nil)
    err := network.Connect("socketcan", "can0", 500_000)
    if err != nil {
        panic(err)
    }
    defer network.Disconnect()

    // Add a remote node to the network, either by providing an EDS file
    // Or downloading from the node. We use here a default OD available with the library
    node, err := network.AddRemoteNode(0x10, od.Default())
    if err != nil {
        panic(err)
    }

    // Read standard entry containing device name (0x1008)
    value, err := node.Configurator().ReadManufacturerDeviceName()
    if err != nil {
        fmt.Printf("error reading node %v device name : %v\n", node.GetID(), err)
    } else {
        fmt.Printf("node %v device name is %v\n", node.GetID(), value)
    }

    // Perform a network scan to detect other nodes...
    res, err := network.Scan(1000)
    if err != nil {
        panic(err)
    }
    fmt.Println("scanned the following nodes : ", res)
}