canopeners

Incomplete, but easy to use implementation of the CANOpen standard in Rust.

Examples

All examples are blocking. Set timeouts with conn.set_{read_write}_timeout.

Send a single message:

Conn::new("vcan0").map(|conn| {
    let nmt = Nmt::new(canopeners::NmtFunction::StartRemoteNode, 10);
    conn.send(&Message::Nmt(nmt)).unwrap();
})

Write bytes to object dictionary on a remote node:

Conn::new("vcan0").map(|mut conn| {
    conn.sdo_write(
    /* remote node id */ 0x10, 
    /* index */ 0x1000,
    /* sub index */ 1,
    /* data, can be any length */ &[1, 2, 3, 4, 5, 6, 7, 8, 9, 10])
    .unwrap();
})

Read bytes from object dictionary on a remote node:

Conn::new("vcan0").map(|mut conn| {
    let res = conn.sdo_read(
    /* remote node id */ 0x10, 
    /* index */ 0x1000,
    /* sub index */ 1)
    .unwrap();
    dbg!(res);
})

Building

nix develop
cargo build

if you'd rather use your system cargo, just cargo build will work too

Testing

setup_vcan.sh sets up a virtual CAN bus. tests/ rely on this

TODO

• enum for all message types (can't use impl trait as function return type)
• send/receive SDO
• stateless example over vcan
• segmented SDO
• porcelain wrappers for easy send/receive over SDO
• finish replacing manual bit manipulation with binrw
• package.nix
• convert simple.rs example into tests
• fix cargo warns
• fix clippy lints
• add send_acked for all message types
• Node impl sending TPDOs based on SYNC msgs
• extended ID support