canbusctl
Monitor, record, convert and replay CAN, CAN FD and CAN XL traffic, decode and encode with DBC, KCD or ARXML, run ISO-TP, simulate a database and test under faults. Passive by default; transmitting on a real bus needs --yes.
Protocol libraries
go-canopen
CANopen (CiA 301) and CANopen FD on go-canbus: object dictionary, SDO and USDO, NMT, heartbeat, PDOs and MPDOs, SYNC, EMCY, TIME, LSS, a complete device and a CiA 302 network manager, EDS/DCF files, typed Go from an EDS and the CiA 402 drive profile. No cgo.
What it does
- The CiA 301 services: an object dictionary with access rights, limits, node-ID relative defaults, hooks and watchers; SDO client and server with expedited, segmented and block transfer; NMT master and slave with both resets; heartbeat, node guarding and life guarding; SYNC with the synchronous window, EMCY and TIME.
- PDOs with every transmission type, inhibit time, event timer, RTR and deadline monitoring, the CiA 301 reconfiguration rules and remote configuration; multiplexed PDOs (DAM and SAM) with scanner and dispatcher lists.
- A complete device built from a dictionary, gated by its NMT state, and a network manager: scan, boot procedure, DCF configuration, the CiA 302 network boot-up with an optional LSS step, concise DCF configuration, program download and one ordered event stream.
- LSS (CiA 305) master and slave with Fastscan and automatic node-ID assignment; store and restore of parameters behind 0x1010 and 0x1011.
- CANopen FD (CiA 1301) from public sources: the USDO, 64-byte PDOs and 20-byte emergencies. No open reference stack implements it, so it is tested against go-canopen itself only.
- EDS and DCF (CiA 306) parsing, validation and writing, typed Go generated from an EDS, the CiA 402 drive profile with a simulated drive and a controller, and a frame dissector checked against Wireshark.
- Runs on go-canbus, so the same code works on Linux SocketCAN, slcan adapters on every OS and an in-process virtual bus.
- Interop tested against CANopenNode, Lely CANopen and python canopen in both directions on Linux virtual CAN: 1,276 scenarios pass and none fail, with 57 documented differences and 287 skips where a stack lacks a feature. No CiA conformance claim, nothing tested on real CAN hardware yet.
Install
go get github.com/otfabric/go-canopenProtocols
- CANopen: The application protocol that runs on CAN in machines, drives, lifts, medical and mobile equipment: an object dictionary per device, SDO to read and write it, PDOs for process data, NMT and heartbeats to manage the network, and EDS files that describe each device.
Works with
- CAN bus: The two-wire bus of vehicles, machines, batteries and chargers, and the transport that CANopen, SAE J1939 and UDS run on: short frames with an identifier that names the message and sets its priority, CAN FD for longer and faster frames, CAN XL for up to 2048 bytes, and ISO-TP for messages above one frame.
The README on GitHub has the full feature list, examples and changelog.
Related projects
canopenctl
Monitor and decode CANopen traffic, read and write object dictionaries over SDO or USDO, manage nodes with NMT, assign node-IDs with LSS, boot a network as a CiA 302 manager, configure PDOs and MPDOs, work with EDS, DCF and concise DCF files, drive CiA 402 axes and simulate devices. Read-only by default; changes on a real bus need --yes.
go-canbus
The CAN transport for Go: classical CAN, CAN FD and CAN XL frames on Linux SocketCAN, serial-line (slcan) adapters on every OS and a virtual bus, with ISO-TP, capture and replay in seven trace formats, and DBC, KCD and ARXML databases with a signal codec and a Go code generator. go-canopen runs on it. No cgo.
go get github.com/otfabric/go-canbuscanbus-interop
Seven independent CAN references in containers behind one contract: can-utils with the kernel's ISO-TP, python-can, socketcan-rs, Scapy, python-can-isotp, cantools and canmatrix, on Linux virtual CAN.
canopen-interop
Three independent CANopen stacks in containers behind one contract, as devices and masters: CANopenNode, Lely CANopen and python canopen, with EDS checkers, LSS, MPDOs and the CiA 302 boot-up, on Linux virtual CAN.