socketCAN

Linux specific interface to CANopenNode. More...

Collaboration diagram for socketCAN:

Topics
	Application interface to CANopenNode Application interface, similar to Arduino,
	extended to CANopen and additional, realtime thread.
	CO_driver_target.h
	Linux socketCAN specific Driver definitions for CANopenNode.
	Epoll interface
	Linux epoll interface to CANopenNode.
	CAN errors & Log
	CANopen Errors and System message log
	Data storage with Linux
	Data initialize, store and restore functions with Linux.

Detailed Description

Linux specific interface to CANopenNode.

Linux includes CAN interface inside its kernel, so called SocketCAN. It operates as a network device. For more information on Linux SocketCAN see https://www.kernel.org/doc/html/latest/networking/can.html

Linux specific files for interfacing with Linux SocketCAN are located inside "CANopenNode/socketCAN" directory.

CANopenNode runs as a set of non-blocking functions. It can run in single or multiple threads. Best approach for RT IO device can be with two threads:

• timer based real-time thread for CAN receive, SYNC and PDO, see CO_epoll_processRT()
• mainline thread for other processing, see CO_epoll_processMain()

Main references for Linux functions used here are Linux man pages and the book: The Linux Programming Interface by Michael Kerrisk.