CANopen Setup

This section explains setting up CANopen communication on a BBB with comms cape. This cape enables CANbus connections without additional hardware.

Setting up CANopenSocket

1. Clone the CANopenSocket repo and its submodules (CANopenNode).

   git clone https://github.com/CANopenNode/CANopenSocket.git cd CANopenSocket git submodule init git submodule update

2. Put CANopenSocket folder in the /home/debian/ folder on BBB.

3. Compile CANopenSocket and canopencomm:

   cd CANopenSocket/canopend make

   and, go back to home folder cd /, then run

   cd CANopenSocket/canopencomm make

Starting the communication

1. Firstly connect the BBB to the CANbus network of the X2.
2. The communication setup requires CAN pins to be enabled on the BBB comms cape, and canopend (in CANopenSocket) has to be started.
3. This can be done using the InitHardware.sh script from the BBB Script Folder. Copy this file to BBB /home/debian/ folder and run it: ./InitHardware.sh.
4. The system is now setup to run programs that use CANopen.