CanFestival

CanFestival is an open-source CANopen stack implementation in C, with a Python-based object dictionary editor.

Building

CanFestival uses CMake:

mkdir build && cd build
cmake .. -DCF_TARGET=unix -DCF_CAN_DRIVER=virtual -DCF_TIMERS_DRIVER=unix
make

CMake options

Option	Default	Description
CF_TARGET	unix	Target platform (unix, windows)
CF_CAN_DRIVER	virtual	CAN driver (virtual, socket, peak, kvaser, ...)
CF_TIMERS_DRIVER	unix	Timer driver (unix, windows, xeno)
CF_ENABLE_LSS	OFF	Enable LSS (Layer Setting Services)
CF_ENABLE_LSS_FS	OFF	Enable LSS FastScan
CF_ENABLE_DLL_DRIVERS	ON	Build CAN drivers as shared libraries
CF_BUILD_EXAMPLES	OFF	Build example applications

Stack constants (all configurable via -D):

CF_SDO_MAX_LENGTH_TRANSFER, CF_SDO_BLOCK_SIZE, CF_SDO_MAX_SIMULTANEOUS_TRANSFERS, CF_NMT_MAX_NODE_ID, CF_SDO_TIMEOUT_MS, CF_MAX_NB_TIMER, CF_EMCY_MAX_ERRORS, CF_LSS_TIMEOUT_MS, CF_LSS_FS_TIMEOUT_MS

Build outputs

• libcanfestival.a -- Core CANopen stack
• libcanfestival_<target>.a -- Platform driver (includes timer driver)
• libcanfestival_can_<driver>.so -- CAN driver (shared, when CF_ENABLE_DLL_DRIVERS=ON)

Cross-compilation

Use standard CMake toolchain files:

cmake .. -DCMAKE_TOOLCHAIN_FILE=path/to/toolchain.cmake

Object Dictionary Editor

The objdictgen/ directory contains a GUI editor for CANopen object dictionaries, written in Python 3 with wxPython 4.

cd objdictgen
python3 objdictedit.py

Requirements

• Python 3
• wxPython 4 (pip install wxPython)

Command-line code generation

Generate C source from a DCF file:

python3 objdictgen/objdictgen.py MyNode.dcf MyNode.c

File format

Object dictionaries are stored as DCF (Device Configuration File) -- an INI-style format extending the standard CANopen EDS format. CanFestival uses extension sections ([CanFestivalNode], [CanFestivalParams], etc.) to preserve editor metadata.

Available CAN drivers

Driver	Platform	Description
virtual	All	Pipe-based in-process virtual CAN for testing purpose
socket	Linux	SocketCAN, all Linux CAN interfaces
peak	⚠️ Windows	PEAK PCAN
kvaser	⚠️ Windows	Kvaser CANlib
anagate	⚠️ Windows	AnaGate CAN
ixxat	⚠️ Windows	IXXAT VCI
vscom	⚠️ Windows	VSCom VSCAN

⚠️: Windows drivers are outdated and haven't been tested with new Cmake build-system. They probably won't build as-is. Build system needs to be extended to support corresponding manufacturer's drivers and libraries again.

Project structure

CMakeLists.txt          Top-level build
src/                    Core CANopen stack (C)
drivers/                Platform, timer, and CAN drivers
include/                Public headers
objdictgen/             Object dictionary generation (Python)
  objdictedit.py        Object dictionary editor
  networkedit.py        Network topology editor
  objdictgen.py         CLI code generator
  config/               CiA device profiles (.prf)
examples/               Example applications
doc/                    Documentation

Examples

Enable with -DCF_BUILD_EXAMPLES=ON:

cmake .. -DCF_BUILD_EXAMPLES=ON -DCF_ENABLE_LSS=ON
make

Each example has its object dictionary stored as one or more .dcf files and its main C sources alongside. At configure time CMake runs objdictgen.py on each DCF to produce the matching .c/.h in the build tree, then links them with the hand-written sources and the CanFestival libraries. An example is skipped with a status message if any of its DCF files is missing.

Example	DCF files	Notes
CANOpenShell	CANOpenShellMasterOD.dcf, CANOpenShellSlaveOD.dcf	Interactive CANopen shell
DS401_Master	TestMaster.dcf	DS-401 master example
DS401_Slave_Gui	ObjDict.dcf	wxWidgets C++ slave; requires wxWidgets-dev
TestMasterSlave	TestMaster.dcf, TestSlave.dcf	Master + slave in one process
TestMasterSlaveLSS	TestMaster.dcf, TestSlaveA.dcf, TestSlaveB.dcf	Requires CF_ENABLE_LSS=ON

To edit a DCF in the GUI:

python3 objdictgen/objdictedit.py examples/TestMasterSlave/TestMaster.dcf

License

LGPL v2.1 -- see LICENCE.

Authors

See AUTHORS.