CiA402Device

Library under CiA 402 standard for device control

How to use

This library is intended for the use with CMake build system and SocketCan hardware. Under CMake building, it automatically holds all the include and link directories in variables:

SUBDIR_INCLUDE_DIRECTORIES
SUBDIR_LINK_NAMES

Then, assuming the library is placed at "${PROJECT_SOURCE_DIR}/lib/CiA402Device/" (for example after clone with git clone https://github.com/HUMASoft/CiA402Device.git , it is enough to add the following lines to CMakeLists.txt to add includes:

add_subdirectory(${PROJECT_SOURCE_DIR}/lib/CiA402Device/)
INCLUDE_DIRECTORIES(${SUBDIR_INCLUDE_DIRECTORIES})

Also after "add_executable( ${name} ${sourcefile} )" line, add the following to link the library:

target_link_libraries( ${PROJECT_NAME} ${SUBDIR_LINK_NAMES} )

Can interface

Remember to start can interface by typing these lines:

sudo ip link add dev can0 type can
sudo ip link set up can0

Main classes

The library is based on the use of the class CiA402Device, then the use of the functionalities will be done trough an instance of that class. A communication port is also needed, so the commo instance will be done with the following lines:

//prepare port. Open a port address with a PortBase Object
SocketCanPort p1("can0");

//Create a joint and give a canopen id, and a 301port (by constructor)
CiA402Device j1(3,&p1);

See https://github.com/HUMASoft/CiA402Device-example for more use examples.

Troubleshooting here: https://github.com/HUMASoft/CiA402Device/wiki/Troubleshooting.

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