CANopen Utilities (hf-utils-canopen)

CAN frame construction and CANopen protocol helpers.

Components

Header Description
CanFrame.h CanOpen::CanFrame struct (ID, DLC, data, extended, RTR)
SdoProtocol.h SDO COB-ID calculation, expedited download/upload frames
NmtProtocol.h NMT commands and state machine enums

Usage 

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#include "CanFrame.h"
#include "SdoProtocol.h"
#include "NmtProtocol.h"

// Build an SDO write frame
auto frame = CanOpen::BuildSdoDownloadExpedited(
    0x01,     // node_id
    0x1017,   // index (producer heartbeat time)
    0x00,     // sub-index
    1000,     // value (1000ms)
    2         // data_size
);

// Build an NMT start command
auto nmt = CanOpen::BuildNmtCommand(
    CanOpen::NmtCommand::START_REMOTE_NODE,
    0x01
);

Test Coverage

See examples/esp32/main/utils_tests/canopen_utils_comprehensive_test.cpp.