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CANopen stack implemented in Erlang

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canopen
=====

canopen implements a CANopen stack. 
See [www.can-cia.org](http://www.can-cia.org/index.php?id=canopen) for a description of CANopen.

### Dependencies

To build canopen you will need a working installation of Erlang R15B (or
later). 
Information on building and installing [Erlang/OTP](http://www.erlang.org)
can be found [here](https://github.com/erlang/otp/wiki/Installation)
([more info](https://github.com/erlang/otp/blob/master/INSTALL.md)).

canopen is built using rebar that can be found [here](https://github.com/rebar/rebar), with building instructions [here](https://github.com/rebar/rebar/wiki/Building-rebar). rebar's dynamic configuration mechanism, described [here](https://github.com/rebar/rebar/wiki/Dynamic-configuration), is used so the environment variable `REBAR_DEPS` should be set to the directory where your erlang applications are located.

canopen also requires the following applications to be installed:
<ul>
<li>dthread - https://github.com/tonyrog/dthread</li>
<li>uart - https://github.com/tonyrog/uart</li>
<li>can - https://github.com/tonyrog/can</li>
<li>lager - https://github.com/basho/lager</li>
</ul>

### Downloading

Clone the repository in a suitable location:

```sh
$ git clone git://github.com/tonyrog/canopen.git
```
### Configurating
#### Concepts

canopen can be started with a number of options. 
For details either check [co_api.erl - start_link()](https://github.com/tonyrog/canopen/raw/master/src/co_api.erl) or in the full implementation documentation, see below on how to create it.

#### Files

Arguments to all applicable erlang applications are specified in an erlang configuration file. 
An example can be found in ["sys.config"](https://github.com/tonyrog/canopen/raw/master/sys.config).

### Building

Rebar will compile all needed dependencies. 
Compile:

```sh
$ cd canopen
$ rebar compile
...
==> canopen (compile)
```

### Running

There is a quick way to run the application for testing:

```sh
$ erl -config sys -pa <path>/canopen/ebin
>canopen:start().
```
(Instead of specifing the path to the ebin directory you can set the environment ERL_LIBS.)

Stop:

```sh
>halt().
```

### Release

To generate a proper release follow the instructions in [Release Handling](https://github.com/basho/rebar/wiki/Release-handling) or look in the [Rebar tutorial](http://www.metabrew.com/article/erlang-rebar-tutorial-generating-releases-upgrades).

Before the last step you have to update the file "canopen/rel/files/sys.config" with your own settings.
You probably also have to update "canopen/rel/reltool.config" with the correct path to your application (normally "{lib_dirs, ["../.."]}") and all apps you need.
```
 {app, sasl, [{incl_cond, include}]},
 {app, stdlib, [{incl_cond, include}]},
 {app, kernel, [{incl_cond, include}]},
 {app, sl, [{incl_cond, include}]},
 {app, eapi, [{incl_cond, include}]},
 {app, can, [{incl_cond, include}]},
 {app, canopen, [{incl_cond, include}]}
```

And then you run: 
```
$ rebar generate
```
.

When generating a new release the old has to be (re)moved.

Start node:

```sh
$ cd rel
$ canopen/bin/canopen start
```

(If you want to have access to the erlang node use 
``` 
console 
```
instead of 
``` 
start
```
.)

### Documentation

canopen is documented using edoc. To generate the documentation do:

```sh
$ cd canopen
$ rebar doc
```

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