Addition of CanOpen driver.

[jmailloux]

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Solved Problem

PX4 currently does not support CanOpen protocol stack. This means PX4 based devices can't communicate with devices on the CAN bus that talk CanOpen.

Fixes #{Github issue ID}

Solution

• Added a driver for CanOpen leveraging:
• https://github.com/CANopenNode/CANopenNode
• https://github.com/CANopenNode/CANopenDemo

Changelog Entry

For release notes:

Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarify page ... / done, read docs.px4.io/...

Alternatives

Could have a translater on the CAN bus that translates UAVCAN to CanOpen, but that requires hardware changes and can be quite messy.

Test coverage

• Have this code running on an electric boat that talks to motor controller, BMS, and a variety of sensors over CanOpen.
• Also, ran tests in can_open_demo
• Tested on Pixhawk 4 hardware and Pixhawk6C hardware.

Context

canopen test pixhawk4.txt

[AlexKlimaj]

I don't think we want to include this by default. You can make a new defconfig specifically for CANopen.

[jmailloux]

I don't think we want to include this by default. You can make a new defconfig specifically for CANopen.

Yes. That makes sense. I can do that. Wasn't sure how best to handle that. Should I just do that for the hardware I've tested? Also, how should I handle the nuttX defconfig changes to enable the CAN drivers? I assume you won't want that by default either.

[LetMeSeeThatCode]

@jmailloux is this still being worked on to be pushed through?

[jmailloux]

I'm happy to keep working on this, but I need someone to review it.

[LetMeSeeThatCode]

@dagar Hi Daniel, would it be possible to get this reviewed? (I saw that it was stale by 8 months awaiting a review).