Made for Raspberry Pi 3B architecture based devices and compatibles
https://hub.docker.com/r/hilschernetpi/netpi-canopennode-npix-rcan/
The image provided hereunder deploys a container with installed open source CANopen Node protocol stack plus SocketCAN userspace utilities and tools. The example comes precompiled and is ready to run.
Base of this image builds debian with enabled SSH, created user 'root' and precompiled package CANopenSocket including a CANopen Node example and installed can-utils. A SocketCAN interface provides the communication channel to the module NIOT-E-NPIX-RCAN. Additional information about programming SocketCAN can be received here. netPI's host Linux automatically generates a SocketCAN interface named can0 once a NIOT-E-NPIX-RCAN module was found inserted in the NPIX expansion slot during boot process.
The NIOT-E-NPIX-RCAN module provides two duo LEDs(red/green) that can be freely used. The LED COM0 is connected to GPIOs 22(green) and 23(red). The LED COM1 is connected to GPIO 25(green) and 26(red).
The container has been successfully tested on the following hosts
- netPI, model RTE 3, product name NIOT-E-NPI3-51-EN-RE
- netPI, model CORE 3, product name NIOT-E-NPI3-EN
- netFIELD Connect, product name NIOT-E-TPI51-EN-RE/NFLD
netPI devices specifically feature a restricted Docker protecting the Docker host system software's integrity by maximum. The restrictions are
- privileged mode is not automatically adding all host devices
/dev/to a container - volume bind mounts to rootfs is not supported
- the devices
/dev,/dev/mem,/dev/sd*,/dev/dm*,/dev/mapper,/dev/mmcblk*cannot be added to a container
The container needs to be operated in host networking mode to share all host Linux network interfaces with the container.
Hint: In host networking mode all container ports (e.g. 22 for SSH) are automatically exposed to the host. Explicit port mapping can be omitted.
Only the privileged mode option lifts the enforced container limitations to allow usage of SocketCAN generated interfaces and GPIOs in a container.
Pulling the image may take 10 minutes.
STEP 1. Open netPI's website in your browser (https).
STEP 2. Click the Docker tile to open the Portainer.io Docker management user interface.
STEP 3. Enter the following parameters under Containers > + Add Container
| Parameter | Value | Remark |
|---|---|---|
| Image | hilschernetpi/netpi-canopennode-npix-rcan | |
| Network > Network | Host | |
| Adv.con.set. > Restart policy | always | |
| Adv.con.set. > Runt. & Res. > Privileged mode | On |
STEP 4. Press the button Actions > Start/Deploy container
Pulling the image may take a while (5-10mins). Sometimes it may take too long and a time out is indicated. In this case repeat STEP 4.
The container starts the SSH server automatically. Open a terminal connection to it with an SSH client such as putty using netPI's IP address at port 22.
Use the credentials root as user and root as password when asked and you are logged in as root user root.
STEP 1: Use a command like ip link set can0 type can bitrate 1000000 triple-sampling on to set the CAN controller's baudrate to e.g. 1MBaud.
STEP 2: Bring the can0 interface up with ip link set can0 up.
STEP 3: Move to the CANopen Node example folder cd CANopenSocket/canopend
STEP 4: Run the CANopen Node example with ./app/canopend can0 -i 4 -s od4_storage -a od4_storage_auto at Node-ID 4.
STEP 5: Import sample EDS file from repository folder \EDS in your CANopen master engineering software.
STEP 6: Along with the EDS file configure a node at Node-ID 4 in your CANopen Master and run it.
STEP 7: Create a GPIO to control an LED: echo 22 > /sys/class/gpio/export. Set this GPIO to type output echo out > /sys/class/gpio/gpio22/direction. Switch the LED ON echo 0 > /sys/class/gpio/gpio11/value, Switch the LED OFF echo 1 > /sys/class/gpio/gpio11/value.
Copyright (c) Hilscher Gesellschaft fuer Systemautomation mbH. All rights reserved. Licensed under the LISENSE.txt file information stored in the project's source code repository.
The software includes a third party software from the Github repository CANopenSocket which is distributed in accordance with GNU General Public License v2.0.
As with all Docker images, these likely also contain other software which may be under other licenses (such as Bash, etc from the base distribution, along with any direct or indirect dependencies of the primary software being contained). As for any pre-built image usage, it is the image user's responsibility to ensure that any use of this image complies with any relevant licenses for all software contained within.
