> -----Original Message----- > From: andy pugh [mailto:[email protected]] > Sent: January-22-21 1:57 PM > To: Enhanced Machine Controller (EMC) > Subject: Re: [Emc-users] CANopen on LinuxCNC > > On Fri, 22 Jan 2021 at 21:35, John Dammeyer <[email protected]> wrote: > > > Under Linux CAN messages are available via SocketCAN. So it's easy enough > > to hook up something like a Lawicel CANUSB > http://www.can232.com/canusb/ > > That appears as a COM port, so would probably be conveniently > interfaced by a HAL driver similar to (for example) hy_vfd.
Actually, SocketCAN is the better way to interface to it or other CAN devices rather than treating it as a serial port. The infrastructure for CAN messaging is already there and it won't matter if it's a plug in car or USB device. There are a number of CAN dongles that aren't always like serial ports and so SocketCAN provides the common access. For example, run LinuxCNC on that Pi4 and plug in an MCP2515 HAT for CAN bus and you are now using SPI. But with SocketCAN it doesn't matter. Same with BBB and say MachineKit. The CAN devices inside the processor are also accessible via SocketCAN. I wouldn't run real time motion control with it but for tool changers, pick and place handlers, oilers etc. all ideal and modular. John > > I suppose some sort of thin shim layer between an existing general > purpose driver might be an option, but adds yet another dependency. > > -- > atp > "A motorcycle is a bicycle with a pandemonium attachment and is > designed for the especial use of mechanical geniuses, daredevils and > lunatics." > � George Fitch, Atlanta Constitution Newspaper, 1912 > > > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
