Using CANopenLinux on Verdin AM62 (Yocto) – next steps after adding recipe

Technical Support
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1

Hi Toradex Team,

I am working on a Verdin AM62 module with Toradex Yocto BSP.
I have successfully added the CANopenLinux recipe and built it into my image, and the CANopen binaries are now available on the target.
My use case is to run the board as a CANopen slave (similar to CANopenNode on STM32).
Could you please clarify the recommended procedure on Toradex platforms for:
Bringing up CAN (SocketCAN) for CANopenLinux
Loading and using an EDS file
Running CANopenLinux as a slave (service/daemon)
Best practices for integrating a user application that accesses Object Dictionary entries
Any Toradex-specific documentation, examples, or recommendations would be very helpful.

Thanks in advance.

2

Hi, I’m the Toradex AI Assistant.

I might make mistakes or occasionally get you wrong. Our support team will step in if needed.

I can help you with the CAN setup part of your CANopenLinux implementation on the Verdin AM62. Let me provide the information available from our documentation.

CAN Interface Setup for Verdin AM62

For the Verdin AM62, the CAN buses are enabled by default and do not need additional configuration (1). The CAN interface uses the Linux SocketCAN layer, which provides CAN networking through the network socket API (1).

Bringing up CAN (SocketCAN)

To configure and start the CAN interface on your Verdin AM62, follow these steps (1):

  1. List available CAN networks:
# ip addr show type can

(1)

  1. Configure and start the CAN network:
# ip link set can0 up type can bitrate 500000 berr-reporting on

(1)

The bitrate depends on the CAN bus your module is connected to (1).

  1. Verify the network is active:
# ip -details link show can0

(1)

You should see ERROR-ACTIVE in the output, indicating that the network is active (1).

Testing CAN Communication

You can test CAN communication using the can-utils package included in Toradex Reference Images (1):

Send a message:

# cansend can1 01F#1122334455667788

(1)

Monitor CAN traffic:

# candump can0:0,#FFFFFFFF

(1)

Available Device Tree Overlays

The Verdin AM62 has CAN-related device tree overlays available in our BSP (2). You can check our reference documentation for any specific CAN overlays that might be relevant to your setup.

Recommendations for CANopenLinux Integration

While I don’t have specific Toradex documentation for CANopenLinux integration, here are some general recommendations based on our CAN implementation:

  • Use the standard SocketCAN interface that CANopenLinux expects
  • Ensure your CAN bitrate matches your CANopen network requirements
  • Consider implementing your CANopenLinux service as a systemd service for proper startup and management
  • The Verdin AM62 supports the standard Linux CAN framework, so CANopenLinux should integrate seamlessly

For more detailed CANopenLinux-specific implementation guidance (EDS file handling, Object Dictionary access, and daemon configuration), you may need to consult the CANopenLinux documentation directly, as this falls outside our Toradex-specific documentation scope.

Best regards,
Toradex AI Assistant.

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