首先，我不得不说我对 Linux 和 CAN/CANopen 都不是很有经验，所以如果这里有什么不清楚或遗漏任何关键的东西，请告诉我。
我有一个项目需要通过 CAN/CANopen 将 PC 连接到 PLC。我有一个 CAN-USB 转换器 (canusb.com) 和 Festo 的 PLC。
我已经编译了 CANopen 堆栈（CanFestival），但我该从哪里开始呢？它看起来非常复杂，我真的完全不明白。
（我的第一个目标是通过 CAN 适配器与 PLC 建立联系，并以某种方式验证它们是否能够通话。主要目标是能够通过设置一些寄存器来打开和关闭 PLC 上的一些阀门。 )
I'm familiar with CANopen, having written a stack and designed devices for it. In my opinion, this is going to be a major learning curve for you and will most likely take weeks of work. Most PLCs support most, if not all, fieldbus protocols. Does yours support Modbus? If it does, then you'll be up and running in a day or two: Modbus is simple to program.
I was in the same situation as you last year, and keeping in mind my deep understanding of CANopen, that's how I handled it. That said, I don't work by the hour, and it was a fixed price job, so I was after the overall cheapest solution, and this required buying a PLC module that supported Modbus.