CANopenSocket is Linux implementation of CANopen device with master functionality.

It is based on CANopenNode, which is an opensource CANopen Stack and is included as git submodule.

To clone the project with submodules use:
git clone --recursive https://github.com/CANopenNode/CANopenSocket.git

Project is based on BECK_SC2x3 from 
http://sourceforge.net/p/canopennode/code_complete/

To be continued ...