Initial hardware design and proof of concept software can be found on GitHub.
- Make HowTo CANopen Video
- Further improve the Arduino library
- Make RPi Shield MCP2515 CAN bus interface, DONE
- Further improve the openHAB CANopen binding
- Setup fabulous home automation network
Have you tried to use Arduino via CODESYS and CAN ? I want to control Arduino via CODESYS on Raspberry Pi and PiXtend Board http://www.pixtend.de/pixtend/ for a study work.