MicroCANopen Plus

European customers must order from our European store at www.canopenstore.eu.

Powerful and flexible CANopen compliant source code. Designed for small footprint applications. Provides an extended feature set including synchronous PDO transmit/receive, emergency objects, heartbeat consumption and non-volatile save/restore parameters.

MicroCANopen Plus is a small-footprint, commercial-grade CANopen implementation with advanced features. Ideal for situations requiring medium configurability during run-time and great performance on any type of platform, and for building networks that include manager nodes, MicroCANopen Plus provides the most flexible solution. Auto-generated configuration from the EDS/DCF file makes its setup a quick and painless one-step process.

Portable. MicroCANopen Plus is written in 100% standard ANSI C code allowing for straightforward porting. For targets without standard support packages, designers familiar with their target processor can easily perform the port themselves. Or, ask us for a quote to add support to your target!

Compact. ROM Specifications: 7K - 14K bytes (for CANopen Slaves) depending upon processor and options selected.

An Affordable Pricing Structure. MicroCANopen Plus offers a low, one-time fee and no royalties on deployed products and includes all source code with every purchase.

Feature Highlights

The following is a non-exhaustive overview of features in MicroCANopen Plus:

• NMT State Machine

• Object Dictionary with Process Image

• Expedited, segmented and block-transfer SDO

• Multiple SDO servers

• SDO fully-meshed (matrix) communication setup with up to 16 nodes when used together with the Manager Add-on

• PDO with runtime-configurable event time, inhibit timer and transmission type

• SYNC PDO, both receive and transmit

• Heartbeat Generator

• Heartbeat Consumers

• Emergency Generator

• Node Guarding (select platforms)

• Non-volatile save/restore of parameters

• Code configured from EDS or DCF file with CANopen Architect Standard

• Extensive call-back API interface

• Memory access hooks for use of the stack in RTOS-based applications

What's Included

MicroCANopen Plus is delivered with an example CiA401 (Generic I/O) implementation and drivers for NXP ARM and CANopen Magic Ultimate simulation.

Customized examples for other device profiles are available under our consulting services.

Our stack passes the official CANopen Conformance Test!

Full documentation is supplied. All software products include a one-year maintenance and priority support agreement that can be extended anytime.

Also included is a single licence for CANopen Architect Standard, an EDS/DCF editor with code generation for quick stack configuration.

Currently Available Ports

The following list is an example of the microcontrollers and compiler combinations that MicroCANopen Plus is currently available for as optional add-ons. More combinations are available, please contact us with your requirements. For currently unsupported combinations you can either perform the port yourself or we can perform it for you. 

• NXP LPC Cortex-Mx and ARM7 with MCUXpresso, GCC, Keil MDK-ARM, IAR EW
• NXP i.MX RT with MCUXpresso
• NXP (Freescale) Kinetis K20 (Teensy 3.x) with Arduino IDE
• NXP (Freescale) Kinetis K60 with Keil MDK-ARM
• NXP (Freescale) Kinetis KEA with CodeWarrior
• NXP (Freescale) S08 with CodeWarrior
• NXP (Freescale) S12/S12X with CodeWarrior
• ST STM32 (F0/F1/F3/F4) with GCC, Keil MDK-ARM, IAR EW
• ST STM8 with ST Visual Develop
• Microchip PIC18 with MPLABX and XC8
• Microchip dsPIC33/PIC24 with MPLABX and XC16
• Microchip PIC32MX with MPLABX and XC32
• Microchip (Atmel) AVR with WinAVR, ImageCraft
• TI TM4C with Keil MDK-ARM
• TI TMS470 with Keil MDK-ARM
• TI Liminary LM3S with Keil MDK-ARM
• Renesas R8C23 and M16C with HEW (High-performance Embedded Workshop)
• Linux socketCAN with GCC
• Peak System PCAN PC CAN interfaces with MS Visual C++
• PC Simulation (with CANopen Magic Ultimate)

Feature List

Feature	MicroCANopen Plus
CANopen Architect Standard for automatic code generation included
Network Management state machine with autostart option
Heartbeat producer, object [1017h]
Heartbeat consumers, objects [1016h]
Emergency Producer, objects [1014h] and [1015h]
Error and Emergency History, objects [1003h]
Emergency Consumer, objects [1028h]	(M)
Node Guarding responses (deprecated by CiA)
Run-time configuration of OD and PI via Task Setup File
Object Dictionary support for any data type per entry SDO Expedited, Segmented and Block Transfer mode supported
Dynamic PDO communication parameters (objects [14xxh] and [18xxh] writable)
Dynamic PDO mapping parameters (objects [16xxh] and [1Axxh] writable)
Store PDO parameters in non-volatile memory (objects [1010h], [1011h] and [1020h])
TPDO trigger by Event Time
TPDO trigger by COS with Inhibit Time
TPDO and RPDO trigger by SYNC
TPDO trigger by RTR (deprecated by CiA)
TPDO trigger by application
CiA305 Layer-Setting Services (LSS)	Regular/FastScan
SDO Clients	(M)
NMT Master	(M)
Time Stamp Object processing
CANopen Wake-up support
Flexible integration into RTOS
Maximum number of RPDOs/TPDOs	512/512
Maximum size of process image storing all data that can be mapped to PDOs (in bytes)	65,534
Smallest timer tick resolution available	1ms
Minimal SDO Manager
CiA447 Car Add On Devices Support	(447)

(M) = With optional Manager Add-on
(447) = With optional CiA447 Add-on