CANopenNode is an opensource CANopen Stack.

CANopen is the internationally standardized (EN 50325-4) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/

Stack is written in ANSI C in object-oriented way. Code is documented. License is LGPL. It includes Example for CANopen Input/Output device and simple CANopen master.

Variables (communication, device, custom) are ordered in CANopen object dictionary and are accessible from both: C code and from CAN network.

Code includes:

• CANopen Stack for multiple microcontrollers with documenation.
• Working examples of simple Input Output CANopen device for all microcontrolers.
• Working CANopen master device with HTML interface to CANopen: CAN log, Emergency log, SDO master, NMT master, Custom CAN message. (It runs on demo board DB240 from beck-ipc. It's available also for simpler custom borad based on SC243.)
• CANopen Object dictionary editor. For usage of this web application see "about.html".

CANopen Features:

• NMT slave to start, stop, reset device.
• Heartbeat producer/consumer error control.
• PDO linking and dynamic mapping for fast exchange of process variables.
• SDO expedited and segmented transfer for service access to all parameters.
• SDO master.
• Emergency message.
• Sync producer/consumer.
• Nonvolatile storage.

Supported controllers:

• From microchip.com:
  • dsPIC30F
  • PIC24H
  • dsPIC33F
  • PIC32
• From beck-ipc.com
  • SC2x3

Version next

Style change:

• SVN version 31 has completely different style from previous. SVN history is broken. However, C code is the same. Files compile to THE SAME hex file in PIC32. See file Misc/convert text.html.
• Indentation changed from three to four spaces.
• Comments are now doxigen style.
• Replacement of typedefs UNSIGNED32 to uint32_t, etc. Updates:
• Object dictionary editor: changed HTML output, no ODF functions.
• SDO server rewritten. Better interface with Object dictionary function.
• Multiple files was updated for newer Object dictionary function. Additional features:
• Added block transfer. It is possible to transfer large block of data (32bit length).
• Added CRC function. Calculation of CRC in eeprom.c files updated to this function.
• Added are files for generic driver, which allows compiling the stack without hardware. They should be used as a template for other microcontrollers. Fixes:
• Time drift in heartbeat fixed. FIXES IN PROCESSOR SPECIFIC FILES:
• !!IMPORTANT BUGFIX!! Problems with synchronous TPDOs. Microcontroller stopped transmitting on tx overflow. Code for CAN transmission is revised and fixed in all microcontrollers. Tested on PIC32 and dsPIC33F. Note:
• Object dictionary editor does not work any more in Firefox 17 and above, because: https://developer.mozilla.org/en-US/docs/E4X. (It is possible to re-enable E4X in FF17: type about:config in addressbar and change javascript.options.xml.content to true.)

Version 3.10 Additional features:

• Master device with HTML interface to CANopen: CAN log, Emergency log, SDO master, NMT master, Custom CAN message.
• Additional data types: UNSIGNED64, INTEGER64, REAL32, REAL64, DOMAIN.
• SDO transfer now supports more than 255 bytes in one communication cycle. (SDO master too.)
• EEPROM for PIC32 and SC243 fully functional. Fixes:
• Synchronous window lenght now works.
• Filters in PIC32 are dinamicaly editable.
• Heartbeat consumer is fixed. Now is dinamicaly editable.
• Some fixes in PDO. Changes in processor specific files:
• !!Bugfix!! Some variables are set to volatile.
• !!Bugfix!! in all processors: Line "CANmodule->bufferInhibitFlag = 0;" in CAN tx interrupt moved up.
• Added DOMAIN data type.
• Function CO_ODF() removed from driver.

Version 3.02 Fixes:

• SYNC object changes:
  • LED tripple flash corrected.
  • No need for definition of communication cycle period (index 1006).
• Correction in 'Object dictionary editor' output.
• PIC32 now resets correctly when receives NMT command.
• NMT master example now works.

Version 3.01 Fixes:

• It compiles now without errors for all controllers.
• Newly generated files from object dictionary, including CO_OD.c, .h.

Version 3.00