CANopenNode example for STM32

CANopenSTM32 is a CANopen stack example running on STM32 microcontroller.

How to run demos

Examples are developed in STM32CubeIDE tool, official ST development studio for any STM32 microcontroller. You can directly open projects run prepared examples on the board.

Supported boards and MCUs

STM32H735G-DK.

It has many features of STM32H7xx series and includes 3 CAN transceivers on the board. You do not need any additional hardware to connect to existing CAN network. It also includes built-in programmer and virtual COM port for communication, hence evaluation is quick and easy.

CanOpen demo works at FDCAN1 port. Use connector CN18.

FDCAN IP block is same for any STM32H7xx MCU family, hence migration to your custom board should be straight-forward.

NUCLEO-F303ZE / NUCLEO-F072RB + MAX33040ESHLD

Nucleo includes an arduino compatible headers which can be used to add MAX33040ESHLD to it and this bundle provide the minimum required components to establish a CAN communication and CanOpenNode on top of that.

This project is tied to the CubeMX configuration, so it is up to the user to provide compatible configuration using CubeMX (bitrate, interrupt activiation and etc). (In this example, the MX_CAN_Init function will be called by CO_Driver_STM32Fxxx.c)

STM32G0C1VE-EV

The STM32G0C1E-EV Evaluation board is a high-end development platform for the STM32G0C1VET6 microcontroller. It has many features including two CAN FD controller and physical layer on board. You don't need any additional hardware to connect to existing CAN network. It also includes built-in programmer and virtual COM port for communication, hence evaluation is quick and easy.

CanOpen demo works at FDCAN1 port. Use connector CN12. FDCAN IP block is same for any STM32G0xx MCU family, hence migration to your custom board should be straight-forward.

When using/porting NUCLEO examples do not forget to :

Set the right baudrate for CAN (with TimeSeg1 set to 10 and TimeSeg2 set to 1) in the CubeMX GUI
Activate the RX and TX interrupt on the CAN peripheral
Configure a timer for a 1ms overflow interrupt (TIM17 used in these examples)
From Prject Manager tab in the STM32Cube and Code Generator section, choose Generate peripheral initialization as a pair of '.c/.h' files per peripheral to create Tim.H and can.h files
if copying CANOpenNode folder entirely, you should remove or filter example folder in that directory.
if pulling the main CANOpenNode, please set CO_CONFIG_STORAGE_ENABLE to 0x00 in 301\CO_config.h, as storage is not yet impelemented in this port.

Features

Runs out of the box on STM32H735G-DK board
Bare metal or FreeRTOS operating system examples
FDCAN1 (CN18) hardware is used for communication at 125kHz
CANopen LED control is well integrated
Debug messages are available through VCP COM port at 115200 bauds
Can be used as a reference code for end product

Clone or update

Clone the project from git repository and get submodules:

git clone https://github.com/CANopenNode/CANopenSTM32
cd CANopenSTM32
git submodule update --init --recursive

Update an existing project including submodules:

cd CANopenSTM32
git pull
git submodule update --init --recursive

License

This file is part of CANopenNode, an opensource CANopen Stack. Project home page is https://github.com/CANopenNode/CANopenNode. For more information on CANopen see http://www.can-cia.org/.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

31415li/CanOpenSTM32