Efficient CANopen implementation with maximum performance. MicroCANopen Classic was developed to allow for maximum task optimization, especially when used with an RTOS such as CMX-RTX. Even without an RTOS, MicroCANopen Classic allows adapting the execution priorities of critical tasks making MicroCANopen Classic one of the best performing CANopen stacks available.
MicroCANopen Classic has been developed applying the Embedded Systems Academy spirit: provide an elegant solution minimizing the resources required and maximizing the performance. After all, if an implementation uses less code it also executes faster! The developers have the expertise and hands-on experience to satisfy the most stringent real time demands that the embedded community deals with every day. With MicroCANopen Classic they created a new level of performance and quality for CANopen implementations.
Note: This product is a customized version of MicroCANopen Classic by Embedded Systems Academy. It has been modified for the use of the Renesas R8C23 C Source Code only and it is only available through esd electronics, Inc.
Efficient Implementation. The CANopen Process Data Objects (PDO) allow for a very flexible configuration allowing a single CANbus message to be filled with a combination of variables available in the Object Dictionary (OD) of a node. This PDO mapping process is implemented so efficiently in MicroCANopen Classic, that in most cases an incoming Receive PDO (RPDO) can be processed right in the CANbus interrupt service routine.
Advanced Task Control. All major tasks performed in MicroCANopen Classic are controlled from one single module. If MicroCANopen Classic is not used with an RTOS, the execution of tasks can still be optimized towards an application. In general, tasks can be executed within the CAN interrupt service routine, a timer interrupt service routine or in the background. This even allows processing different PDOs at different priority levels.
Flexibility. When designing multiple CANopen devices that only vary slightly (for example in some Object Dictionary (OD) entries and/or in PDO configuration) it is desirable to only develop and maintain one version of the code. With MicroCANopen Classic the entire OD and the PDO configuration can be stored in non-volatile memory. As a result, the configuration of a node can be changed drastically just by downloading a configuration file (download via CANopen supported).
Portable. MicroCANopen Classic has been designed for maximum portability and is written in 100% standard C code. As a consequence, clients can decide to port the software to processors not yet supported, including microprocessors, microcontrollers and DSPs. Designers familiar with their target processor can easily perform the port themselves.
Compact. ROM Specifications: 8K - 18K bytes (for CANopen Slaves) depending upon processor, protocols used and options selected.
An Affordable Pricing Structure. MicroCANopen Classic offers a low, one-time fee and no royalties on deployed products. And you get the entire source code with every purchase!
Features
The following is a list of features in MicroCANopen Classic. The list is not exhaustive by any means, but does give a good overview.
- NMT State Machine
- Heartbeat
- Node Guarding
- Object Dictionary (OD)
- Expedited SDO
- Segmented SDO
- Static PDO
- Dynamic PDO
- PDO with event time
- PDO with inhibit time
- PDO with SYNC
- Emergencies
- LSS
- Configuration of OD via non-volatile memory
- Configuration of PDO via non-volatile memory
- Central task control in one module
- NMT Master
- Extremely Small ROM/RAM Requirements
- Device Setup via Non-Volatile Memory
- Supports Virtually All 8-, 16-, 32-bit Processors and DSPs
- Use of Internal CAN Interface or External
- No Proprietary Protocols
- Runs Stand Alone or with RTOS
- Central Task Control
- Economical One Time Fee
- Full Source Code Provided
- No Royalties on Deployed Products
- Excellent Documentation and Support
Suggested Application Usage
MicroCANopen Plus is best suited for CANopen slaves requiring minimal configurability. CAN baud rate, the node ID and PDO communication parameters are configurable. This allows using MicroCANopen Plus for nodes that typically require some setup during installation of the node.
MicroCANopen Classic is best suited for full-featured, highly flexible CANopen slave nodes and for minimal CANopen NMT (Network Management) Master applications. Using a setup file, MicroCANopen Classic can be completely re-configured. Without re-compilation Object Dictionary entries can be modified, added or removed. This allows one MicroCANopen Classic implementation to be used for a wide variety of devices.
What's Included
MicroCANopen Classic is delivered with two examples for implementations of the CANopen Device Profile DS401 - generic I/O. Additional and customized examples are available upon request and can include Device Profile Implementations such as Joysticks, Encoders (DS406), Batteries (DSP418), Chargers (DSP419) or Elevators/Lifts (DSP417).
All our examples pass the official CANopen Conformance Test!