The RT-Labs CANopen stack C-Open can be used to implement a CANopen master or device. It supports multiple instances and can be run on bare-metal hardware, an RTOS such as RT-Kernel, or on Linux or Windows.
The C-Open stack is supplied with full sources including a porting layer. A device application interfaces with the stack primarily using the object dictionary, while a master uses the full API to control the CANopen network. It is designed for minimal footprint and efficiency (memory usage on Cortex-M4, 14968 B ROM / 368 B RAM, plus user defined objects stored in RAM) and tested using the CANopen Conformance Test Tool.
- Source repository: https://github.com/rtlabs-com/c-open
- Documentation: https://rt-labs.com/docs/c-open
- Continuous integration: https://github.com/rtlabs-com/c-open/actions
- RT-Labs (stack integration, certification services and training): https://rt-labs.com
- CANopen master
- CANopen device
- CANopen services (CiA 301)
- Network management (NMT)
- Service data objects (SDO)
- Process Data Objects (PDO)
- Emergency object (EMCY)
- Heartbeat
- Node guarding
- Layer Setting Services (LSS, CiA 305)
- Bare-metal or RTOS
- Porting layer provided
- Linux (SocketCAN)
- Windows (Kvaser CAN interface)
This software is dual-licensed, with GPL version 3 and a commercial license. See LICENSE.md for more details.
This repository contains a CANopen stack for both master and slaves. The stack implements most of CiA 301 and 305 (LSS). The stack is written to an OS abstraction layer and can also be used in a bare metal application. Using the abstraction layer, the stack can run on Linux, Windows or on an RTOS.
A simple slave is included to serve as an example of how to use the stack. The slave can also be used to run the CiA Conformance Test Tool.
Also included is a simple master example that lists all slaves on the bus and a comprehensive set of unit-tests.
Contributions are welcome. If you want to contribute you will need to sign a Contributor License Agreement and send it to us either by e-mail or by physical mail. More information is available here.