CANopenPIC is a CANopen stack running on PIC microcontrollers.

It is based on CANopenNode, which is free and open source CANopen Stack and is included as a git submodule.

CANopen is the internationally standardized (EN 50325-4) (CiA301) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/.

CANopenPIC homepage is https://github.com/CANopenNode/CANopenPIC

Getting or updating the project

Clone the project from git repository and get submodules:

git clone https://github.com/CANopenNode/CANopenPIC.git
cd CANopenPIC
git submodule init
git submodule update

Update the project:

cd CANopenPIC
git pull # or: git fetch; inspect the changes (gitk); git merge
git submodule update

Using on PIC32, dsPIC33, PIC24 and dsPIC30

Visit Microchip and Install MplabX IDE, XC32 C compiler for PIC32 or XC16 C compiler for others. Works on Linux, Mac or Windows.

PIC programmer is required, for example PICkit 4.

Open one of the example projects, build and program your microcontroller.

Program is tested on Explorer16 board from Microchip with devices PIC32MX795F512L and dsPIC33FJ256GP710, and on Max32 board. CAN transciever chip must be soldered to the Explorer16 board.

Program also works on dsPIC30F4011 with basic CANopen functionality (see dsPIC30F/CO_driver_target.h). Device has only 2 Kbytes of RAM.

After connecting the CANopen PIC device into the CAN(open) network, bootup message is visible. By default device uses Object Dictionary from CANopenNode/example, which contains only communication parameters. With the external CANopen tool all parameters can be accessed and CANopen PIC device can be configured (For example write heartbeat producer time in object 0x1017,0).

For more information and examples see https://github.com/CANopenNode/CANopenDemo

PIC32 on Arduino style Max32 board

Max32 board with PIC32MX795F512L Microcontroller.
Board must be programmed directly from MPLAB X, with PIC programmer, PICkit 4 for example. It is necessary to solder the connector for programmer to the Max32 board.

Add CAN transciever (MCP2551 or similar) and EEEPROM (25LC128 or similar) chips to the board. See example schema below. CAN connector is DB9, according to CiA303,1, values in brackets are pins for flat cable, if used with DB9 connector.

+-------+             +-------------+                +----------------+
|       |           5-| VREF    RXD |-4-----------45-| C1RX/ETXD1/RF0 |
| CAN_L |-2(3)------6-| CAN_L   VCC |-3-------+--5V0-| VCC5V0         |
| CAN_H |-7(4)------7-| CAN_H   GND |-2--+    |      |                |
|       |        +--8-| RS      TXD |-1--|----|---46-| C1TX/ETXD0/RF1 |
|       |        |    +-------------+    |    |      |                |
|       |      47kΩ    MCP2551           |  100nF    |                |
|       |        |                       |    |      |                |
| GND   |-3(5)---+------------GND--------+----+--GND-| GND            |
+-------+                                            |                |
 DB9                                                 |                |
                                                     |                |
            +-----------------------------+------3V3-| VCC3V3         |
            |  +--------------------------|-------29-| SDI2/RG7       |
            |  |  +-----------------------|-------53-| SS2/RG9        |
            |  |  |                       |          |                |
            |  |  |   +-------------+     |          |                |
            |  |  +-1-| !CS     VCC |-8---+          |                |
            |  +----2-| SO    !HOLD |-7---+          |                |
            +-------3-| !WP     SCK |-6---|-------52-| SCK2/RG6       |
                  +-4-| GND      SI |-5---|-------43-| SDO2/RG8       |
                  |   +-------------+     |          |                |
                  |    25LC128          100nF        |                |
                  |                       |          |                |
                  +-----------------------+------GND-| GND            |
                                                     +----------------+
                                                      Max32

If EEprom chip is not used or connected differently, disable or configure it in CO_driver_custom.h file.
File appl_max32_demo.c contains entry functions for custom application in Arduino style with additional CANopen communicationReset function and real-time thread. See file CO_application.h for more information.
Default CAN bitrate is 250kbps and CANopen NodeId is 0x30. See appl_max32_demo.c file. Can also be configured by CANopen LSS commands.
After Max32 is first connected to the CANopen network it shows bootup message and emergency message, because it has empty eeprom. It is necessary to trigger saveAll command and reset: cocomm "0x30 w 0x1010 1 vs save" "0x30 reset node". To see heartbeat messages use: cocomm "0x30 w 0x1017 0 u16 1000", etc. See also tutorial in https://github.com/CANopenNode/CANopenDemo

Starting new project with MplabX

Create new project

Microchip Embedded, Application Project
Choose device, compiler
Specify project name and location, set UTF-8
Add header and source files, may be organized in logical folders, see example

MplabX project configuration:

encoding: UTF-8
(gcc -> optimization-level = 1)
Global Options -> Use legacy libc: NO
Global Options -> Additional options : Add -std=gnu99
gcc -> Include directories (example_PIC32): .;../PIC32;../CANopenNode
Add DO.h and OD.c files to the project or include ../CANopenNode/example above.
ld -> Heap size (bytes): 10000 (see heapMemoryUsed in main() for actual usage). If macro CO_USE_GLOBALS is definded, then heap is not needed.

Change Log

v4.0 - current: Update CANopenNode to branch v4.0. Full Changelog
- Update CANopenNode to branch v4.0 (new object dictionary interface).
- Minor updates in the drivers.
- PIC32: renewed storage, main_PIC32.c and application interface.
- Added Max32 board example.
- Put some project files into gitignore.
- Cleanup readme.md, wider example is in https://github.com/CANopenNode/CANopenDemo
v2.0 - 2021-04-08: Update CANopenNode to branch v2.0. Full Changelog
- Update CANopenNode to branch v2.0.
- License changed to Apache 2.0.
- Drivers moved from CANopenNode into this project. Changed directory structure. Changed CANopen.h interface.
- Trace added to PIC32. Time base changed to microseconds in all functions.
- LSS slave running in all microcontrollers.
v1.0 - 2016-03-21: Stable. Full Changelog
v0.5 - 2015-10-20: Git repository started on GitHub.
v0.4 - 2012-02-26: Git repository started on Sourceforge.
v0.3 - 2011-08-26: First edition for 16 and 32 bit PIC on SourceForge.

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

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.