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www.MicroCANopen.com

MicroCANopen is a minimal CANopen implementation targeted at embedded networking applications. MicroCANopen is free for educational purposes, various commercial versions including an extended Plus version are available. The tutors of ESAcademy implemented MicroCANopen with several goals in mind:

Adapt the basics

The idea behind MicroCANopen is to only adapt the minimal set of features that is required to pass the CANopen conformance test and allow making use of existing CANopen tools like PCANopen Magic. If the target system grows in the future, an upgrade path is already laid out - upgrading to “full” CANopen does not require any changes in the communication structure.

Minimal resource requirements

Full-size CANopen implementations require more resources than some of the smaller 8-bit microcontrollers with CAN interface have. On 8051 derivatives, MicroCANopen can fit in as little as 4 KiB of code and about 170 bytes of RAM. Full-featured CANopen implementations are typically in the range of 40 KiB to 60 KiB of code and 600 or more bytes of RAM.

Implementation and test

The MicroCANopen code was developed and tested on several hardware platforms, including Atmel’s 8051 and AVR derivatives as well as Philip’s 8051 and ARM7 derivatives. Example implementations pass the official CANopen conformance test.