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How to Implement CANopen FD on STM32H753VIT6 (Already Using CAN FD)

pavanl
Associate II

Hello ST Community,

I am working on a project using the STM32H753VIT6 and have already successfully implemented CAN FD communication using the FDCAN peripheral and HAL drivers.

Now, I would like to implement CANopen FD on this setup.

My questions:

  1. What libraries or open-source stacks are available for CANopen FD that can be integrated with STM32 (CMSIS/HAL based)?

  2. What are the hardware or timing considerations for running CANopen FD at higher bitrates? My transceivers are currently non-isolated.

  3. How should I structure the implementation of:

    • Object Dictionary (OD)

    • USDO (Universal Service Data Object)

    • PDO (Process Data Object)

  4. Is there a reference example or demo project for CANopen FD (not classic CANopen) with STM32?

Any guidance, sample code, or links to documentation would be greatly appreciated.

Thanks in advance!


Pavan

4 REPLIES 4
MHoll.2
Senior III

 

Hi,
I don't know any open source CANOpen FD stack (the most used CANopenNode Stack can be made CANOpen FD, but needs a lot of work, for example there is no USDO implementation).
There are some commercial stack claiming CANOpen FD functionalities (Emotas, MicroControl and others).

Oleksii
Associate III

A common mistake when people try to implement a full-fledged CANopen interface on microcontrollers.
You should decide what your device does and implement hard logic with the services you really need.
Often in practice, these are a few device parameters, the rest is superfluous.

Oleksii
Associate III
 
mƎALLEm
ST Employee

Hello,

To my knowledge there is no CANOpen open source for CAN-FD. While you can find an open source with CAN2.0.

Our partner Emotas offers CANopen FD stack on STM32G4. You can contact them over this link or over this email: ged@emotas.de (Torsten Gedenk).

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