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

[pavanl]

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

[MHoll.2]

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]

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.

[mƎALLEm · Accepted solution]

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).

[pavanl]

Thank you all for your responses. I appreciate the insights and information shared regarding CANopen support for CAN-FD. This helps me better understand the available options.