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).