Open source CANopen stack with CiA 417 lift profile

Swiss engineering company Xyntos has released CANoopEn, a CANopen protocol stack with built-in support for the CiA 417 lift application profile, under the Apache License 2.0.

The implementation grew out of a real lift project: sample projects for the ST NUCLEO-C092RC board demonstrate a CiA 417 hall call panel with the matching hall call controller - a hall call is registered on one board and acknowledged by the other, and the call sequence was verified with a CANopen-Lift analyzer.

The stack is written in object-oriented C++17 and is aimed at developers who want a maintainable CANopen implementation rather than a configuration-driven code generator: a device is a C++ class, the object dictionary is a class with typed entry objects, and callbacks are virtual methods of listener interfaces.

Completely target-independent

Photo: Logo: © Xyntos GmbH

Beyond the lift profile, CANoopEn implements NMT, heartbeat, SDO server and client including block transfer, PDO and MPDO, SYNC, TIME, EMCY, LSS (CiA 305), the indicator specification (CiA 303-3) and the NMT boot process (CiA 302-2).

The object dictionary is generated from a standard EDS file (CiA 306) by the included Eds2Od tool. The stack uses no dynamic memory allocation, is completely target-independent, and every service can be compiled out to fit small flash budgets. A CiA 401 I/O device sample is included as well.

The stack, samples, unit tests and tools are available on GitHub; the documentation is at CANoopEn.net.

Background

Until now, there have been no open-source protocol stacks for CANopen Lift (CiA 417). These had to be purchased from specialist suppliers. Open-source software is available free of charge, but this also means that services provided by a commercial supplier – such as support and further development – are not included.

With CANoopEn, the Apache Licence 2.0 permits free use, adaptation and further development – even for commercial products. CANoopEn thus offers, for the first time, a freely available alternative to commercial CANopen Lift stacks.

More informations: CANoopEn.net
xyntos.ch