MicroCANopen Plus delivers powerful, flexible, and fully CANopen and CANopen FD-compliant source code optimized for embedded systems with minimal memory footprint requirements. This compact, commercial-grade CANopen stack offers advanced functionality such as synchronous PDO transmission and reception, emergency object handling, heartbeat monitoring, and non-volatile parameter storage.

Ideal for situations requiring medium configurability during run-time and great performance on any type of platform, and for building networks that include CANopen Manager nodes, MicroCANopen Plus provides the most flexible solution. Setting up the code is a quick and painless one-step process with the included CANopen Architect tool which uses EDS/DCF files in its projects as the basis for all configuration.

Portable—MicroCANopen Plus is crafted entirely in ANSI-standard C, ensuring effortless portability across diverse processor platforms. For specialized hardware without existing support packages, porting is straightforward—do it yourself or contact us for professional assistance.

Compact—Requiring only 7K – 14K bytes ROM (typical CANopen Device configuration), MicroCANopen Plus is perfect for resource-constrained embedded applications without compromising features or performance.

An affordable pricing structure—MicroCANopen Plus offers a low, one-time fee and no royalties on deployed products and includes all source code with every purchase.

What's Included

One year of priority support and updates is included with all software purchases.

MicroCANopen Plus is delivered with an example CiA401 (Generic I/O) implementation and drivers for NXP ARM and CANopen Magic Ultimate simulation. Customized examples for other device profiles are available under our consulting services.

Full documentation is supplied. All software products include a one-year maintenance and priority support agreement that can be extended anytime.

Also included is a single license for CANopen Architect Standard, an EDS/DCF editor with code generation for quick stack configuration.

Feature Highlights

The following is a non-exhaustive overview of features in MicroCANopen Plus:

Proven to pass the official CANopen Conformance Test for applications built with it
NMT State Machine
Object Dictionary with Process Image
Expedited, segmented and block-transfer (U)SDO
Multiple (U)SDO servers
SDO fully-meshed (matrix) communication setup with up to 16 nodes when used together with the Manager Add-on
PDO with runtime-configurable event time, inhibit timer and transmission type
SYNC PDO, both receive and transmit
Heartbeat Generator
Heartbeat Consumers
Emergency Generator
SYNC Generator
Node Guarding (deprecated, only select platforms)
Non-volatile save/restore of parameters
Code configured from EDS or DCF file with CANopen Architect Standard
Extensive call-back API interface
Memory access hooks for use of the stack in RTOS-based applications

Currently Available Ports

Below are microcontroller families for which MicroCANopen Plus support is readily available. The list is constantly expanding, please contact us with your requirements. For currently unsupported devices you can either implement the port yourself or we can perform it for you.

ST STM32 (all families supported by HAL)
ST STM8 with ST Visual Develop
NXP LPC Cortex-Mx and ARM7
NXP i.MX RT
NXP Kinetis K20, K60, KEA families
NXP S08, S12 and S12X families
Microchip PIC18 (ECAN)
Microchip dsPIC33/PIC24
Microchip PIC32MX
Microchip (Atmel) AVR
TI TM4C
TI TMS470
TI Luminary LM3S
Renesas R8C23 and M16C
Linux socketCAN with GCC
Peak System PCAN PC CAN interfaces under Windows
PC Simulation (with CANopen Magic Ultimate)

Manager Add-On

Extension of MicroCANopen Plus source code: adding Manager functionality. Reception and management of all Heartbeats and Emergencies, SDO Client functionality with automated identifification and scanning of newly detected nodes, LSS Master and MicroLSS Master (LSS FastScan).

CANopenFD Add-On

Extension of MicroCANopen Plus source code: adding support for CANopenFD protocols, such as USDO, and increasing the length of PDOs to 64-bytes. Includes the manager add-on and CANopen Architect Professional.

OD/PDO Add-On

Extension of MicroCANopen Plus source code: adding extended PDO functionality. Dynamic PDO mapping (configure PDO contents at run-time) and multi-mapping (allow one Object Dictionary entry to be mapped to mutliple PDOs). Extended Object Dictionary access (remote access), for example using a serial port and switching between alternative Object Dictionaries, supporting different variants that can change during startup.

CiA447 Add-On

Extension of MicroCANopen Plus source code: adding CiA447 examples for the implementation of "car add-on devices". Requires MicroCANopen plus and Manager extension.

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