The CANopen FD Master protocol stack for the NUCLEO-H563ZI runs on a bit-rate of 500 kBit/s on interface CAN2. Please make sure that:

a CAN transceiver is connected to PD0 (CAN RX) & PD1 (CAN TX)

For display of the CANopen network state the example uses the LEDs LD1 (green) and LD3 (red), the symbol COM_LED_SUPPORT is configured to 1.

Board NUCLEO-H563ZI

The example uses Classical CANopen configuration (COM_FD_SUPPORT = 0) as default. Refer to the How to build section if the target should run in CANopen FD configuration.

Prerequisites

The example project can be built if the following programs are installed:

Please make sure that the value of WIN_TOOLCHAIN_PATH (for Windows) or UNIX_TOOLCHAIN_PATH (for macOS / Linux) inside the cmake/toolchain-gcc-<version>.cmake file is equal to the install path of the GNU Arm Embedded Toolchain.

How to build

Create a local build directory and start the build process within this directory. Make sure to pass the correct toolchain (i.e. GNU Arm Embedded Toolchain) to the CMake process via the parameter -DCMAKE_TOOLCHAIN_FILE. The following examples assume a GNU Arm Embedded Toolchain version 13.2.1.

Debug build

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-13.2.1.cmake -DCMAKE_BUILD_TYPE=Debug ..
cmake --build .

For generation of CANopen FD code use the following build steps:

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-13.2.1.cmake -DCMAKE_BUILD_TYPE=Debug -DCAN_FD=1 ..
cmake --build .

Release build

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-13.2.1.cmake -DCMAKE_BUILD_TYPE=MinSizeRel ..
cmake --build .

For generation of CANopen FD code use the following build steps:

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-13.2.1.cmake -DCMAKE_BUILD_TYPE=MinSizeRel -DCAN_FD=1 ..
cmake --build .

For compilation in Windows you have to execute following command:

cmake -G"Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./../../../../../cmake/module//toolchain-gcc-13.2.1.cmake ..

Resource requirements

The amount of Flash and RAM is given under the following conditions:

Symbol	Value
COM_NET_MAX	1
COM_LED_SUPPORT	1

All other configuration symbols (refer to com_conf.h) are set to the default value.

Protocol	Memory size Flash	Memory Size RAM
Classic CANopen	45048	56456
CANopen FD	49284	69008