The CANopen FD Master protocol stack for the STM32H735G-DK runs on a bit-rate of 500 kBit/s on interface CAN1. Please make sure that:

the CAN cable is connected to CN18
jumper JP6 is set (termination resistor fitted)

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 STM32H735G-DK

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.

 cmake
#----------------------------------------------------------------------------------------------------------------------- 
# set paths to the desired toolchains of corresponding OS
#
set(WIN_TOOLCHAIN_PATH "D:/devtools/GNU_ARM/10 2020-q4-major" CACHE PATH "Windows toolchain for GNU ARM") 
set(UNIX_TOOLCHAIN_PATH "/Applications/ARM/gcc-arm-none-eabi-10-2020-q4-major" CACHE PATH "Unix toolchain for GNU ARM") 

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 10.2.1.

Passing the value -DCAN_FD=1 to the CMake command line will generate code for CANopen FD.

Debug build

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-10.2.1.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-10.2.1.cmake -DCMAKE_BUILD_TYPE=Debug -DCAN_FD=1 ..
cmake --build .

Release build

mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../../../../../../cmake/module/toolchain-gcc-10.2.1.cmake ..
cmake --build .

For compilation in Windows you have to execute following command:

cmake -G"Unix Makefiles" -DCMAKE_TOOLCHAIN_FILE=./../../../../../cmake/module/toolchain-gcc-10.2.1.cmake ..