The CANopen FD Slave protocol stack for the NUCLEO-C092RC runs on a bit-rate of 500/2000 kBit/s on interface FDCAN1. Please make sure that:

the CAN cable is connected to CN14
jumper JP9 is set (termination resistor fitted)

For display of the CANopen network state the example uses the LEDs LD1 (green) and LD2 (blue), the symbol COS_LED_SUPPORT is configured to 1.

Board NUCLEO-C092RC

The example uses CANopen FD configuration (COS_FD_SUPPORT = 1) with bit-rate switching as default. Refer to the How to build section if the target should run in Classical CANopen 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.

#----------------------------------------------------------------------------------------------------------------------- 
# set paths to the desired toolchains of corresponding OS
#
set(WIN_TOOLCHAIN_PATH "D:/devtools/GNU_ARM/13.2 Rel1" CACHE PATH "Windows toolchain for GNU ARM") 
set(UNIX_TOOLCHAIN_PATH "/Applications/ArmGNUToolchain/13.2.Rel1/arm-none-eabi" 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 13.2.1.

Passing the value -DCAN_FD=0 to the CMake command line will generate code for Classical CANopen.

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 Classical CANopen 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=0 ..
cmake --build .

Under Windows, you may have to add the parameter -G"Unix Makefiles" to the CMake configuration:

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

Release build

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

Under Windows, you may have to add the parameter -G"Unix Makefiles" to the CMake configuration:

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:

Use dynamic PDO mapping with 4 TPDOs and 4 RPDOs
Use one physical CAN channel (CP_CHANNEL_MAX = 1)

Protocol	Memory size Flash	Memory Size RAM
Classic CANopen	13724	5040
CANopen FD	16140	5696

Testing with a CAN monitor tool

Upon reset, the example will transmit a boot-up message using the identifier 70B_h, representing the configured node-ID 11_d.

Time-stamp        ID  Format       DLC Data                       Comment
------------    ----  ------       --- ------------------------   ----------------------------
264304.90365     70B  FBFF          1  00                         Boot-up, node-ID 11

Writing a value of 100 ms to the heartbeat producer object (1017:00_h) shall result in a cycle heartbeat transmission of the device.

Time-stamp        ID  Format       DLC Data                       Comment
------------    ----  ------       --- ------------------------   ----------------------------
264790.62152     601  FBFF          9  0B 01 01 00 17 10 06 02    Set 1017:00h (heartbeat) to 100 ms
                                       64 00 00 00 
264790.62845     58B  FBFF          6  01 21 01 00 17 10          USDO response: OK
264790.72971     70B  FBFF          1  7F                         heartbeat, node-ID 11, pre-operational
264790.83066     70B  FBFF          1  7F                         heartbeat, node-ID 11, pre-operational
264790.93252     70B  FBFF          1  7F                         heartbeat, node-ID 11, pre-operational