Open Device
To enable a smooth start for potential developers of CANopen-products here we provide the hard- and software for a simple CANopen structural component. From many discussions with insterested parties we learned that the completly new development of a component and the needed initial training of CANopen is to extensive. It is to prefer to connect the existing components at first by an adapter to the CAN-bus to get first experiances with the bus. All the many information, are going to be consumed and produced by the components from the bus, can be merged best by an interface. Each developer once has used an UART for data in- or output.
So we decided to decribe a board, a little "gateway", which transmits the signals from the CAN-bus to a serial interface. As hardware for this project is obvious a developingboard from Glyn. Available are the interfaces CAN and RS232 so developing can be started immediately.
Open hardware
From the above mentioned reasons the open-device-project starts with a little board which can implement the CAN-interface on RS232. As an ideal platform is obvious the developingboard EVBMB90F897 from Glyn.
We intend to publish here the diagrams, partslists, and the layout of this structural components.
In operation is the processor MB90F897PMT from Fujitsu. This is a modern 16bit-processor in a LQFP48-housing with a CAN-2.0-interface and two UARTs. A detailed description of the processors features are in the manual of the developing board and of course in the manual of the manufacturer.
Developing tools for this processor are available free of charge from Fujitsu and can be obtained e.g. from Glyn. Beside a modern IDE a C-compiler and a C++-compiler are included, which can be use with full function after being registered.
Open Software
The software for the first instance use shall here be provided as well. It is a simple CANopen-stack with a sample-application for the virtual device Door Unit.
The basis for the provided code is MicroCANopen-Stack from company ESAcademy which got supplied for this project. It is adopted to the development board EVBMF90F387 and standing by.
For the MicroCANopen-Stack are special licence conditions being valid. The company ESAcademy has provided the code under the licence cc 2.5 by-nc-sa.
Current State of the Software
- adopted to the hardware basis EVBMF90F387
- uses only the CAN- and the SCI-interface
- for the virtual device Door Unit
- no EDS-file existing
- minute object-index (e.g. no unit-specific objects)
- performs resets, if there is no other CAN-node at the bus available
Download
We supply the project as a Zip-file. Please read the notes in the file readme.txt.
Developer Environment
Die Software steht aktuell für das Entwicklungsboard EVBMF90F387 zur Verfügung, da den Entwicklern bisher kein aktuelles Board zur Verfügung stand. Sobald dies verfügbar ist, wird der Stack auf das oben beschrieben Entwicklungsboard angepasst.
Für die Entwicklung steht eine komplette IDE mit aktuellen C- und C++-Compiler von der Firma Fujitsu zur Verfügung. Diese kann wie auch das Entwicklungsboard über die Firma Glyn bezogen werden. Nach einer Registrierung der Entwicklungssoftware steht den ersten Tests nichts mehr im Wege.
Der hier zur Verfügung gestellte Code reicht noch nicht für den produktiven Einsatz sondern dient lediglich als Anregung, um mehr daraus zu machen. Mal sehen, wie sich das Projekt entwickelt. Bei Interesse oder Vorschlägen wenden Sie sich bitte an Jörg Hellmich.