CANOpenNode on STM32F103 (BluePill)

CANopen stack running on STM32F103 microcontroller.

It is based on CANopenNode, which is free and open source CANopen Stack and is included as a git submodule.

CANopen is the internationally standardized (EN 50325-4) (CiA301) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/.

Using on STM32 BluePill

Install STM32CubeIDE

STM32 programmer is required.

File -> Open Projects from File System... -> Directory

Program is tested on STM32 BluePill board with STM32F103c8 chip. CAN transceiver chip must be connected to the board.

By default device uses Object Dictionary based on CANopenNode/example, which contains only communication parameters.

STM32 BluePill

• Add CAN transciever (MCP2551, SN65HVD23x or similar) to the board. See example schema below.

        +-------------+                +----------------+
      5-| NC      RXD |-4-----------32-| PA11           |
      6-| CAN_L   VCC |-3-------+-3.3V-| 3.3V out       |
      7-| CAN_H   GND |-2--+    |      |                |
      8-| NC      TXD |-1--|----|---33-| PA12           |
        +-------------+    |    |      |                |
         VP232             |  100nF    |                |
                           |    |      |                |
                           +----+--GND-| GND            |
                                       +----------------+
                                        BluePill
  

• EEprom chip is not used.

• Default CAN bitrate is 500kbps and CANopen NodeId is 0x0A. See main_blank.c file.

• CANOpenNode driver implementation is in ./device/co_driver folder