CANopencm3

CanOpen 4.0 driver for libopencm3 with optional FreeRTOS support.

• Full package to get you started with CANOpen on stm32 devices.
• Uses libopencm3 library for accessing hardware, which is very lightweight.
• Has freertos set up properly

What's inside?

CANopen driver

• Uses libopencm3
• Can TX/RX are driven by interrupts
• No buffering or queuing besides can mailboxes/fifo
• Todo: Hardware filters

Flash storage

• Wear-levelling mechanism (append-only)
  • Only erases pages when allocated space is Full
  • Defragmentation skips unchanged pages at the start
• Can support variable-length storage entries
• Not limited to CANOpen structrs
• Uses no buffering, tiny ram consumption
• Todo: Implement crc check

FreeRTOS main.c

• Uses Control, Mainline & Processing tasks
• Driven by CANOpen callbacks, does not do polling
• Can use tickless mode to save on power

Regular main_blank.c that uses libopencm3

• Uses flash storage
• Traditional main_blank.c structure
• Interrupt-driven