IXXAT Emtas CANopen Master/Slave Stack

IXXAT Emtas CANopen Master/Slave Stack
emtas CANopen Master/Slave Stack
The CANopen Master/Slave Stack is a software library that provides all communication services according to communication profile CiA301, v4.2 and master features according to CiA302-2.
The CANopen Master Stack is written in ANSI-C and it is MISRA conform. Using the CANopen Master/Slave Stack by emtas leads to fast and easy development or extension of CANopen conform master applications.
The stack includes all features and services of the emtas CANopen Slave Stack. In addition it is featured with NMT Master functionalities and network management. Several master examples are available to make the first steps in using the complex master functionalities as easy as possible.

Also it is possible to substitute hardware platforms with only little effort. The CANopen Master Stack can be used with various Realtime Operating Systems such as ThreadX, FreeRTOS, Keil RTX oder TI-RTOS and as well with Linux (SocketCAN, can4linux) or QNX and also with Real time extensions for Windows.

Besides the C function API there is also an Mailbox API available for an easy use with multiple tasks resp. threads. Messages between application modules and CANopen Master stack are send via mailboxes instead of function calls. This secures a non-blocking communication. An application may consist of several tasks that use the CANopen Stack in parallel.


CANopen Features

Services Basic Slave Master/Slave Manager
SDO Server 2 128 128
SDO Client 128 128
SDO expedited/ segmented/block ●/●/- ●/●/○ ●/●/○
PDO Producer 32 512 512
PDO Consumer 32 512 512
PDO Mapping static static/dynamic static/dynamic
MPDO Dest Mode
MPDO Src. Mode
SYNC Producer
SYNC Consumer
Time Producer
Time Consumer
Emergency Producer
Emergency Consumer 127 127
Guarding Master
Guarding Slave
Bootup Handling
Heartbeat Producer
Heartbeat Consumer 127 127
NMT Master function
NMT Slave
LED CiA-303
LSS CiA-305
SDO Requester (SRD) CiA-302-5
CANopen Router CiA-302-7
Master Bootup CiA 302
Configuration Manager
Flying Master
C#-API-Wrapper for Windows
Delphi-API-Wrapper for Windows
CANopen Profiles
CiA 401 (U8/INT16)
CiA 402
CiA 404
CiA 406
CiA 413
CiA 418
CiA 419
CiA 437
CiA 443
CiA 447
CiA 454

● – included
○ – optionally available
Caratteristiche e Benefici


• ANSI-C CANopen source code stack
• MISRA-C conform
• Supports CANopen services of CiA 301 and CiA 302-2
• Extension modules for further standards available
• Available for many CAN-controller and CPU types
• Comfortable user interface
• Widely scalable and configurable

System requirements

ANSI-C compiler

Scope of delivery/licensing

• CANopen protocol source code (ANSI-C compatible)
• Ready to run example applications
• User manual and reference manual in electronic format available
• Site license
• 6 months free-of-charge support
• Optional maintenance agreement

Supported Controllers

The following chip manufacturers and their families are supported at the moment by the emtas CANopen and J1939 stacks:

AMD x86 Architecture
ATMEL ATmega64C, AT90CAN64, AT90CAN128, SAM C21
Freescale (NXP) Kinetis, msCAN12 (e.g. HCS08, HCS12), i.MX, MPC560x
Cypress (Spansion/Fujitsu) FM3 (ARM Cortex-M3)
Infineon XMC4000 (ARM Cortex-M4, MultiCAN), XMC1400 (Cortex-M0), XE166
Intel x86 Architecture
Microchip dsPIC33, PIC24H, PIC32
NXP LPC17xx, LPC40xx, LPC546xx
NuvoTon NUC130, NUC140
Renesas R-IN32M3, RX62, V850E2, RH850/F1L, Synergy S1,S3,S5,S7
ST Microelectronics STM32 (ARM Cortex-M0, Cortex-M3, Cortex-M4, Cortex-M7, bxCAN, M_CAN)
Texas Instruments TMS320, C2000 (DSP), ARM, Stellaris LM4F, TMS570 (Hercules), Tiva TM4C129
LINUX systems can4linux, SocketCAN, ECI


The table only lists the families. All providers offer within each family a large number of “family members”
that differ in periphery, maximum clock rate or size of housing. In consequence the number of pins and pin
assignment also differ.


The CANopen stack can be used with the following compilers or IDEs:

• gcc
• Keil
• Crossworks
• Atmel Studio
• Atollic True Studio
• Tasking
• Mikro C

and more.

Numeri ordine
on request - emtas CANopen Master/Slave Stack