CMX-CANopen is a very small, fast CANopen protocol stack (ARM®-based devices)

CMX-CANopen is a very small, fast CANopen protocol stack (ARM®-based devices) that allows designers to offer this connectivity for their embedded applications. The CANopen Process Data Objects (PDO) allow for a very flexible configuration allowing a single CANbus message to be filled with a combination of variables available in the Object Dictionary (OD) of a node.
This PDO mapping process is implemented so efficiently in CMX-CANopen, that in most cases an incoming Receive PDO (RPDO) can be processed right in the CANbus interrupt service routine. All major tasks performed in CMX-CANopen are controlled from one single module.
Tasks can be executed within the CAN interrupt service routine, a timer interrupt service routine or in the background.When designing multiple CANopen devices that only vary slightly (for example in some Object Dictionary (OD) entries and/or in PDO configuration) it is desirable to only develop and maintain one version of the code.
With CMX-CANopen the entire OD and the PDO configuration can be stored in non-volatile memory.As a result, the configuration of a node can be changed drastically just by downloading a configuration file (download via CANopen supported.)
CMX-CANopen is delivered with two examples for implementations of the CANopen Device Profile DS401 - generic I/O.
CMX-CANopen supports the following functionality:

• NMT State Machine
• Heartbeat
• Node Guarding
• Object Dictionary (OD)
• Expedited SDO
• Segmented SDO
• Static PDO
• Dynamic PDO
• PDO with event time
• PDO with inhibit time
• PDO with SYNC
• Emergencies
• LSS MThe CMX-CANopen stack also offers the following features:
• Extremely small ROM/RAM requirements
• All functions are contained in a library for ease of use and scalability
• Full source code provided
• Runs Stand Alone or with any RTOS
• Highly portable
• Free technical support for 180 days
• Low, one-time license fee
• No royalties