CANopen profiles are used also on non CAN-based communication systems; this includes EtherCat, Ethernet-Powerlink, and Varan networks. Recently, CAN in Automation (CiA) and Safety Network International e.V. (SNI) agreed that manufacturers of SafetyNet p devices may implement CANopen profiles. From the users point of view this is a huge advantage: It saves software investments when migrating to higher-performance network technologies.

In the last years, several manufacturers have already used CANopen profiles on non CAN-based networks. There are already some devices on the market, which implements standardized CANopen profiles on EtherCat, Ethernet-Powerlink, or Varan. The use of the CANopen dictionary structure and the CANopen profiles is generally permitted to any party, if they fulfill the following conditions:
The structure of the CANopen dictionary is not changed and used as specified in CiA 301.

1. The index range 6000_h to 9FFF_h is reserved for standardized CANopen profiles by CiA.
2. The index range 1000_h to 1FFF_h is free for non CAN-based communication technology consortia with three exceptions: The objects 1000_h, 1001_h, and 1018_h are specified by CiA. The unique vendor-ID contained in 1018_h is assigned by CiA only.
3. The index range A000_h to AFFF_h shall be used for network variables.
4. The index range B000_h to BFFF_h shall be for system variable as specified in CiA 302-7 (respectively in CiA 400).
5. The index range C000_h to FFFF_h is reserved for CiA use.

These conditions are the same for all interested parties – CiA member companies and non-members. Everyone has the same rights and the same duties to use standardized CAN profiles.

All CANopen users benefit from standardized profiles. In order to enable also non CiA members to participate in the development of standardized profiles, CiA has established together with other non-profit organizations Joint Task Forces and Joint Special Interest Groups. Successful examples include the CANopen profile for extruder down-stream devices jointly developed with the Euromap organization, and the CANopen SIIS (subsea instrumentation interface specification) level-2 devices. 

Holger Zeltwanger (CAN in Automation)

The trend on CAN-based in-vehicle networks is not slowing down. Many chipmakers announced at the EmbeddedWorld exhibition in Nuremberg (Germany) new members of their micro-controller families that meets the requirements of the automotive industry. Higher performance, scalability of memory size and packages, optimized functionality combined with low-power consumption and high reliability is what the carmakers demand. Higher performance is not only required because of additional required functions, but also because of Autosar, the common software platform of the automotive industry. As any additional software interface, Autosar needs more computing power as originally expected and intended.
Beginning of 2006, Freescale and STMicroelectronics  have teamed up to develop jointly PowerPC-based 32-bit micro-controller families for the automotive market. One of the objectives was to support Autosar. So all micro-controllers will provide a Memory Protection Unit (MPU) compliant to the Autosar specification. There are dedicated families for different applications: The Bolero family with up to six FlexCAN on-chip modules is designed for body electronics; the Spectrum family is suitable for instrument cluster featuring two CAN ports; Pictus family with up to FlexCAN interfaces is optimized for chassis and safety applications; and the Monaco family with two FlexCAN is made for power-train ECUs. Both companies will provide individually these products via their distribution channels. It is a real second source.

Addition to the family

Renesas, the Japanese semiconductor merged by Hitachi and Mitsubishi, has introduced 50 micro-controllers comprising 11 groups as additions to its R32C/100 series of micro-controllers with on-chip flash memory. Most of the chips come with CAN on-chip modules. Compared with the M32C/90 series, the announced micro-controllers deliver twice the performance. One of the interesting features is a 4-KiB or 8-KiB on-chip flash memory for data storage. The memory allows 100 000 rewrite cycles and includes a background operation (BGO) function.
The R32C/120 and R32C/121 families operate at 64 MHz and come in a 100-pin package. They provide one or two CAN ports. The R32C/15X families provide more memory and up to four CAN channels as well as eight LIN interfaces. Designed for low-end applications, the R32C/16X families feature one or two CAN interfaces. They come in an 80-pin package. Also the other market-leading chipmakers have introduced end of last and beginning of this year many micro-controllers with on-chip CAN modules.
At the EmbeddedWorld NEC has announced 13 additional members of the V850ES/Fx3-L micro-controller family. These 32‑bit micro-controllers running at 20 MHz provide up to 256 KiB flash memory and up to 12 KiB RAM. They come in 64-, 80- , or 100-pin packages. All micro-controllers support CAN and LIN connectivity.

Stand-alone and 8-bit CPUs

There is still a market for stand-alone CAN controllers. Some users are not willing to change their device design, so some of them like to use the “good old” 82527 with all its failures and errors. Innovasic Semiconductors offers such controllers. These CAN controllers can be used as pin- and software-compatible replacements.
It is not only the high-end ECU, which the chipmakers have to support. Also the low-end ECUs require more performance for the “old” price. Freescale  has introduced 8-bit micro-controllers with CAN connectivity (S08D family) that provides up to 60 KiB flash memory. They are clocked with 20 MHz or 40 MHz. The French competitor STMicroelectronics has also launched some new 8-bit micro-controllers with on-chip CAN modules. The ST M8A family comes in 32‑pin to 128-pin packages. The optional CAN interface is supported by the CAN software driver developed by Vector. Even the 8051-compliant micro-controllers are still alive: Silicon Labs  provides the C8051FXXX family with on-chip CAN module. These chips are available in 64-pin and 100-pin packages with additional peripherals (e.g. A/D or D/A converter, SPI, I2C, or UART).
ASIX has developed the AX11025 8-bit pipelined RISC processor with on-chip CAN module. It provides 512 KiB flash memory, 32 KiB SRAM, Ethernet and TCP/IP as well as three UARTs and one I2C interface. The fabless Taiwanese company founded in 1995 is specialized in networking, communication, and connectivity applications.

For bridges, router, and gateways

In the next generation of passenger cars, an increasing number of CAN-based networks will be used. The OEM system designers like to separate functions (driver assistance system from powertrain, chassis from body electronics, etc.) by means of bridges, router, and gateways). In addition, CAN networks may be separated due to bandwidth and reliability reasons. This increases demand on micro-controllers with several CAN ports and Flexray or LIN interfaces. However, Flexray and LIN have not made their ways into other industries, e.g. factory and process or building automation.
NEC Electronics has launched the 32-bit micro-controller family dedicated for gateway applications. The V850/CAG4-M combines NEC’s risc core with SMCS’s intelligent network interface controller, which provides MOST (media oriented systems transport) network functionality. Besides the MOST port, the micro-controller features six CAN, two Flexray, and six LIN interfaces. With real-time clock and power-saving mode, this CPU is designed for body electronic gateway applications.

ARM-based processors

Although many chipmakers have their own CPU architecture, the users require increasingly common processor architecture in order to overcome quality problems with complex software systems. Autosar is a good idea, but does not solve all problems.
In the automotive industry the ARM processors become increasingly the preferred architecture. Besides Atmel, NXP, OKI also STMicroelectronics provide ARM-based micro-controllers with on-chip CAN modules. Since 1991, when the ARM6 was introduced, more than 10 billion of ARM-based processors have been sold.
NXP founded by Philips expanded its relationship with ARM. The Dutch chipmaker, who has already released its Cortex-M3 processor family, will license also the Cortex-AP MPCore. This multi-core processor has been introduced recently. “The strategic agreement between NXP and ARM underscores a shared vision of how 32-bit processors are fundamentally changing advanced digital products,” said René Penning de Vries, NXP’s Senior Vice President. The first NXP micro-controller based on the low-power Cortex-M3 will feature CAN and USB. They will target a wide range of applications including automotive, medical, and industrial devices.
NXP, the leading CAN transceiver vendor, was in the past not successful in the CAN controller business. They invented the BasicCAN controller (82C200) and implemented it in its 8-bit micro-controller. But these 8051-compatibles did not meet the requirements of the carmakers.
The predecessor, the SJA1000, was one of the best stand-alone CAN controller implementations. However, the micro-controllers implementing this CAN module did not gain significant market shares. The first ARM-based processors from NXP implemented a new CAN module, designed from the scratch.
The first version of these CAN modules has had several bugs, which nobody expected from a company with such a long CAN experience. Now, NXP uses in its new ARM-based processors the Bosch CAN core. Several micro-controller manufacturers use this C-CAN core. Bosch has already introduced the D-CAN core, and is developing the M-CAN core (see insert “Modular CAN module”).
The French competitor, STMicroelectonics, uses also an ARM Cortex-M3 core in its STM32 family. The 32‑bit micro-controllers will be sold for a very low price: Starting at 1,80  S-Dollar to 3,60 US-Dollar depending on memory size and on-chip peripherals. The micro-controller clocked with up to 72 MHz features up to 128 KiB flash memory and up to 20 KiB RAM. The chips come in 48-pin, 64-pin, or 100-pin package and provide CAN, USB, and seven DMA channels as well as up to two SPI, up to three UARTs, and up to two I2C interfaces. “The low power capability (maximum of 36 mA) and the cost of the STM32 family eliminate all remaining obstacles to broad 32-bit usage,” said Jim Nicholas, General Manager of ST’s micro-controller division. “Further developments of the STM32 family will see an expansion of the current options with larger packages, up to 512 KiB flash memory, 64 KiB SRAM and with extended features.” At EmbeddedWorld, Port has announced CANopen source-code libraries for the STM32 micro-controller with bxCAN on-chip module.
Luminary Micro has also introduced an ARM Cortex-M3 micro-controller featuring CAN communication. The 32-bit CPUs provide up to three CAN on-chip modules as well as up to two I2C interfaces. A dedicated CAN evaluation kit is available. Example software, third-party real-time operating systems, and higher-layer protocol stacks are available.

Autosar and CANopen support

The chipmaker starts to support Autosar not only by increasing CPU performance and more memory space, but also by dedicated software packages. Fujitsu has announced at the EmbeddedWorld a cooperation with Elektrobit. The teaming-up enables both companies to offer an integrated package consisting of the MB91460 micro-controller and the Autosar V2.1 software package. The software includes the Micro-controller Abstraction Layer (MCAL). The software also provides the runtime environment, the Autosar operating system, and protocol stacks for CAN, Flexray, and LIN.
The very same trend can be seen in non-automotive application fields. The semiconductor companies invite software providers to add value to the micro-controllers by means of protocol stacks. CANopen, the standardized higher-layer protocol for embedded networks, is available from several chipmakers. Fujitsu and Sys Tec provide a micro-controller evaluation kit with CANopen software. Fujitsu introduced the 16-bit MB96F338U, which features a USB interface and three CAN channels. It is available in USB memory stick format. Hitex is doing the same: The company has developed USB sticks with several micro-controllers from Infineon, NXP, and STMicroelectronics featuring CAN connectivity. The STM32 stick has been awarded at the EmbeddedWorld exhibition in the category tools. Hitex’s USB products can be used as micro-controller development kits. If they come with CANopen software running on a PC, you can use them also as CAN-to-PC interface. There is no need any more to develop test boards or test software and then adapt the CANopen protocol to the micro-controller. The kit gives industrial customers a way to dramatically reduce development time, saving man/months in time to market. Hitex offers also the Netstick featuring Hilscher’s netX network processor with Ethernet and CAN interfaces. Infineon provides the CANopen software from Port for its 16-bit XE166 family of Real-Time Signal Controllers (RTSC). „Infineon’s development and application kits are proof that we understand the needs of our customers, especially those small- and medium-sized companies who do not have large development teams and budgets but still have aggressive quality and time-to-market goals. We can offer them valuable support for their developments,” said Jochen Hanebeck, Senior Vice President at Infineon.
The UConnect USB stick provides full evaluation capabilities for the 16‑bit MCU XE164. The kit also contains an extension board for expanding the possible interfaces such as synchronous and asynchronous serial interfaces (SSC, ASC, or I2C), six PWM channels, four A/D channels and a second CAN interface. Besides the CANopen protocol stack, the stick comes with a one-year license-free Tasking Classic Compiler from Altium as well as DavE, a software configuration tool, along with all documentation. Other chipmakers will follow this direction. Freescale is already implementing CANopen by itself. The first prototype was shown at the EmbeddedWorld. In the background, there are already discussions between chipmakers and CANopen protocol stack providers.

Dedicated for motion control

The chipmakers have discovered the non-automotive market. They are going to develop micro-controllers for dedicated applications. Sometimes they just provide additional functions for those application fields. Motion control is one of these markets they started to address specifically. The UConnect-CAN development kit by Infineon enables designs of cost-sensitive and networked real-time motor control systems for industrial applications, such as servo-drives, air-conditioning systems, stepper motors and pumps. Also included is a low-cost 3-phase motor-control development kit combining an enhanced 8‑bit MCU capable of supporting Field Oriented Control (FOC) with a highly integrated intelligent power module. The UConnect-CAN development kit allows complete analysis of the CANopen protocol and application code for motor control designs in as little as 30 minutes. Renesas has introduced the SH  family of 32-bit micro-controllers, which are used in many frequency inverters. The total European inverter market is about 4 million drives per year; two-thirds are in the less than 500-kW class. The SH71317F addressing this market provides one or two CAN on-chip modules and multiple PWM outputs. Using this micro-controller, the device designer can compensate dead time in order to avoid motor crashes. Besides the huge chipmakers, smaller companies are also addressing the non-automotive markets with dedicated communication controllers. An example is the NetX controller by Hilscher featuring Ethernet and CAN connectivity. Profichip also has introduced its ARM-based host-controller with two Ethernet and one CAN interface. The company has formed a partnership with Grid Connect in order to promote the PLC 7100 micro-controller with 128 KiB memory in North America. The chip will be available in fall 2008.

The largest exhibition dedicated to embedded control has closed its doors end of February. With more than 670 exhibiting companies, the fair accompanied by a conference is the most important event for embedded control design engineers. The exhibition addresses all market fields from automotive via industrial to medical design engineers. The exhibited products cover micro-controllers, board-level products, standard software, and tools. One of the highlights for CAN interested visitors were the USB development kits for CAN micro-controllers. Infineon, Hitex and Port offers a USB stick with CAN connectivity adapter plus CANopen protocol stack for about 50 €. The XE166 16-bit micro-controller provides short interrupt latency times including a fast context switching. The USB evaluation stick comes with complete a PC-based CANopen development environment.