CANOpen for TMS320F28027F

Andrew,
I presume you intend to connect MCP2515 to F28027F via the SPI port. Have you considered the F28062F device, with integrated CAN module? I also comes with 90 MIPS. Unfortunately, TI does not provide CANopen stack.

Yes, I plan to use F28069M for Motion. Now we use and F28027F + MCP2515 is cheaper as F28069F. We have CANopen stack for Arduino (very small). We have it ported to F28027F. it is Alpha version. We are at the stage of searching for bugs. Now a lot of bugs. Maybe there are open source projects for CANOpen for C2000?

Andrew.

Hi Hareesh,
How much memory need canfestival for a STM32? Do not Share a link to STM32?
Best
Andrew.

about 30-60k flash and 1-5k ram

Hi everybody,

I'm planning to use the MCP2515 to add CAN communication on the F28027F.
After, reading your code (c2000-mcp-can-master), I suppose you add a

- 16Mhz crystal for the MCP 2515

-MCP2515  #INT on GPIO28

-MCP2515 #RESET on GPIO29

Did you succes to implement CANOpen ?

I do not use Reset.
-MCP2515 #CS on GPIO29
We made a small clone of CANOpen. We are now testing. While we do not plan to do it OpenSource. maybe later.

Andrew.

Hi, 

Ok thank you

Even if you don't plan to release it in Open source,

Can you tell us if you successed in implementing CANopen ?

Hi Renaud,
Yes, we have been to implement CANopen Device with SDO and PDO. Now we are make SYNC. As Master we use CANFestival on Raspberry Pi.

That's great,
I still don't know how i will control my motors (4 400V/5A BLDC Sensorless), but i will use CAN bus.
The master will be a powerful ARM (but still not defined).
Thanks for you feedback

In a small submarine I use 4 motors with InstaSpin - 027F and 4 Faulhaber motor for motion. In the next stage of the project, I plan to replace Faulhaber with InstaSpin Motion and to port CANFestival to 069M. CANFestival will be OpenSource. It's a pity, Faulhaber does not have powerful (more as 200W) motors and motion controllers. Now CAN Bus is loaded оnly 10%. You can use any ARM.

Why do you replace the 027F + MCP2515 by 069M
What are the advantages ?

I'm still in design stage for my controller, and I had to choose between the 2 CPU.
I wanted to use 027F because I already use it for low voltage low power esc (and i have the BOOSTXL with it).
At first I didn't plan to use CAN bus.
But now, I still think that the 067F can do the job, even with CAN bus and it is much cheaper.

So maybe I'm choosing the wrong one.

My application is a small submarine too, 4 thrusters 400V / 5A max, sensorless. 2600 rpm max (the max of the motor is 4000 rpm with a 560V main DV bus, but our bus will be a 400VDC).
Each thruster will have its own ESC and a Main CPU will comminicate with each ESC with a CAN bus to control and monitor.

027F + MCP2515, I do not want to change. I want to replace Faulhaber - Motor with InstaSpin Motion. :)

"submarine 4 thrusters 400V / 5A"  - 8000W Wau. It's a Little?  We have 1700Wh for the all System.

We dont use more ESC. With the ESC can not be used quick PID and need HALL sensors for measuring speed.

We need lot of power, because the ROV may be in high current.

I'll stay with my 027F + MCP2515