CANopenNode RT-Thread v1.0.0 is the first official release of the CANopenNode port for the RT-Thread operating system.
This release provides an RT-Thread integration layer for CANopenNode V4, including CAN device adaptation, Kconfig configuration, SCons build integration, runtime scheduling, storage support, and a demo Object Dictionary for initial bring-up and validation.
Highlights
- CANopenNode V4 integration for RT-Thread
- RT-Thread CAN device driver adaptation
- Kconfig-based feature configuration
- SCons build integration
- Dedicated CAN RX, mainline, and realtime processing
- Configurable CAN device name, Node-ID, bitrate, thread priorities, and stack sizes
- Optional RT-Thread CAN hardware filter support
- Event-driven mainline scheduling with
timerNext_us - Support for CANopen communication reset and runtime reinitialization
- Optional high-resolution microsecond timing
- Support for CiA 301 and optional CANopen protocol modules
- Optional SDO server and SDO client functionality
- Optional PDO, SYNC, TIME, Emergency, Heartbeat, LSS, and Gateway support
- Optional DFS, AT24CXX EEPROM, and custom storage backends
- Optional CANopen LED status mapping through RT-Thread PIN devices
- Demo Object Dictionary for initial integration and testing
- English and Simplified Chinese documentation
RT-Thread Integration
The package provides the following main integration components:
- RT-Thread CAN target driver
- CANopenNode runtime wrapper
- CAN RX worker thread
- CANopen mainline processing thread
- Realtime SYNC/RPDO/TPDO/SRDO processing thread
- Kconfig configuration interface
- SCons source selection and build integration
The package can be enabled with:
PKG_USING_CANOPENNODE
The target BSP is expected to provide the required RT-Thread device and synchronization components, including CAN device support.
Package Repository
Source repository:
https://github.com/wdfk-prog/canopennode-rtt
This release is intended to serve as the first fixed version for integration into the official RT-Thread package index.
Notes
The bundled demo Object Dictionary is intended for bring-up and integration testing.
Production applications should provide their own generated Object Dictionary and verify application-specific PDO, SDO, identity, storage, persistence, timing, and CAN configuration.
The CANopenNode core is maintained by the upstream CANopenNode project and is included as a Git submodule.