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CANopen Maritime Software

CANopen Maritime Software for the development of CANopen devices for maritime applications and areas of application which require redundant communication mechanisms according to DSP 307.

OVERVIEW OF FUNCTIONS

Building on many years of experience with CANopen based on communication systems, IXXAT has developed a specification for CANopen applications in the maritime sector and the CANopen Maritime Protocol Software in cooperation with leading manufacturers of maritime automation systems.

The software package implements CANopen framework for maritime electronics (DSP307, version 1.1) and is specially designed for the extended safety requirements in maritime automation. The requirements of maritime classification organizations demand a single failure tolerance of the communication system. This is supported via the redundant communication on two independent CAN lines and by the flying master concept.

Redundant Communication

The redundancy neccessary for the fulfillment of single failure tolerance requires that CANopen maritime devices are connected to physically independent bus lines via two CAN controllers. In fault-free operation, transmission occurs on both CAN lines. The IXXAT CANopen Maritime Software provides complete support of the redundancy mechanism according to DSP307, including transmit-side delay time monitoring.

Process data are always transmitted on both transmission lines. In the event of failure of one line, the system continues working without interruption and data loss (active CAN line mechanism). Due to faults on the CAN bus it may happen that transmission occurs at different times on both lines (Tx delay time) despite simultaneous transmit request. The integrated delay time monitoring prevents a more recent message being overwritten by an older message.

SDO messages can be transmitted on one of the two CAN lines. The relevant acknowledgement is given on the line on which the request was received.

Network Management & Functionality

The CANopen Maritime software implements independent NMT state machines for both CAN lines according to the definitions in DSP307. Flying master and startup-capable-device functionality according to DS302 V3.2 are supported as standard. In addition the heartbeat mechanism is available with producer monitoring.

Programming Interface & Object Dictionary

Data are exchanged between the application and the CANopen software via the object dictionary. Each object dictionary entry can be directly allocated a reference to a variable with application data. Application-specific call-back functions can be linked to each application object and enable event-oriented signaling to the application when these objects are accessed. This mechanism allows direct, application-specific reaction to alterations of the application data triggered on the bus-side. Based on the implementation of the CANopen Protocol Software, the CANopen Maritime Software supports object dictionary entries for the extended heartbeat mechanisms, the redundancy configuration parameters and the flying master timing parameters according to DS302 and DSP307.

Scalability & Hardware Specific Adaptation

Since the CANopen Maritime Software package already provides all services and mechanisms defined in the CANopen Framework for Maritime Electronics DSP307 version 1.1, the developer can concentrate fully on the creation of the actual application. To ensure a high degree of scalability and adaptability, the software package is configured centrally. The protocol stack can thus be adapted to the given application and the resources can therefore be used effectively.

Time Required for Implementation

The CANopen Maritime software is supplied as a hardware-independent C source code. The documentation and sample programs also supplied enable a quick start with the CANopen maritime software. Project files are supplied with the sample programs which allow direct integration in the relevant development environments of the compiler manufacturers. All sample programs can be run directly on a reference platform (evaluation board of the CPU manufacturer or IXXAT interface board). Normally adaptation to the target hardware can be carried out within a few days. Implementation of the own application is facilitated with the sample programs.

Available Versions

The CANopen Maritime protocol software is available in two different packages with different ranges of functions: slave and master/slave. The master/ slave package contains the complete scope of functions and can be used both for the development of pure slave devices and simple master devices. The fucntional scope of each package is described in the following table:

Functionality CANopen Maritime Software

C=Consumer (receiver); P=Producer (sender); S=Slave; M=Master

Supported Processors/CAN Controllers

The CANopen Maritime software is hardware-independent and can thus be used on a large number of microcontrollers and CAN controllers. For processors of the following manufacturers (status at time of printing of the catalog), IXXAT supplies reference implementations including project files for the development environments used, which can be run directly on the the relevant development platforms:

• Infineon
• Fujitsu

Delivery Specification

• Source code
• Software license
• Detailed manual
• Sample programs
• Technical support

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