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Developing CiA 443 compliant slave devices

Emtas (Germany) has released a new version of its CANopen source code stack extension. This version enables the development of CiA 443 compliant CANopen slave devices also known as SIIS level-2 devices.

(Photo: Emtas)

The CiA specification 443, which has been updated recently to version 3.0.1, describes requirements for slave devices. First, each device must be equipped with a CANopen bootloader to update the firmware. Second, the device always has to start in bootloader mode and the master activates the application separately. Third, the bootloader must support Layer Setting Services (LSS) and automatic bit-rate detection, and fourth, Node-IDs are assigned by LSS.

Although all of these requirements can be met using the company's CANopen stack and bootloader, the stack extension provides pre-configured packages and ready-to-run examples that speed up the development of CiA 443 compliant devices. Furthermore, it includes additional functions to pre-process measured values for various defined application parameters and to send TPDOs according to the rules defined in the specification. It also includes MPDO support for complex devices.

The CANopen stack and the CiA 443 extension, which includs a CANopen bootloader, is available for multiple micro-controllers from different manufacturers such as Infineon, ST, Microchip, NXP, Nuvoton, and others. It is always delivered as ANSI-C source code and the license conditions allow the development of an unlimited number of devices for a one-time fee without further royalties.

Additionally, Emtas offers the source code of a CiA 309-3 gateway that allows a TCP/IP access to “tree” controllers on the ocean ground from topside controllers via TCP-based networks.


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