CMX-CANopen Code Size and Performance Examples

DS401 Generic I/O Example

The default example delivered with CMX-CANopen implements the Device Profile DS401 for Generic I/O. It has one SDO server, produces the heartbeat message, supports the generation of emergency messages, uses 8 PDOs (4 RPDO, 4 TPDO) of 8 bytes each and supports all CANopen transmission modes: synchronized, event and/or time triggered and RTR. All PDOs are fully dynamic.

The application implemented is minimal, all RPDOs are copied back to the TPDOs. All process data and some configuration data is stored in a process image of 96 bytes.

The table below shows code and data sizes as well as performance of CMX-CANopen for this implementation. The column "Data Size" includes the 96 byte process image and all overhead (like stack) needed for the specific architecture. The "RPDO Time" is the execution time in microseconds for the CAN receive interrupt service routine completely processing an 8-byte RPDO, this includes resolving the dynamic mapping and copying the process data received to the appropriate target location in the process image.

MyNode Minimal DS401 Generic I/O Example

A minimal example delivered with CMX-CANopen implements a minimal version for the Device Profile DS401 for Generic I/O. It has one SDO server, produces the heartbeat message, uses 3 PDOs (1 RPDO, 2 TPDO) of 4 bytes or 2 bytes each and supports the CANopen transmission modes event and/or time triggered. All PDOs are fully dynamic.

The application implemented is minimal, all RPDOs are copied back to the TPDOs. All process data and some configuration data is stored in a process image of 16 bytes.

The table below shows code and data sizes as well as performance of CMX-CANopen for this implementation. The column "Data Size" includes the 16 byte process image and all overhead (like stack) needed for the specific architecture. The "RPDO Time" is the execution time in microseconds for the CAN receive interrupt service routine completely processing a 2-byte RPDO, this includes resolving the dynamic mapping and copying the process data received to the appropriate target location in the process image.