CANopen On-Board Protocol Stack

ECCS criticality B pre-qualified CANopen library for use in space enviroment

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Main Features

Complete CANopen software stack implementation, compliant with CiA 301, CiA 306 and ECSS-E-ST-50-15C standards. Highly customizable and configurable open-source library targeted for critical embedded systems.

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ECSS criticality level B

validation test suite and documentation which includes: documentation pack compliant with ECSS-E-ST-40C and ECSS-Q-ST-80C standards; ECSS-E-ST-50-15C validation tests; 100% line, branch and decision coverage by unit-tests

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C language API

of the library provides: pure C99/C11 interface; object-oriented design; static memory allocation; no external libraries dependencies; C++ wrappers (for non-critical software)

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Complete implementation

of all applicable CANopen services according to CiA 301 and ECSS-E-ST-50-15C: PDO, SDO, SYNC, EMCY, NMT; support for ECSS-based bus redundancy in NMT service; support for ECSS “time objects”

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Object dictionary code generator

from human-readable DCF device configuration files (CiA 306) to static C structures



N7 Space provides commercial support to deployment of open-source Lely CANopen library for target on-board systems. Criticality B pre-qualified version of this library has been prepared during ESA activity. Pre-qualification data pack is available for ATSAMV71Q21 and SAMV71Q21RT. We can support deployment of the library for different target platforms including porting of the test suite and adaptation of the qualification environment.

CANopen library pre-qualification project

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CANopen is a communication protocol for embedded systems, standardized by CAN-in Automation (CiA) group, of which N7 Space is also a member. CANopen protocol is designed to work on data link provided by CAN (Controller Area Network) – a robust standard, highly popularized by the automotive industry – all modern cars are required to include that bus in their diagnostic link.

Due to popularity, robustness and availability of high-quality components ready for CANopen protocol deployments, ECSS (European Cooperation for Space Standardization) standardizing committee created a version of CANopen applicable for on-board use in spacecrafts (ECSS-E-ST-50-15C).

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On basis of European Space Agency funded initiative for open-source library providing CANopen stack implementation according to ECSS standard, N7 Space performed and successfull completed the qualification of existing and field-tested by robotic industry open-source library – lely-core by Lely Industries, an extensive, feature-rich, of high code-quality, configurable and well documented software, which is a great candidate for critical systems.

In the scope of the project two additional repositories were created – Test Environment (a framework for creating validation tests) and Test Suite (repository for the tests themselves). The tests were executed on a space-grade ARM microcontroller (SAMV71 on ATSAMV71-XULT development board) wrapped in a custom-made equipment prepared by BD Sensors Space and connected to PC via JTAG and CAN dongles.

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About us

N7 Space is a Warsaw based software house dedicated for space industry. We specialize in on-board software for advanced satellite systems. Our software is customizable and can be used on various small and medium scale satellites, including hi-tech scientific missions. We are also a member of CAN in Automation (CiA) association.

Our products & services

We offer custom software for a vast range of on-board systems based on SPARC or ARM architectures running bare-metal or RTOS based applications, which are often used in small satellite missions. Do you use one of these microcontrollers? Contact us for a reliable software, verified according to ESA ECSS standards!

We can take responsibility for the whole software development process based on rigorous ESA ECSS standards. With our help, you will save time, resources and make sure that everything runs smoothly. We can also provide your team with a formal MBSE toolchain for your platform with various models that can be tailored for your mission needs. As a result, the process will run faster and more consistently.


Experience in on-board software development gained during PROBA3 ASPIICS project:

  • responsibility for bootloader and application software
  • knowledge of Leon based on-board systems and software development environments.

Execution of software projects for European Space Agency:

  • multiple ESA projects with high TRL and criticality B or C,
  • ESA Spice for Space (S4S) assessment closed successfully,
  • 2 software contributions to Comet Interceptor mission,
  • expierience in usage of MBSE toolchains for varous embedded systems.

Contact Us

If you are interested in using lely-core in your project, contact us to get pricing for full qualification data pack and deployment support. We can provide support in target deployment and adaptations of test suite for particular project needs.

Our Partners

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