CanFestival CanOpen stack is coded with respect to ANSI-C. You can compile it with any toolchain and implements its own micro-scheduler.

CanFestival uses only one timer to trigger all CANOpen timed operations, and provide a workaround for µC with smalls timer range.

Successful port to HC12 have been made Francis DUPIN. CanFestival Makefiles let you compile it with the GNU 68HC11/12 gcc port for this target. Some HC12 specific code is also present.

Have a look to the history page to get more info about outdated specific µC ports.