CANopen编程方案

default: /*未知命令*/ printf(" Error: Unknown command!\r\n"); break; } return 0; }
其中用到了CANopen_SDOC_Exp_Write程序，用来给服务器发送写快速 SDO数据的请求 uint8_t CANopen_SDOC_Exp_Write(uint8_t node_id, uint16_t index, uint8_t subindex, uint8_t* data, uint8_t length) { CAN_MSG_OBJ msg_SDO_Seg_TX; uint8_t i, i2; if(CANopen_SDOC_State == CANopen_SDOC_Succes || CANopen_SDOC_State == CANopen_SDOC_Fail) { CANopen_SDOC_State = CANopen_SDOC_Exp_Write_Busy; if(length == 0 || length > 4) { CANopen_SDOC_State = CANopen_SDOC_Fail; /* min for exp write id 0, max is 4 */ return 0; }
void CANopen_Init_SDO(void) { uint32_t i; for(i=0; i<WatchListLength; i++) { WatchList[i].value = 0; /*消费者心跳初始化*/ WatchList[i].counter = 0; /*消费者心跳计数器初始化*/ } CANopen_Heartbeat_Producer_Value = HEARTBEAT_PRODUCER_TIME; /*生产者心跳赋初值*/ CANopen_Heartbeat_Producer_Counter = 0;/* 生产者心跳计数器初始化*/ }
case 2:
/*读从节点1*/
printf(" Read SDO slave node 1.\r\n"); printf("Node ID\tIndex\tSubindex\tEXP/SEG\tSize\tData\r\n"); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1000, 0x00); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1001, 0x00); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1016, 0x00); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1016, 0x01); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1017, 0x00); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1018, 0x00); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x1018, 0x01); Print_SDO_EXP_Entry(CAN_SLAVE1_NODE, 0x2000, 0x00); Print_SDO_SEG_Entry(CAN_SLAVE1_NODE, 0x2200, 0x00); break;
CANopen编程方案
杨濛 胡浩 韦张勇 2013.10.28
程序流程图
初始化
增加从站节点 Y
系统首次运行 N 创建PDO
创建SDO
SDO方式读取对象 字典设置从站参数
启动PDO PDO方式实现主从 站数据交换
程序伪代码
int main(void) { SystemInit(); CANopenInit(); UART_Init(115200); ...... while(1) { do { fgets(buffer, sizeof(buffer), stdin); i = sscanf(buffer,"%d", &CMD); } while(i != 1 && (!StopReadingUART)); //判断系统是否为首次运行 switch(CMD) { case 1: Configure slave node 1；
/* 心跳消费者值*/ /* 心跳计数器*/ /* 观测节点状态. */ /* 心跳没有及时接受到时置位*/ /* HBF后收到Bootup报文置位*/ /* != NULL时，软件会自动重新配置节点，该节点ID由心跳 失败后节点的NodeID指定 */ /* != NULL &&NodeID != NULL心跳生产者时间会在心跳失 后自动恢复*/ /* != NULL &&NodeID != NULL心跳消费者时间会在心跳失 败后自动恢复*/
switch(CMD)
{ case 1:
/*配置节点1*/ printf(" Configure slave node 1.\r\n"); WatchList[0].value = 0x00; /* 配置节点1时禁用心跳检查*/ buffer[0] = (WatchList[0].ProducerTime >> 8) & 0xFF; buffer[1] = (WatchList[0].ProducerTime >> 0) & 0xFF; CANopen_SDOC_Exp_Write(CAN_SLAVE1_NODE, 0x1017, 0x00, (uint8_t*)buffer, 2); while(!(CANopen_SDOC_State == CANopen_SDOC_Succes || CANopen_SDOC_State == CANopen_SDOC_Fail)) ; if(CANopen_SDOC_State == CANopen_SDOC_Succes) WatchList[0].value = (WatchList[0].NodeID)<<16 | WatchList[0].ConsumerTime; /* node 1 */ else printf("Error: Failed while executing command!\r\n");
msg_SDO_Seg_TX.mode_id = 0x600 + node_id; msg_SDO_Seg_TX.mask = 0x00; msg_SDO_Seg_TX.dlc = 8; msg_SDO_Seg_TX.msgobj = 8; msg_SDO_Seg_TX.data[0] = 1<<5 | (4-length)<<2 | 0x02 | 0x01; msg_SDO_Seg_TX.data[1] = index & 0xFF; msg_SDO_Seg_TX.data[2] = (index >> 8) & 0xFF; msg_SDO_Seg_TX.data[3] = subindex; msg_SDO_Seg_TX.data[4] = 0x00; msg_SDO_Seg_TX.data[5] = 0x00; msg_SDO_Seg_TX.data[6] = 0x00; msg_SDO_Seg_TX.data[7] = 0x00; i2 = 0; for(i=length; i!=0; i--) msg_SDO_Seg_TX.data[i+3] = data[i2++]; (*rom)->pCAND->can_transmit(&msg_SDO_Seg_TX); CANopen_Timeout = CANOPEN_TIMEOUT_VAL; return 1; } CANopen_SDOC_State = CANopen_SDOC_Fail; return 0; }
Байду номын сангаас
typedef struct _WatchNode_t { uint32_t value; uint32_t counter; uint8_t status; uint8_t heartbeatFail; uint8_t BootupAfterHBF; uint8_t NodeID; uint16_t ProducerTime; uint16_t ConsumerTime; }WatchNode_t;
buffer[0] = 0x00; buffer[1] = CAN_NODE_ID; buffer[2] = (WatchList[0].ConsumerTime >> 8) & 0xFF; buffer[3] = (WatchList[0].ConsumerTime >> 0) & 0xFF; CANopen_SDOC_Exp_Write(CAN_SLAVE1_NODE, 0x1016, 0x01, (uint8_t*)buffer, 4); while(!(CANopen_SDOC_State == CANopen_SDOC_Succes || CANopen_SDOC_State == CANopen_SDOC_Fail)) ; if(CANopen_SDOC_State == CANopen_SDOC_Fail) printf("Error: Failed while executing command!\r\n"); break;
case 3:
/*数据写入从节点的SDO入口2200h*/
printf(" Write to SDO entry 2200h of slave node 1.\r\n"); printf("Enter string to write to SDO entry 2200h of slave node 1:\r\n"); fgets(buffer, sizeof(buffer), stdin); i = 0; while(buffer[i]) i++; CANopen_SDOC_Seg_Write(CAN_SLAVE1_NODE, 0x2200, 0x00, buffer, i-1); while(!(CANopen_SDOC_State == CANopen_SDOC_Succes || CANopen_SDOC_State == CANopen_SDOC_Fail)) ; if(CANopen_SDOC_State == CANopen_SDOC_Fail) printf("\r\nError: Failed while executing command!\r\n"); break;