CANopen SDO C代码
时间: 2024-05-05 08:22:21 浏览: 7
以下是一个简单的CANopen SDO C代码示例:
```c
#include <stdio.h>
#include <stdint.h>
#define SDO_EXPEDITED_MASK 0x02
#define SDO_SIZE_INDICATED_MASK 0x01
#define SDO_READ_REQUEST 0x40
#define SDO_WRITE_REQUEST 0x20
#define SDO_RESPONSE 0x60
typedef struct {
uint8_t cmd;
uint16_t index;
uint8_t subindex;
uint8_t data[4];
} sdo_message_t;
sdo_message_t sdo_message;
void handle_sdo_message(sdo_message_t* msg) {
uint16_t index = msg->index;
uint8_t subindex = msg->subindex;
if (msg->cmd & SDO_WRITE_REQUEST) {
// Handle write request
// ...
} else if (msg->cmd & SDO_READ_REQUEST) {
// Handle read request
// ...
} else if (msg->cmd & SDO_RESPONSE) {
// Handle response
// ...
} else {
// Unknown command
// ...
}
}
int main() {
// Initialize CAN interface
// ...
while(1) {
// Wait for incoming message
// ...
// Parse SDO message
sdo_message.cmd = (incoming_msg[0] & 0xE0);
sdo_message.index = (incoming_msg[1] << 8) | incoming_msg[2];
sdo_message.subindex = incoming_msg[3];
if (sdo_message.cmd & SDO_EXPEDITED_MASK) {
// Expedited transfer
if (sdo_message.cmd & SDO_SIZE_INDICATED_MASK) {
// Data size indicated in message
uint8_t data_size = incoming_msg[4] & 0x03;
memcpy(sdo_message.data, &incoming_msg[5], data_size);
} else {
// Data size not indicated in message
memcpy(sdo_message.data, &incoming_msg[4], 4);
}
} else {
// Segmented transfer
// ...
}
handle_sdo_message(&sdo_message);
}
}
```
注意,这只是一个简单的示例,实际的实现可能会更复杂,具体取决于您要使用CANopen SDO做什么。