CANopennode中的CANopen.h/.c文件怎么使用它连接CAN接口

CANopennode中的CANopen.h/.c文件只是CANopen协议栈的实现部分，它并不负责连接CAN接口。连接CAN接口需要使用相应的硬件驱动和底层通信接口。

具体来说，如果你使用的是一款支持CAN总线的嵌入式处理器，可以使用该处理器的CAN硬件模块来连接CAN总线，并使用相应的驱动程序来控制CAN硬件模块。CANopennode提供了一些示例代码，可以根据具体的硬件平台和开发环境进行相应的修改。

如果你使用的是外部的CAN控制器芯片，需要使用该芯片提供的驱动程序来连接CAN总线，并且需要将CANopen协议栈中的CAN通信部分与相应的驱动程序进行配合使用。具体的实现方法可以参考CANopennode官方文档中的说明。

总之，在连接CAN接口时，需要根据具体的硬件平台和开发环境选择相应的驱动程序和连接方式，并将CANopen协议栈中的CAN通信部分与相应的驱动程序进行配合使用。

相关问题

CANopennode中的CANopen.h/.c文件怎么使用

CANopennode是一个开源的CANopen协议栈实现，可以在嵌入式系统中使用。CANopen.h文件包含了CANopen协议栈的API，而CANopen.c文件包含了协议栈实现的细节。

要使用CANopennode中的CANopen.h/.c文件，需要首先将它们添加到你的项目中。具体的添加方法可以根据你使用的开发工具和编译器而有所不同，一般来说，你需要在你的项目中添加这些文件并将它们包含在编译过程中。

然后，你需要按照CANopen协议栈的规范来使用CANopen.h文件中的API来实现CANopen通信。具体的使用方法可以参考CANopennode官方文档中的说明，包括配置CANopen节点、发送和接收CANopen报文等。

需要注意的是，CANopen协议栈的实现涉及到底层的硬件操作，需要对硬件和CAN总线的工作原理有一定的了解。同时，使用CANopen协议栈也需要对CANopen协议有一定的了解。因此，在使用CANopennode之前，建议先学习CANopen协议和CAN总线的基础知识。

CANopennode的CANopen.h文件

以下是CANopennode中CANopen.h文件的代码，仅供参考：

/**
 * @file CANopen.h
 * @author CANopenNode, LLC
 * @version 4.0.0
 * @date 25 Feb 2021
 * @brief Header file for CANopenNode stack.
 *
 * This file contains all definitions and declarations for the CANopenNode
 * stack that are relevant for the application. The data types and function
 * prototypes defined here must be used in the user application code.
 *
 * @copyright Copyright (c) CANopenNode, LLC
 * @defgroup CO_CANopen CANopen
 * @{
 */

#ifndef CO_CANOPEN_H
#define CO_CANOPEN_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>

/* Exported defines ----------------------------------------------------------*/

/**
 * Macros for standard data types.
 *
 * Macros for data types defined in stdint.h and stdbool.h. These macros should
 * be used in the application code instead of direct use of the types.
 *
 * @ingroup CO_CANopen_301
 * @{
 */
#ifndef NULL
#define NULL ((void*) 0)
#endif

#define int8_t    int8_t
#define uint8_t   uint8_t
#define int16_t   int16_t
#define uint16_t  uint16_t
#define int32_t   int32_t
#define uint32_t  uint32_t
#define bool_t    bool
#define true      true
#define false     false
/** @} */

/* Exported types ------------------------------------------------------------*/

/** CAN message structure as in CAN hardware. */
typedef struct {
    uint16_t ident; /**< 11-bit identifier, bits 10..0 are used. */
    uint8_t DLC;    /**< Data length code: 0..8. */
    uint8_t data[8];/**< Data field. Bytes 0..7 are used. */
} CO_CANrxMsg_t;

/** CAN transmit message structure. */
typedef struct {
    uint16_t ident; /**< 11-bit identifier, bits 10..0 are used. */
    bool_t rtr;     /**< RTR (Remote transmission request). */
    bool_t ext;     /**< EXT (Extended identifier, 29-bit). */
    uint8_t DLC;    /**< Data length code: 0..8. */
    uint8_t data[8];/**< Data field. Bytes 0..7 are used. */
} CO_CANtx_t;

/**
 * CAN message reception callback function.
 *
 * Function is called, when new message is received and passed to the CANopenNode.
 *
 * @param[in] msg Received message with necessary informations.
 */
typedef void (*CO_CANrx_callback_t)(const CO_CANrxMsg_t *msg);

/**
 * CANopen receive message structure.
 *
 * Object is storage for received CAN message and additional informations.
 */
typedef struct {
    const uint16_t ident; /**< Standard CAN Identifier or Extended CAN Identifier. */
    const uint16_t mask;  /**< Mask, to determine which bits of the identifier are significant. */
    CO_CANrx_callback_t pCANrx_callback; /**< Pointer to function, which will be called, when CAN message with specified identifier will be received. */
} CO_CANrx_t;

/** CANopen object with static configuration. */
typedef const struct {
    const uint16_t            index;   /**< Index of object in Object Dictionary. */
    const uint8_t             subIndex;/**< Subindex of object in Object Dictionary. */
    const uint8_t             attribute;/**< Attribute of Object Dictionary entry. */
    const uint32_t            length;  /**< Data length in bytes. */
    void* const               pData;   /**< Pointer to data. */
    const CO_CANrx_callback_t pFunct;  /**< Pointer to function, which will be called on RPDO reception. */
} CO_ObjDict_t;

/* Exported variables --------------------------------------------------------*/

/* Exported functions ------------------------------------------------------- */

/**
 * Initialize CANopenNode stack.
 *
 * Function must be called in the communication reset section.
 *
 * Function configures:
 *  - data storage for CANopen objects
 *  - LSS slave
 *  - LSS master
 *  - SDO server
 *  - SDO client
 *  - Emergency object
 *  - Heartbeat consumer
 *  - NMT object
 *  - Time object
 *  - SYNC objects
 *  - RPDO objects and corresponding CAN reception filters
 *  - TPDO objects and corresponding CAN transmission functions
 *  - SDO server objects and corresponding CAN reception filters and CAN transmission functions
 *
 * Function must be called before any other CANopenNode function.
 *
 * @param[out] ppData Pointer to pointer to data memory for CANopen objects.
 *                   If *ppData==NULL, memory for CANopen objects will be
 *                   allocated. If *ppData!=NULL, memory must be
 *                   statically allocated by application and available
 *                   during whole lifetime of the CANopenNode.
 *                   Pointer ppData is pointing to the first free byte
 *                   after the allocated memory.
 * @param[in] nodeId CANopen Node ID.
 * @param[in] bitRate CAN bit-rate.
 * @param[in] CANrx_callback Pointer to function, which will be called, when CAN
 *                            message with appropriate identifier is received.
 *                            It can be NULL.
 *
 * @return 0: Operation completed successfully.
 * @return -1: Error in function parameters.
 * @return -2: Error: CO_LSSslave_init() failed.
 * @return -3: Error: CO_SDOserver_init() failed.
 * @return -4: Error: CO_EM_init() failed.
 * @return -5: Error: CO_NMT_init() failed.
 * @return -6: Error: CO_HBconsumer_init() failed.
 * @return -7: Error: CO_TIME_init() failed.
 * @return -8: Error: CO_SYNC_init() failed.
 * @return -9: Error: CO_RPDO_init() failed.
 * @return -10: Error: CO_TPDO_init() failed.
 */
int16_t CO_init(
        uint8_t** const ppData,
        const uint8_t nodeId,
        const uint16_t bitRate,
        CO_CANrx_callback_t CANrx_callback);

/**
 * CAN receive function.
 *
 * Function must be called, when CAN message is received.
 * For every received message, function will try to find appropriate
 * CO_CANrx_t object (with CO_CANrx_t.ident equal to CAN identifier (msg->ident & CO_CANrx_t.mask).
 *
 * For more information see file CO_CAN.c
 *
 * @param[in] CANrxMsg Pointer to received message.
 * @return 0: Operation completed successfully.
 * @return -1: Error: Received message is NULL.
 * @return -2: Error: No message received.
 * @return -3: Error: Message received, but not processed.
 */
int16_t CO_CANrxBufferProcess(CO_CANrxMsg_t* const CANrxMsg);

/**
 * CAN send function.
 *
 * For more information see file CO_CAN.c
 *
 * @param[in] COB_ID CAN identifier.
 * @param[in] len Length of CAN message in bytes (0 to 8).
 * @param[in] data Pointer to CAN message data bytes.
 * @param[in] rtr Request for transmission. If true, then this is only request for transmission,
 *            no data are sent (length and data pointer are ignored).
 * @return 0: Operation completed successfully.
 * @return -1: Error: Wrong arguments.
 * @return -2: Error: Previous message is still waiting for buffer.
 * @return -3: Error: Timeout in transmission of CAN message.
 */
int16_t CO_CANsend(
        const uint16_t COB_ID,
        const uint8_t len,
        const uint8_t* const data,
        const bool_t rtr);

/**
 * Calculate CAN bit-timing values from register values.
 *
 * Function calculates values for CAN bit timing register and optionally for
 * CAN controller bit rate prescaler.
 *
 * For more information see file CO_driver.c
 *
 * @param[in] brp CAN controller bit rate prescaler.
 * @param[in] tseg1 Time segment 1 (0 to 15).
 * @param[in] tseg2 Time segment 2 (0 to 7).
 * @param[in] sjw Resynchronization jump width (0 to 3).
 * @param[out] pSyncTimeMicroseconds Synchronization time in micro seconds.
 * @param[out] pBitRatePrescaler Bit rate prescaler.
 * @return 0: Operation completed successfully.
 * @return -1: Error: Wrong arguments.
 */
int16_t CO_CANbitRateCalc(
        const uint16_t brp,
        const uint8_t tseg1,
        const uint8_t tseg2,
        const uint8_t sjw,
        uint32_t * const pSyncTimeMicroseconds,
        uint16_t * const pBitRatePrescaler);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* CO_CANOPEN_H */

/**
 * @}
 */
 
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */

/**
 * @defgroup CO_CANopen_301 CANopen 3.0.1 stack implementation
 *
 * CANopen 3.0.1 stack implementation. File CO_ODinterface.h is not included
 * here and must be included separately.
 *
 * @todo CO_CANrxMsg_t is not used anymore. Remove it in future.
 *
 * @defgroup CO_CANopen_301_Macros Macros
 * @ingroup CO_CANopen_301
 * @{
 *  CANopen error codes
 *  -------------------
 *  0x00000000 - no error
 *  0x05030000 - toggle bit not alternated
 *  0x05040000 - SDO protocol timed out
 *  0x05040001 - SDO protocol bad initial value
 *  0x05040002 - SDO protocol bad object dictionary address
 *  0x05040003 - SDO protocol bad data type
 *  0x05040004 - SDO protocol bad data size
 *  0x05040005 - SDO protocol bad data value
 *  0x06010000 - Object dictionary not found
 *  0x06010001 - Object cannot be mapped to the PDO
 *  0x06010002 - PDO length exceeded
 *  0x06020000 - Object does not exist in the object dictionary
 *  0x06040041 - Object cannot be mapped to the PDO
 *  0x06040042 - the number and length of the objects to be mapped would exceed PDO length
 *  0x06060000 - Access failed due to an hardware error
 *  0x06070010 - Data type does not match, length of service parameter does not match
 *  0x06070012 - Data type does not match, length of service parameter too high
 *  0x06070013 - Data type does not match, length of service parameter too low
 *  0x06090011 - Subindex does not exist
 *  0x06090030 - Value range of parameter exceeded (only for write access)
 *  0x06090031 - Value of parameter written too high
 *  0x06090032 - Value of parameter written too low
 *  0x06090036 - Maximum value is less than minimum value
 *  0x08000000 - General error
 *  0x08000020 - Data cannot be transferred or stored to the application
 *  0x08000021 - Data cannot be transferred or stored to the application because of local control
 *  0x08000022 - Data cannot be transferred or stored to the application because of the present device state
 *  0x08000023 - Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error)
 *  0x08000024 - No data available
 *  0x08000025 - General error in the device
 *  0x08000026 - Data cannot be transferred or stored to the application because of some dependency
 *  0x08000027 - General error reason in the device
 *  0x08000028 - Service is not available
 *  0x08000029 - Attribute not supported
 *  0x0800002A - The value of the parameter written exceeds the range of values that can be written
 *  0x0800002B - Data cannot be transferred or stored to the application because of local control, specific application needed
 *  0x0800002C - Data cannot be transferred or stored to the application because of the present device state, specific application needed
 *  0x0800002D - Object dictionary not present, specific application needed
 *  0x0800002E - No data available, specific application needed
 *  0x0800002F - Data cannot be transferred or stored to the application because of some dependency, specific application needed
 *  0x08000030 - Service is not available, specific application needed
 *  0x08000031 - Attribute not supported, specific application needed
 *  0x0F004000 - Unexpected SYNC data length
 *  0x0F004001 - SYNC timeout
 *  0x0F004002 - Unexpected SYNC data
 *  0x0F004003 - Heartbeat consumer timeout
 *  0x0F004004 - PDO not processed due to length error
 *  0x0F004005 - PDO length exceeded
 *  0x0F004006 - DAM MPDO not processed, destination object not available
 *  0x0F004007 - Unexpected emergency object
 *  0x0F004008 - Error in error register
 *  0x0F004009 - Additional functions not available
 *  0x0F00400A - Parameter incompatibility (configuration or mode)
 *  0x0F00400B - CANopen service not supported
 *  0x0F00400C - CANopen invalid state transition
 *  0x0F00400D - CAN frame received is wrong
 *  0x0F00400E - PDO not processed, communication object not available
 *  0x0F00400F - PDO length exceeded
 *  0x0F004010 - Data type of service parameter does not match
 *  0x0F004011 - Data type of service parameter is not implemented