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canfestival入门手册
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更新于2023-03-16
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CANopen是一种架构在控制局域网路(Controller Area Network, CAN)上的高层通信协协议,包括通信子协议及设备子协议,常在嵌入式系统中使用,也是工业控制常用到的一种现场总线。
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LIVIC CanFestival. Release 2.01
CanFestival2. Version 2.03
The CANOpen stack manual
Francis Dupin
November 25, 2005
LIVIC, Unit´e mixte de recherche INRETS-LCPC sur les Interractions
V´ehicule-Infrastructure-Conducteur.
14, route de la mini`ere. 78000 Versailles. Tel : 01 40 43 29 01.
http://www.inrets.fr/ur/livic
1
LIVIC CanFestival. Release 2.01
Contents
Introduction 3
1 What is CANop en 3
2 Our CANopen layer specification 3
3 How to start 4
3.1 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2 To do a Linux node . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.3 To do a Motorola HC12 node . . . . . . . . . . . . . . . . . . . 5
3.4 Running the examples . . . . . . . . . . . . . . . . . . . . . . . 5
3.4.1 Running a Linux node . . . . . . . . . . . . . . . . . . . 6
3.4.2 Running a HC12 node . . . . . . . . . . . . . . . . . . . 8
3.4.3 Examples configuration tested . . . . . . . . . . . . . . . 8
4 Developping a new node 9
4.1 How is organised th e CANopen library . . . . . . . . . . . . . . 9
5 FAQ 11
5.0.1 Does the code compiles on Windows ? . . . . . . . . . . 11
5.0.2 How to fit the library to an other microcontrˆoler ? . . . . 11
5.0.3 [LINUX] : How to use an other board than Adlink 7841 or Peaksystem board ? 11
5.0.4 [HC12] : What board are you using ? . . . . . . . . . . 11
5.0.5 [HC12] : Does the code compile with an other compiler than GNU gcc ? 12
5.0.6 [HC12] : Does the code works in banked memory ? . . . 15
5.0.7 [HC12] : What GCC version are you using ? . . . . . . . 15
5.0.8 Is canfestival2 conform to DS301 v.4.02 ? . . . . . . . . 15
A Warnings and errors messages management 16
A.1 Warnings messages . . . . . . . . . . . . . . . . . . . . . . . . . 16
A.2 Errors messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
B Web resources 17
LIVIC, Unit´e mixte de recherche INRETS-LCPC sur les Interractions
V´ehicule-Infrastructure-Conducteur.
14, route de la mini`ere. 78000 Versailles. Tel : 01 40 43 29 01.
http://www.inrets.fr/ur/livic
2
LIVIC CanFestival. Release 2.01
Introduction
This document describe the CANOpen layer.
1 What is CANopen
CANopen is a CAN based highter layer protocol. It defines some protocols to
• Configure a CAN network.
• Transmit data to a specific node or in broadcast.
• Administrate the network. For example detecting a not responding node.
The documentation can be found in the Can in automation website :
http://www.can-cia.de/canopen. The most important document about CANopen
is the normative CiA Draft Standard 301, ve rsion 4.02. You can now download
with no cost the specification in Can in automation website.
To continue reading this document, let us assume that you have read some
papers introducing CANopen.
2 Our CANopen layer specifi cation
• Should be conform to the latest DS301. V.4.02 13 february 2002.
• Source code in C-ANSI.
• Master and Slave functionality implemented.
• Sending SYNC implemented.
• 1 SDO server per node.
• Unlimited SDO client.
• SDO transmission mode : normal, expedited download and upload.
• Unlimited PDO receive.
• Unlimited PDO transmit.
• Object Data type implemented : unsigned 8, unsigned 16, unsigned 32
bits.
LIVIC, Unit´e mixte de recherche INRETS-LCPC sur les Interractions
V´ehicule-Infrastructure-Conducteur.
14, route de la mini`ere. 78000 Versailles. Tel : 01 40 43 29 01.
http://www.inrets.fr/ur/livic
3
LIVIC CanFestival. Release 2.01
• Slave state full implemented.
• NMT to change slave’s state implemented.
• PDO transmission mode : on request, every reception of 0 to n SYNC,
on event.
• NMT Heartbeat implemented : A no de can monitor the heartbeats re-
ceived from others nodes.
• NMT NodeGuard implemented.
• TIME (time Stamp) : Not implemented.
• EMCY (emergency objects) : Not implemented.
• The CANopen layer can manage only one CAN port.
3 How to start
3.1 Tools
The CANopen library is comming with some tools :
• Arbracan : The Linux Driver for the Adlink 7841 CAN-PCI b oard. By
Edouard Tisserand. It is working only on Linux kernel 2.4.
• the code to use a PCI or USB to CAN Peak system board. But we do
not provide the driver (free download). It is working on Linux kernel 2.4
and 2.6. It should work also on Windows while the p eaksystem driver
has the same api for both systems.
• The code to make a master or slave node running on PC-Linux. compiled
with the C GNU compiler.
• The code to make a master or slave node on a microcontroller Motorola
MC9S12DP256 (HC12 family), compiled with the C GNU compiler.
• XML tools and php script to help the development. S ee below.
LIVIC, Unit´e mixte de recherche INRETS-LCPC sur les Interractions
V´ehicule-Infrastructure-Conducteur.
14, route de la mini`ere. 78000 Versailles. Tel : 01 40 43 29 01.
http://www.inrets.fr/ur/livic
4
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