canOpen学习五之canOpen应用实现主从机PDO非循环同步

原创

小灰灰搞电子 2022-12-14 10:29:56 博主文章分类：canOpen ©著作权

文章标签 canOpen canfestival stm32 初始化 Data 文章分类 运维

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一、从机代码
从机字典

/* index 0x1400 :   Receive PDO 1 Parameter. */
 UNS8 slave_objdict_highestSubIndex_obj1400 = 6; /* number of subindex - 1*/
 UNS32 slave_objdict_obj1400_COB_ID_used_by_PDO = 0x200;  /* 512 */
 UNS8 slave_objdict_obj1400_Transmission_Type = 0x0;  /* 0 */
 UNS16 slave_objdict_obj1400_Inhibit_Time = 0x0;  /* 0 */
 UNS8 slave_objdict_obj1400_Compatibility_Entry = 0x0;  /* 0 */
 UNS16 slave_objdict_obj1400_Event_Timer = 0x0; /* 0 */
 UNS8 slave_objdict_obj1400_SYNC_start_value = 0x0; /* 0 */
 subindex slave_objdict_Index1400[] = 
  {
    { RO, uint8, sizeof (UNS8), (void*)&slave_objdict_highestSubIndex_obj1400, NULL },
    { RW, uint32, sizeof (UNS32), (void*)&slave_objdict_obj1400_COB_ID_used_by_PDO, NULL },
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1400_Transmission_Type, NULL },
    { RW, uint16, sizeof (UNS16), (void*)&slave_objdict_obj1400_Inhibit_Time, NULL },
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1400_Compatibility_Entry, NULL },
    { RW, uint16, sizeof (UNS16), (void*)&slave_objdict_obj1400_Event_Timer, NULL },
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1400_SYNC_start_value, NULL }
  };

/* index 0x1600 :   Receive PDO 1 Mapping. */
 UNS8 slave_objdict_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
 UNS32 slave_objdict_obj1600[] = 
 {
   0x20010008 /* 536936456 */
 };
 subindex slave_objdict_Index1600[] = 
  {
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_highestSubIndex_obj1600, NULL },
    { RW, uint32, sizeof (UNS32), (void*)&slave_objdict_obj1600[0], NULL }
  };

/* index 0x1800 :   Transmit PDO 1 Parameter. */
 UNS8 slave_objdict_highestSubIndex_obj1800 = 6; /* number of subindex - 1*/
 UNS32 slave_objdict_obj1800_COB_ID_used_by_PDO = 0x180;  /* 384 */
 UNS8 slave_objdict_obj1800_Transmission_Type = 0x0;  /* 0 */
 UNS16 slave_objdict_obj1800_Inhibit_Time = 0x0;  /* 0 */
 UNS8 slave_objdict_obj1800_Compatibility_Entry = 0x0;  /* 0 */
 UNS16 slave_objdict_obj1800_Event_Timer = 0x0; /* 0 */
 UNS8 slave_objdict_obj1800_SYNC_start_value = 0x0; /* 0 */
 subindex slave_objdict_Index1800[] = 
  {
    { RO, uint8, sizeof (UNS8), (void*)&slave_objdict_highestSubIndex_obj1800, NULL },
    { RW, uint32, sizeof (UNS32), (void*)&slave_objdict_obj1800_COB_ID_used_by_PDO, NULL },
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1800_Transmission_Type, NULL },
    { RW, uint16, sizeof (UNS16), (void*)&slave_objdict_obj1800_Inhibit_Time, NULL },
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1800_Compatibility_Entry, NULL },
    { RW, uint16, sizeof (UNS16), (void*)&slave_objdict_obj1800_Event_Timer, NULL },
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1800_SYNC_start_value, NULL }
  };

/* index 0x1A00 :   Transmit PDO 1 Mapping. */
 UNS8 slave_objdict_highestSubIndex_obj1A00 = 1; /* number of subindex - 1*/
 UNS32 slave_objdict_obj1A00[] = 
 {
   0x20000008 /* 536870920 */
 };
 subindex slave_objdict_Index1A00[] = 
  {
    { RW, uint8, sizeof (UNS8), (void*)&slave_objdict_highestSubIndex_obj1A00, NULL },
    { RW, uint32, sizeof (UNS32), (void*)&slave_objdict_obj1A00[0], NULL }
  };

/* index 0x2000 :   Mapped variable pdo1TransmitDate */
 subindex slave_objdict_Index2000[] = 
  {
    { RW, uint8, sizeof (UNS8), (void*)&pdo1TransmitDate, NULL }
  };

/* index 0x2001 :   Mapped variable pdo1ReceiveDate */
 subindex slave_objdict_Index2001[] = 
  {
    { RW, uint8, sizeof (UNS8), (void*)&pdo1ReceiveDate, NULL }
  };

从机函数

int main(void)
{ 
  u8 key; 
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
  delay_init(168);    //初始化延时函数
  uart_init(115200);  //初始化串口波特率为115200
  LED_Init();         //初始化LED 
  KEY_Init();         //按键初始化  
  cantimer_init(10-1,8400-1);  
  can_init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_Normal);//CAN初始化环回模式,波特率500Kbps    
  setNodeId(&slave_objdict_Data, 0x01);
  setState(&slave_objdict_Data, Initialisation);
  setState(&slave_objdict_Data, Pre_operational); 
  while(1)
  {
    key=KEY_Scan(0);
    if(key==KEY0_PRES)//KEY0按下,改变一次数据
    {
      pdo1TransmitDate++;
    }
    else if(key==WKUP_PRES)//WK_UP按下，改变CAN的工作模式
    {    

    }          
  } 

}

从机字典中主要看索引0x1800中发送PDO一的设置UNS8 slave_objdict_obj1800_Transmission_Type = 0x0; /* 0 */发送类型设置为非循环同步
二、主机代码

int main(void)
{ 
  u8 key; 
  Message msg;
  
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
  delay_init(168);    //初始化延时函数
  uart_init(115200);  //初始化串口波特率为115200
  LED_Init();         //初始化LED 
  KEY_Init();         //按键初始化  
  cantimer_init(10-1,8400-1);  
  can_init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_Normal);//CAN初始化环回模式,波特率500Kbps    
  setNodeId(&master_objdict_Data, 0x00);
  setState(&master_objdict_Data, Initialisation);
  setState(&master_objdict_Data, Operational);  
  while(1)
  {
    key=KEY_Scan(0);
    if(key==KEY0_PRES)    //暗笑K0键启动从节点1
    {
      masterSendNMTstateChange(&master_objdict_Data,0x01,NMT_Start_Node);
    }
    else if(key==KEY1_PRES) //按下K1发送PDO请求
    {    
      sendPDOrequest(&master_objdict_Data,0x1400);
    }
    else if(key==KEY2_PRES) //按下K2发送SYNC帧数据
    {    
      msg.cob_id = (UNS16)0x80;
      msg.len = (UNS8)0x00;
      msg.rtr = (UNS8)0;
      canSend(&master_objdict_Data.canHandle,&msg );  
    } 
    else if(key==WKUP_PRES)
    {    

    }     
  } 

}