ARM主站-CANopenIO模組設計過程
阿新 • • 發佈：2019-01-29
第一、總設計圖
第二、主站（arm）需要做的工作
1、參考canfestival原始碼example目錄下的歷程，如DS401.
2、配置主站字典，設定主站PDO1的通訊引數
3、配置從站字典，通過SDO配置從站PDO1的通訊引數，配置傳輸型別為同步傳輸，COBID為主站PDO1對應的COBID；關閉從站的PDO2，PDO3，PDO4。
4、修改主站的物件字典，把PDO1的接收和傳送引數對映到廠家自定義的區域，方便程式的讀取和修改。
5、傳送START的NMT指令，讓從站開始執行，此時主從站的PDO1通訊已經建立起來。
6、交叉編譯或者arm本機編譯canfestival原始碼，編譯過程見http://blog.csdn.net/eliot_shao/article/details/49838691
7、將編譯好的檔案，包含bin和.a檔案，拷貝到target board，執行。
第三、一對主從站的PDO1的同步通訊的模型
第四、總結
CANfestival很強大，開原始碼提供了SDO的操作方法，修改配置從站的物件字典是關鍵。同時它也具備了圖形介面修改編輯字典的優勢，使主站設計更加方便。在原始碼中提供的操作DS401的例程，極大的縮短了主從站建立CANopen通訊的開發週期。
PDO傳輸的“總指揮”就是物件字典。PDO傳送什麼資料，接收什麼資料，什麼時候傳送和接收，傳送和接收的資料都放在哪兒，都是由物件字典配置。從CAN控制器看來就是一串幀的互動。
NMT是主站用來控制從站的狀態的，比如START、STOP等。由主站發起。
SDO是配置主從站物件字典的工具。由主站發起。
第五、附錄TestMasterMicroMod.c程式碼
這個例子列出了主站設計的流程，注意在void TestMaster_post_sync(CO_Data* d)函式裡的DO和DI變數是在字典的對映區定義的，用於和從裝置交換PDO資料。
/* This file is part of CanFestival, a library implementing CanOpen Stack. Copyright (C): Edouard TISSERANT and Francis DUPIN See COPYING file for copyrights details. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #if defined(WIN32) && !defined(__CYGWIN__) #include <windows.h> #include "getopt.h" void pause(void) { system("PAUSE"); } #else #include <unistd.h> #include <stdio.h> #include <string.h> #include <stdlib.h> #include <signal.h> #endif #include "canfestival.h" #include "TestMasterMicroMod.h" #include "TestMaster.h" unsigned int slavenodeid = 0x40; /*****************************************************************************/ void TestMaster_heartbeatError(CO_Data* d, UNS8 heartbeatID) { eprintf("TestMaster_heartbeatError %d\n", heartbeatID); } /******************************************************** * ConfigureSlaveNode is responsible to * - setup master RPDO 1 to receive TPDO 1 from id 0x40 * - setup master TPDO 1 to send RPDO 1 to id 0x40 ********************************************************/ void TestMaster_initialisation(CO_Data* d) { UNS32 PDO1_COBID = 0x0180 + slavenodeid; //TPDO1 UNS32 PDO2_COBID = 0x0200 + slavenodeid;//RPDO1 UNS32 size = sizeof(UNS32); eprintf("TestMaster_initialisation\n"); /***************************************** * Define RPDOs to match slave ID=0x40 TPDOs* *****************************************/ writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ 0x1400, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ &PDO1_COBID, /*void * pSourceData,*/ &size, /* UNS8 * pExpectedSize*/ RW); /* UNS8 checkAccess */ /***************************************** * Define TPDOs to match slave ID=0x40 RPDOs* *****************************************/ writeLocalDict( &TestMaster_Data, /*CO_Data* d*/ 0x1800, /*UNS16 index*/ 0x01, /*UNS8 subind*/ &PDO2_COBID, /*void * pSourceData,*/ &size, /* UNS8 * pExpectedSize*/ RW); /* UNS8 checkAccess */ } static int init_step = 0; /*Froward declaration*/ static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId); /**/ static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId) { UNS32 abortCode; if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED) eprintf("Master : Failed in initializing slave %2.2x, step %d, AbortCode :%4.4x \n", nodeId, init_step, abortCode); /* Finalise last SDO transfer with this node */ closeSDOtransfer(&TestMaster_Data, nodeId, SDO_CLIENT); ConfigureSlaveNode(d, nodeId); } /******************************************************** * ConfigureSlaveNode is responsible to * - setup slave TPDO 1 transmit time * - setup slave TPDO 2 transmit time * - setup slave Heartbeat Producer time * - switch to operational mode * - send NMT to slave ******************************************************** * This an example of : * Network Dictionary Access (SDO) with Callback * Slave node state change request (NMT) ******************************************************** * This is called first by TestMaster_preOperational * then it called again each time a SDO exchange is * finished. ********************************************************/ static void ConfigureSlaveNode(CO_Data* d, UNS8 nodeId) { UNS8 res; eprintf("Master : ConfigureSlaveNode %2.2x\n", nodeId); switch(++init_step){ case 1: { /*disable Slave's TPDO 1 */ UNS32 TPDO_COBId = 0x80000180 + nodeId; eprintf("Master : disable slave %2.2x TPDO 1 \n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1800, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 2: { /*setup Slave's TPDO 1 to be transmitted on SYNC*/ UNS8 Transmission_Type = 0x01; eprintf("Master : set slave %2.2x TPDO 1 transmit type\n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1800, /*UNS16 index*/ 0x02, /*UNS8 subindex*/ 1, /*UNS8 count*/ 0, /*UNS8 dataType*/ &Transmission_Type,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 3: { /*re-enable Slave's TPDO 1 */ UNS32 TPDO_COBId = 0x00000180 + nodeId; eprintf("Master : re-enable slave %2.2x TPDO 1\n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1800, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 4: { /*disable Slave's RPDO 1 */ UNS32 TPDO_COBId = 0x80000200 + nodeId; eprintf("Master : disable slave %2.2x RPDO 1\n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1400, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 5: { UNS8 Transmission_Type = 0x01; eprintf("Master : set slave %2.2x RPDO 1 receive type\n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1400, /*UNS16 index*/ 0x02, /*UNS8 subindex*/ 1, /*UNS8 count*/ 0, /*UNS8 dataType*/ &Transmission_Type,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 6: { /*re-enable Slave's RPDO 1 */ UNS32 TPDO_COBId = 0x00000200 + nodeId; eprintf("Master : re-enable %2.2x RPDO 1\n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1400, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 7: { /*set the heartbeat Producer Time*/ UNS16 Heartbeat_Producer_Time = 0x03E8; eprintf("Master : set slave %2.2x heartbeat producer time \n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1017, /*UNS16 index*/ 0x00, /*UNS8 subindex*/ 2, /*UNS8 count*/ 0, /*UNS8 dataType*/ &Heartbeat_Producer_Time,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 8: { /*disable Slave's TPDO 2 */ UNS32 TPDO_COBId = 0x80000280 + nodeId; eprintf("Master : disable slave %2.2x TPDO 2 \n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1801, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 9: { /*disable Slave's TPDO 3 */ UNS32 TPDO_COBId = 0x80000380 + nodeId; eprintf("Master : disable slave %2.2x TPDO 3 \n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1802, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 10: { /*disable Slave's TPDO 4 */ UNS32 TPDO_COBId = 0x80000480 + nodeId; eprintf("Master : disable slave %2.2x TPDO 4 \n", nodeId); res = writeNetworkDictCallBack (d, /*CO_Data* d*/ /**TestSlave_Data.bDeviceNodeId, UNS8 nodeId*/ nodeId, /*UNS8 nodeId*/ 0x1803, /*UNS16 index*/ 0x01, /*UNS8 subindex*/ 4, /*UNS8 count*/ 0, /*UNS8 dataType*/ &TPDO_COBId,/*void *data*/ CheckSDOAndContinue, /*SDOCallback_t Callback*/ 0); /* use block mode */ } break; case 11: /* Put the master in operational mode */ setState(d, Operational); /* Ask slave node to go in operational mode */ masterSendNMTstateChange (d, nodeId, NMT_Start_Node); } } void TestMaster_preOperational(CO_Data* d) { eprintf("TestMaster_preOperational\n"); ConfigureSlaveNode(&TestMaster_Data, slavenodeid); } void TestMaster_operational(CO_Data* d) { eprintf("TestMaster_operational\n"); } void TestMaster_stopped(CO_Data* d) { eprintf("TestMaster_stopped\n"); } void TestMaster_post_sync(CO_Data* d) { DO++; eprintf("MicroMod Digital Out: %2.2x\n",DO); eprintf("MicroMod Digital In (by bit): DI1: %2.2x DI2: %2.2x DI3: %2.2x DI4: %2.2x DI5: %2.2x DI6: %2.2x DI7: %2.2x DI8: %2.2x\n",DI1,DI2,DI3,DI4,DI5,DI6,DI7,DI8); } void TestMaster_post_TPDO(CO_Data* d) { // eprintf("TestMaster_post_TPDO\n"); } s_BOARD SlaveBoard = {"0", "500K"}; //s_BOARD MasterBoard = {"0", "125K"}; #if !defined(WIN32) || defined(__CYGWIN__) void catch_signal(int sig) { signal(SIGTERM, catch_signal); signal(SIGINT, catch_signal); eprintf("Got Signal %d\n",sig); } #endif void help(void) { printf("**************************************************************\n"); printf("* TestMasterMicroMod *\n"); printf("* *\n"); printf("* A simple example for PC. *\n"); printf("* A CanOpen master that control a MicroMod module: *\n"); printf("* - setup module TPDO 1 transmit type *\n"); printf("* - setup module RPDO 1 transmit type *\n"); printf("* - setup module hearbeatbeat period *\n"); printf("* - disable others TPDOs *\n"); printf("* - set state to operational *\n"); printf("* - send periodic SYNC *\n"); printf("* - send periodic RPDO 1 to Micromod (digital output) *\n"); printf("* - listen Micromod's TPDO 1 (digital input) *\n"); printf("* - Mapping RPDO 1 bit per bit (digital input) *\n"); printf("* *\n"); printf("* Usage: *\n"); printf("* ./TestMasterMicroMod [OPTIONS] *\n"); printf("* *\n"); printf("* OPTIONS: *\n"); printf("* -l : Can library [\"libcanfestival_can_virtual.so\"] *\n"); printf("* *\n"); printf("* Slave: *\n"); printf("* -i : Slave Node id format [0x01 , 0x7F] *\n"); printf("* *\n"); printf("* Master: *\n"); printf("* -m : bus name [\"1\"] *\n"); printf("* -M : 1M,500K,250K,125K,100K,50K,20K,10K *\n"); printf("* *\n"); printf("**************************************************************\n"); } /*************************** INIT *****************************************/ void InitNodes(CO_Data* d, UNS32 id) { /****************************** INITIALISATION MASTER *******************************/ if(MasterBoard.baudrate){ /* Defining the node Id */ setNodeId(&TestMaster_Data, 0x01); /* init */ setState(&TestMaster_Data, Initialisation); } } /*************************** EXIT *****************************************/ void Exit(CO_Data* d, UNS32 id) { if(strcmp(MasterBoard.baudrate, "none")){ masterSendNMTstateChange(&TestMaster_Data, 0x02, NMT_Reset_Node); //Stop master setState(&TestMaster_Data, Stopped); } } /****************************************************************************/ /*************************** MAIN *****************************************/ /****************************************************************************/ int main(int argc,char **argv) { int c; extern char *optarg; char* LibraryPath="libcanfestival_can_virtual.so"; char *snodeid; while ((c = getopt(argc, argv, "-m:s:M:S:l:i:")) != EOF) { switch(c) { case 'm' : if (optarg[0] == 0) { help(); exit(1); } MasterBoard.busname = optarg; break; case 'M' : if (optarg[0] == 0) { help(); exit(1); } MasterBoard.baudrate = optarg; break; case 'l' : if (optarg[0] == 0) { help(); exit(1); } LibraryPath = optarg; break; case 'i' : if (optarg[0] == 0) { help(); exit(1); } snodeid = optarg; sscanf(snodeid,"%x",&slavenodeid); break; default: help(); exit(1); } } #if !defined(WIN32) || defined(__CYGWIN__) /* install signal handler for manual break */ signal(SIGTERM, catch_signal); signal(SIGINT, catch_signal); TimerInit(); #endif #ifndef NOT_USE_DYNAMIC_LOADING LoadCanDriver(LibraryPath); #endif TestMaster_Data.heartbeatError = TestMaster_heartbeatError; TestMaster_Data.initialisation = TestMaster_initialisation; TestMaster_Data.preOperational = TestMaster_preOperational; TestMaster_Data.operational = TestMaster_operational; TestMaster_Data.stopped = TestMaster_stopped; TestMaster_Data.post_sync = TestMaster_post_sync; TestMaster_Data.post_TPDO = TestMaster_post_TPDO; if(!canOpen(&MasterBoard,&TestMaster_Data)){ eprintf("Cannot open Master Board\n"); goto fail_master; } // Start timer thread StartTimerLoop(&InitNodes); // wait Ctrl-C pause(); eprintf("Finishing.\n"); // Stop timer thread StopTimerLoop(&Exit); fail_master: if(MasterBoard.baudrate) canClose(&TestMaster_Data); TimerCleanup(); return 0; }