鍩轰簬 CANOpen鍗忚浠庤妭鐐圭爺绌-鐜板満鎬荤嚎-閰峰痉缃 - CoDeSys杞欢鏁欑▼涓嬭浇,CoDeSys宸ユ帶璧勮闂ㄦ埛
HSC6490-cn涓浗鍒堕狅紝涓浗鑺瘇
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鍩轰簬 CANOpen鍗忚浠庤妭鐐圭爺绌

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  • TA鐨勬瘡鏃ュ績鎯
    鎿︽睏
    2019-8-13 14:13
  • 绛惧埌澶╂暟: 32 澶

    [LV.5]甯镐綇灞呮皯I

    鍙戣〃浜 2015-1-21 08:40:17 | 鏄剧ず鍏ㄩ儴妤煎眰 |闃呰妯″紡
    CANopen浣滀负涓绉嶅紑鏀剧殑銆佹爣鍑嗗寲鐨 CAN鎬荤嚎搴旂敤灞傚崗璁, 鍦ㄥ浗鍐呭鍚勭鏈虹數绯荤粺涓庝华琛
    瑁呯疆涓緱鍒颁簡骞挎硾鐨勫簲鐢ㄣ傛湰鏂囪缁嗛槓杩板苟鍒嗘瀽浜 CANopen鐨勫崗璁粨鏋勩佸璞″瓧鍏稿拰閫氫俊瀵硅薄锛岀爺绌朵簡鍥藉鐨勫吀鍨 CANopen鍗忚鏍堢殑缁撴瀯涓庣壒鐐癸紝鎻愬嚭浜嗚繘琛 CANopen鍗忚瑙勮寖鐨勯氫俊鎺ュ彛寮鍙戠殑鏈夋晥鏂规锛屽苟缁欏嚭浜 CanFestival鍦ㄥ井鎺у埗鍣ㄤ笂鐨勫疄鐜般傚叧閿瘝锛欳ANopen锛涚幇鍦烘荤嚎锛涘崗璁爤锛涗粠鑺傜偣涓浘鍒嗙被鍙凤細TP391銆鏂囩尞鏍囪瘑鐮侊細A銆鏂囩珷缂栧彿锛1009-0134(2010)02-0027-04
    0 寮曡█CANopen鍗忚涓昏鍖呮嫭閫氫俊瑙勮寖锛圕ommun
    CAN锛圕ontroller Area Network锛屾帶鍒跺櫒灞鍩熺綉锛ication Profile锛夊拰璁惧瑙勮寖锛圖evice Profile锛夈傞氫俊鎬荤嚎鐨勫簲鐢ㄨ寖鍥撮潪甯稿箍娉涳紝浣嗗叾鍙畾涔変簡鐗╃悊灞傚拰瑙勮寖锛圕iA DS-301锛夊畾涔変簡鍩烘湰鐨勬暟鎹氫俊鏂瑰紡鍙婃暟鎹摼璺眰锛岃屾病鏈夎瀹氬簲鐢ㄥ眰锛屽苟闈炰竴涓畬鏁寸殑鍏剁壒鎬э紱璁惧瑙勮寖锛圕iA DSP-401~DSP-XXX锛夊畾涔
    鍗忚銆傛墍浠ュ湪楂樼骇搴旂敤涓紝闇瑕佷竴涓珮灞傚崗璁潵瀹氱壒瀹氳澶囩殑琛屼负瑙勮寖銆傚叾缁撴瀯濡傚浘 1鎵绀恒 涔塁AN鎶ユ枃涓殑 11/29浣嶆爣璇嗙銆8瀛楄妭鏁版嵁鐨勪娇鐢╗1]锛屼簬鏄 CANopen渚垮簲杩愯岀敓銆
    CANopen鏄嚜鍔ㄥ寲 CAN鐢ㄦ埛鍜屽埗閫犲晢鍗忎細
    锛圕iA锛孋AN-in-Automation锛夊畾涔夌殑 CAN鎬荤嚎搴旂敤灞傚崗璁傚畠閲囩敤闈㈠悜瀵硅薄鐨勬濇兂璁捐锛屽叿鏈夊緢濂界殑妯″潡鍖栫壒鎬у拰寰堥珮鐨勯傚簲鎬с侰ANopen涓嶄粎瀹氫箟浜嗗簲鐢ㄥ眰鍜岄氫俊瀛愬崗璁紝杩樹负澶у鏁伴噸瑕佺殑璁惧绫诲瀷瀹氫箟浜嗗ぇ閲忕殑瑙勮寖锛屼笉鍚屽巶鍟嗛伒寰繖浜涜鑼冨紑鍙戝嚭鐨勮澶囦箣闂磋兘澶熻交鏄撳疄鐜颁簰鎿嶄綔銆
    CANopen浣滀负鍩轰簬CAN鎬荤嚎鐨勯珮灞傚崗璁爣鍑嗭紝 鍦ㄥ彂甯冨悗涓嶄箙灏辫幏寰椾簡骞挎硾鐨勬壙璁ゃ傚挨鍏舵槸鍦ㄦ娲诧紝 CANopen鍗忚琚涓烘槸鍦ㄥ熀浜 CAN鐨勫伐涓氱郴缁熶腑 鍗犳嵁棰嗗鍦颁綅鐨勬爣鍑嗐
    1 CANopen鍗忚
    1.1 CANopen鍗忚缁撴瀯


    jiyu-canopen-xieyicongjiedianyanjiu_img_1.jpg
    1.2 瀵硅薄瀛楀吀瀵硅薄瀛楀吀锛圤bjectDictionary锛夋槸 CANopen鍗
    璁殑鏍稿績锛屽畠杩炴帴浜咰ANopen璁惧鐨勯氳鎺ュ彛鍜屽簲鐢ㄩ儴鍒嗭紝濡傚浘 2鎵绀恒
    鍩洪噾椤圭洰锛氬ぉ娲ュ競鑷劧绉戝鍩洪噾閲嶇偣椤圭洰锛07JCZDJC09600锛夛紱澶╂触涓皬浼佷笟鍒涙柊鍩洪噾锛09ZXCXGX19300锛夛紱澶╂触甯傞噸鐐瑰疄楠屽锛氬鏉傚伐涓氱郴缁熸帶鍒剁悊璁哄強搴旂敤閲嶇偣瀹為獙瀹ょ殑璧勫姪銆
    浣滆呯畝浠嬶細闄堝湪骞筹紙1950锛嶏級锛岀敺锛屾暀鎺堬紝纭曞+锛屼富瑕佺爺绌舵柟鍚戜负鏅鸿兘鎺у埗锛屽伐涓氱綉缁滄帶鍒剁悊璁轰笌鎶鏈
    jiyu-canopen-xieyicongjiedianyanjiu_img_3.jpg
    缁勶紝姣忎釜瀵硅薄閲囩敤涓涓16浣嶇殑绱㈠紩鍊兼潵瀵诲潃锛屽悓鏃朵负浜嗗厑璁歌闂暟鎹粨鏋勪腑鐨勫崟涓厓绱狅紝杩樿瀹氫箟涓涓 8浣嶇殑瀛愮储寮曘侰ANopen缃戠粶涓瘡涓妭鐐归兘鏈変竴涓璞″瓧鍏革紝鍏朵腑鍖呭惈浜嗘弿杩拌繖涓澶囧拰瀹冪殑缃戠粶琛屼负鐨勬墍鏈夊弬鏁帮紝閫氳繃璁块棶瀵硅薄瀛楀吀鍙互寰楀埌鍚勮妭鐐圭殑鐘舵侊紝纭畾缃戠粶鐨勯氫俊妯″紡锛岃繘琛岀浉搴旂殑缃戠粶绠$悊銆
    1.3 閫氫俊瀵硅薄CANopen鍗忚瑙勫畾浜 4绫婚氳瀵硅薄锛歋DO锛圫erviceData Object锛屾湇鍔℃暟鎹璞★級銆 PDO锛圥rocess
    Data Object锛岃繃绋嬫暟鎹璞★級銆丯MT锛圢etworkManagement锛岀綉缁滅鐞嗗璞★級浠ュ強鐗规畩鍔熻兘瀵硅薄銆
    1.3.1 SDOSDO鐢ㄤ簬浼犻佺粍鎬佹暟鎹紝瀵硅澶囪繘琛岄厤缃紝瀹冮氳繃寤虹珛涓や釜CANopen璁惧鐨勭偣瀵圭偣閫氫俊鏉ュ疄鐜板彲闈犵殑鏁版嵁浼犺緭銆係DO鐨勪紶杈撴槸閲囩敤瀹㈡埛鏈 /鏈嶅姟鍣ㄩ氳鏂瑰紡锛岄氳繃浣跨敤绱㈠紩鍜屽瓙绱㈠紩锛孲DO浣垮鎴锋満鑳藉璁块棶鏈嶅姟鍣ㄥ璞″瓧鍏镐腑鐨勫璞°
    SDO鍙互浼犻佷换浣曢暱搴︾殑鏁版嵁锛屽綋鏁版嵁瓒呰繃 4涓瓧鑺傛椂锛屽皢琚垎鎷嗘垚鍑犱釜CAN鎶ユ枃銆傜敱浜庢暟鎹細琚垎鎷嗘垚鍑犳锛屽湪鍙戦 SDO鐨勭 1涓姤鏂囧悗锛屽叾鍚庣殑姣忔涓兘鍙互鍖呭惈 7涓瓧鑺傜殑鏁版嵁锛岃屾渶鍚庝竴娈靛彲浠ュ寘鍚竴涓粓姝㈢銆
    1.3.2 PDOPDO閲囩敤鐢熶骇鑰/娑堣垂鑰呮柟寮忚繘琛屼紶杈擄紝鐢ㄤ簬浠庝竴涓彂閫佹柟锛堢敓浜ц咃級鍚戜竴涓帴鍙楁柟锛堟秷璐硅咃級鎴栧涓帴鏀舵柟锛堝箍鎾舰寮忥級浼犺緭瀹炴椂鎺у埗鍙傛暟銆佸彉閲忥紝鍥犳 PDO鐨勪紭鍏堢骇楂樹簬 SDO銆備絾涓涓狿DO鏈澶у彧鑳戒紶杈 8涓瓧鑺傛暟鎹
    PDO瀵瑰簲浜庤澶囧璞″瓧鍏镐腑鐨勬潯鐩紝骞朵笖涓哄簲鐢ㄥ璞℃彁渚涜闂帴鍙c傛姤鏂囦腑鐨勬暟鎹被鍨嬪拰鏄犲皠鍒癙DO涓殑搴旂敤瀵硅薄鏄敱璁惧瀵硅薄瀛楀吀涓墍瀵瑰簲鐨勬槧灏勫弬鏁版潵鎻忚堪鐨勶紝鑻ヨ澶囨敮鎸佸彲鍙楶DO鏄犲皠锛岄偅涔堝彲浠ヤ娇鐢 SDO鎶ユ枃鏉ラ噸鏂伴厤缃 PDO鏄犲皠鍙傛暟 [2]銆
    1.3.3 NMTNMT鐢ㄤ簬瀵圭綉缁滆澶囪繘琛岀鐞嗐佹帶鍒讹紝骞跺強鏃跺彂鐜拌澶囨晠闅溿傚畠閲囩敤涓讳粠缁撴瀯锛屼竴涓綉缁滀腑鍙湁涓涓 NMT涓昏妭鐐癸紝鍏朵綑鐨勪负浠庤妭鐐广備富鑺傜偣瀵逛粠鑺傜偣鎻愪緵鐘舵佺鐞嗐佽妭鐐逛繚鎶ょ瓑鏈嶅姟銆
    姣忎釜 CANopen浠庤妭鐐归兘鏈夊垵
    濮嬪寲锛圛nitial-isation锛夈侀鎿嶄綔锛圥re-Operational锛夈佹搷浣滐紙Operational锛夊拰鍋滄锛圫topped锛4涓姸鎬侊紝涓昏妭鐐逛娇鐢∟MT鏉ユ帶鍒朵粠鑺傜偣鍦ㄥ悇鐘舵佷箣闂寸殑杞崲銆傛澶栵紝NMT涓昏妭鐐硅繕浼氱洃鎺т粠鑺傜偣鐨勭姸鎬侊紝浠ョ‘瀹氭煇涓笉鍙戦丳DO鐨勪粠鑺傜偣鏄惁宸茬粡鑴辩鎬荤嚎锛屽苟妫娴嬭澶囩殑缃戠粶鎺ュ彛閿欒銆
    1.3.4 鐗规畩鍔熻兘瀵硅薄鐗规畩鍔熻兘瀵硅薄涓昏鍖呮嫭鍚屾瀵硅薄銆佹椂闂存埑瀵硅薄鍜屽簲鎬ュ璞°
    鍚屾瀵硅薄锛圫ynchronizationObject锛夋槸鐢卞悓姝ュ璞$敓浜ц呬负鍚屾瀵硅薄娑堣垂鑰呮彁渚涚殑鏃堕挓淇″彿锛屼负璁惧鎻愪緵浜嗘爣鍑嗙殑閫氫俊鍛ㄦ湡銆
    鏃堕棿鎴冲璞★紙Time StampObject锛夐氬父琛ㄧず浠1984骞 1鏈 1鍙峰悗鐨勫ぉ鏁板拰鍗堝杩囧悗鐨勬绉掓暟锛屼竴鍏 6涓瓧鑺傦紝涓哄鏃堕棿瑕佹眰鑻涘埢鐨勮澶囨彁渚涙绉掔骇鐨勯珮绮惧害鍚屾鍗忚銆
    搴旀ュ璞★紙EmergencyObject锛夊湪涓涓澶囧唴閮ㄥ彂鐢熶弗閲嶉敊璇殑鎯呭喌涓嬭瑙﹀彂锛屽苟浣跨敤楂樹紭鍏堢骇鍙戦佸埌鍏朵粬璁惧锛岄傜敤浜庝腑鏂被鍨嬮敊璇鍛娿
    2 鍩轰簬寮婧愪唬鐮 CANopen鑺傜偣鐨勫疄鐜拌繎骞存潵锛屽凡缁忔湁寰堝鍏徃鍜岀粍缁囧紑鍙戝嚭浜嗘垚鐔熺殑 CANopen鍗忚鏍堬紝杩欎负鎴戜滑寮鍙 CANopen璁惧鎻愪緵浜嗚澶氫究鍒┿備絾鏄紝鍟嗙敤鍗忚鏍堜环鏍兼槀璐碉紝浼氫负寮鍙戝鍔犻珮鏄傜殑鎴愭湰锛岃岃嚜琛屽紑鍙戝張浼氳楄垂宸ㄥぇ鐨勪汉鍔涖佺墿鍔涘拰鏃堕棿锛屽洜姝よ繘琛孋ANopen鍗忚鐨勫紑鍙戯紝棣栧厛鎯冲埌鐨勬槸濡備綍鍒╃敤鐜版湁鐨勫紑婧愪唬鐮 [3]銆傜洰鍓嶏紝涓昏鏈 CanFestival銆丆ANopenNode鍜孧icroCANopen涓夌绗﹀悎 LGPL鍜 GPL鍗忚鐨勫紑婧怌ANopen鍗忚鏍堝彲渚涙垜浠娇鐢ㄣ
    2.1 鍏稿瀷鐨 CANopen寮婧愬崗璁爤CanFestival鏄竴涓敱娉曞浗 Lolitech璧勫姪鐨勫畬鏁
    CANopen鍗忚鏍堬紝鍙湪 PC鍜屽井鎺у埗鍣ㄤ笂瀹炵幇涓昏妭鐐规垨浠庤妭鐐瑰姛鑳姐傚畠鐢ˋNSI-C缂栧啓锛屽畬鍏ㄦ敮鎸丏S301 V4.02鏍囧噯锛屽叿鏈夎壇濂界殑鍙Щ妞嶆с傛澶栵紝CanFestival杩樻彁渚涗簡甯︽湁鍥惧舰鐢ㄦ埛鐣岄潰鐨勫璞″瓧鍏哥紪杈戝櫒锛屼粠鑰屼负鐢熸垚璁惧鐨勫璞″瓧鍏告彁渚涗簡渚垮埄鐨勫伐鍏穂4]銆
    CANopenNode鏄敱鏂礇鏂囧凹浜氱殑 JanezPaternoster鎵缂栧啓鐨勶紝鍩轰簬 Microchip鍏徃PIC18鎺у埗鍣ㄧ殑寮婧 CANopen鍗忚鏍堛傚畠鍙綔涓轰富鑺傜偣鎴栦粠鑺傜偣锛屾彁渚涘涓澶囦箣闂村湪CANopen缃戠粶涓婄殑涓茶閫氫俊[4]銆侰ANopenNode鐨勫姛鑳介綈鍏紝鍗忚鎺ュ彛瀹屽杽锛屽畬鍏ㄩ伒浠庝簬 CiA DS-301鏍囧噯鍜 CANopen鎸囩ず鐏爣鍑咰iA DR-303-3銆
    MicroCANopen 鏄敱 Embedded SystemsAcademy鎵寮鍙戠殑锛屽叾浠g爜鐩稿綋绮剧畝锛屽彧淇濈暀鏈浣庨檺搴︾殑鍔熻兘锛岄氬父鍙鐢ㄥ仛鍗曚竴鍔熻兘妯″潡銆傝鍗忚鏍堢殑纭欢闇姹傛瀬浣庯紝鏈灏戝彧闇瑕 4k瀛楄妭鐨勪唬鐮佺┖闂村拰170瀛楄妭鐨勭▼搴忕┖闂淬傛澶栵紝Embedded SystemsAcademy杩樺紑鍙戜簡涓涓叿澶囧ぇ澶氭暟 CANopen甯哥敤鍔熻兘鐨凪icroCANopen Plus鐗堟湰锛孧icroCANopen鐢ㄦ埛鍙互鏂逛究鍦板皢鑷繁鐨勫伐绋嬬Щ妞嶅埌 MicroCANopenPlus涓 [6]銆
    2.2 CanFestival鍦ㄥ井鎺у埗鍣ㄧ殑瀹炵幇
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