CN103268259A - Method and device for realizing CANOPEN (control area network open) slave station - Google Patents
Method and device for realizing CANOPEN (control area network open) slave station Download PDFInfo
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- CN103268259A CN103268259A CN2013101530509A CN201310153050A CN103268259A CN 103268259 A CN103268259 A CN 103268259A CN 2013101530509 A CN2013101530509 A CN 2013101530509A CN 201310153050 A CN201310153050 A CN 201310153050A CN 103268259 A CN103268259 A CN 103268259A
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Abstract
The invention relates to the field of field buses, in particular to a CANFESTIVAL-based method and device for realizing a CANOPEN (control area network open) protocol slave station. Aiming at the problems in the prior art, a CANFESTIVAL-based designing method and device for realizing the CANOPEN protocol slave station are provided, and migration of a CANOPEN protocol stack is finished. By the CANFESTIVAL-based method and device for realizing the CANOPEN protocol slave station, a CAN module driving program is migrated; data stored in a CAN module hardware register are mapped to corresponding member variable in a Message structural body of a CANFESTIVAL, or the member variable in the Message structural body of the CANFESTIVAL is valued to the corresponding register in the CAN module; and a timer program of the CAN module is migrated. The CANFESTIVAL-based designing method and device for realizing the CANOPEN slave station is applied in the field of CANOPEN bus data transmission.
Description
Technical field
The present invention relates to the fieldbus field, especially relate to a kind of implementation method and device of realizing the CANOPEN slave station based on the CANFESTIVAL Open Source Code.
Background technology
Agreement is the upper-layer protocol of CAN bus, and it derives from the CAL agreement.The CAL agreement is based on a kind of in the high-rise communications protocol of CAN bus, by Philip Medical Devices department, is formulated the earliest.Take the CAL agreement as basis, and the content of the CMS object by definition in CAL, and the type of specific communication object, formed the CANOPEN agreement of current widespread use.It is a kind of CAN bus upper-layer protocol of real opening, can make CAN equipment possess interoperability.Day by day perfect along with the CANOPEN agreement, it has had very many-sided application at home and abroad, has been subject to paying attention to widely, from auto industry to the more areas radiation.In Europe, the CANOPEN agreement is widely used in medical treatment device, and further is extended in security personnel's control system; Especially CIA (CAN in Automation) academician develops a series of CANOPEN products, in fields such as machine-building, railway, boats and ships, pharmacy, food processing, vehicles, is applied widely; In the U.S., the CANopen agreement has become the consensus standard of loader and public transportation equipment, also is applied to the control of embedded system simultaneously.But, from the data of recognizing, the domestic research at CANOPEN, also in the starting stage, except the public laboratory of Chinese single-chip microcomputer (BOL) in Guangzhou, is carried out the unit of correlative study work seldom.
At present, realize that the project of increasing income of CANOPEN node mainly contains 3 abroad, i.e. CANFESTIVAL, CanopenNode and MicroCANopen.By contrast, CANFESTIVAL is more ripe, and the CANOPEN protocol contents of support is abundanter, uses and transplant also easier.
Realize a complete standard compliant CANOPEN node, usually need to buy the technological achievement of offshore company, this often brings the cost that exceeds the quata to product development, and follow-up maintenance and further exploitation is both time-consuming, again effort.
Summary of the invention
Technical matters to be solved by this invention is: for the problem of above-mentioned existence, provide a kind of method for designing and device of realizing CANOPEN agreement slave station based on the CANFESTIVAL Open Source Code.The present invention is based on the CANFESTIVAL Open Source Code and realize the CANOPEN agreement, carry out the transplanting of CAN driver of modules, to leave data-mapping in CAN module hardware register in to corresponding member variable (receiving course) in the Message structure of CANFESTIVAL, or the value of member variable in the Message structure of CANFESTIVAL is assigned in the corresponding register of CAN module (process of transmitting); Carry out CAN module timer program and transplant, for different processor, revise the timer processing program in bsp driver.By above-mentioned steps, can complete the transplanting of CANOPEN protocol stack.
The technical solution used in the present invention is as follows:
A kind of implementation method of CANOPEN agreement slave station comprises:
Step 1: for CAN module hardware used, carry out the transplanting of CANFESTIVAL program, the CANFESTIVAL program comprises CANFESTIVAL transplanting program and CANOPEN protocol library, described CANFESTIVAL transplanting program comprises CAN module drive transplanting program, CAN module timer transplanting program, and wherein CAN module drive transplanting program comprises that CAN module initialization program, CAN module send program, CAN module reception program;
Step 2:CANOPEN slave station carries out the CAN bus communication by the ID sign gating CANOPEN slave station of this slave station, described CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then makes the CAN module receive data from the CAN bus by the CAN module reception program of CANFESTIVAL transplanting program; Perhaps, the CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then sends data to the CAN bus by the CAN module transmission program of CANFESTIVAL transplanting program.
In described step 2, the CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then makes the CAN module from the reception data detailed process of CAN bus be by the CAN module reception program of CANFESTIVAL transplanting program:
Step 21: when from the CAN bus, receiving data, CAN module used deposits the message that mails to this CAN slave station on the CAN bus in hardware register corresponding to CAN module in, by its receive interruption mark position 1, triggers processor and receives data;
Step 22: processor calls CAN module reception program, and CAN module reception program hardware register data-mapping that the CAN module is corresponding is to the Message structure of CANFESSTIVAL;
Step 23: processor calls the CANOPEN protocol library and according to the DS301 protocol requirement, the Message structure is processed, and result is put in object dictionary;
Step 24: the processor invokes application makes application program obtain data according to the DS401 protocol requirement from object dictionary.
The hardware register data-mapping that in described step 22, CAN module reception program is corresponding by the CAN module to the detailed process of the Message structure of CANFESSTIVAL is: CAN module reception program will leave respectively in CAN module hardware register used No. ID, remote frame zone bit, data length and the valid data assignment member variable corresponding to the Message structure in.
In described step 2, the CANOPEN slave station is by processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then the detailed process that the CAN module transmission program by the CANFESTIVAL transplanting program sends data to the CAN bus is:
Step: 211: when the CANOPEN slave station sends data to the CAN bus, the processor invokes application, application program will need the data placement sent in object dictionary according to the DS401 agreement;
Step 212: processor calls the CANOPEN protocol library and deposits the data in object dictionary in the Message structure according to the requirement of DS301 agreement;
Step 213: processor calls the CAN module and sends program, and the member variable value of Message structure is mapped in register corresponding to CAN module;
Step 214:CAN module sends programming transmission zone bit and sends with log-on data, and then the CAN module is sent to the CAN bus by data in its register.
The detailed process that in described step 213, processor maps to register corresponding to CAN module by the member variable value of Message structure is: by the member variable of Message structure, No. ID, remote frame zone bit, data length and valid data are positioned in the corresponding hardware register of CAN module used.
A kind of CANOPEN agreement comprises XC164 chip, main memory circuit, memory circuit, CAN interface circuit, simulated measurement input circuit, analogue quantity output circuit, digital input circuit, digital quantity output circuit from station arrangement.Parameter and program code that described memory circuit needs for storing CANOPEN signal post, and use FRAM, there is the power down hold function; Described main memory circuit, for the program operation, is used the DDR memory chip; Described XC164 chip is connected with simulated measurement input circuit, analogue quantity output circuit, digital input circuit, digital quantity output circuit, CAN interface circuit respectively; Described CAN interface circuit comprises buffer circuit, CAN bus transceiver, and described XC164 is connected with the CAN bus transceiver by buffer circuit
.
In sum, owing to having adopted technique scheme, the invention has the beneficial effects as follows:
1) based on the CANFESTIVAL program of increasing income, can in various processors, conveniently transplant, be used to form the CANOPEN bsp driver, and realize that in conjunction with CANOPEN protocol library and application layer program the CANOPEN agreement is to form the CANOPEN slave node, the convenient CANOPEN slave station by CANOPEN data interface unit and other nodes carries out data interaction.
2) the CANOPEN slave station is by processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then make the CAN bus module receive data from the CAN bus by the CAN module reception program of CANFESTIVAL transplanting program, realized that easily the CANOPEN slave station receives data.
3) the CANOPEN slave station is by processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then send data to the CAN bus by the CAN module transmission program of CANFESTIVAL transplanting program, realized that easily the CANOPEN slave station sends data.
The accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is CANOPEN slave station structured flowchart of the present invention;
Fig. 2 is CANOPEN slave station circuit structure diagram of the present invention.
Embodiment
Disclosed all features in this instructions, or the step in disclosed all methods or process, except mutually exclusive feature and/or step, all can combine by any way.
Disclosed arbitrary feature in this instructions (comprising any accessory claim, summary and accompanying drawing), unless special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is,, unless special narration, each feature is an example in a series of equivalences or similar characteristics.
Related description of the present invention
1, CAN module timer program transplants, the main dominant frequency according to processor, by revising timer header file (the header file title is timerscfg.h), the initial value of timer conter is set, time reference is provided to CANFESTIVAL transplanting program and CANOPEN protocol library.
2, to carry out the detailed process of CAN bus communication be, when data send, No. ID of this slave station to be put in the CAN message to the ID sign gating CANOPEN slave station of CANOPEN slave station by this slave station; When data receiver, the CAN module is being mated for No. ID with this slave station by No. ID in the CAN message on the CAN bus, if the match is successful, the CAN message is stored in the hardware register of CAN module.
Embodiment mono-: as shown in Figure 1, a kind of implementation method of CANOPEN agreement slave station is characterized in that comprising:
Step 1: for CAN module hardware used, carry out the transplanting of CANFESTIVAL program, the CANFESTIVAL program comprises CANFESTIVAL transplanting program and CANOPEN protocol library, described CANFESTIVAL transplanting program comprises CAN module drive transplanting program, CAN module timer transplanting program, and wherein CAN module drive transplanting program comprises that CAN module initialization program, CAN module send program, CAN module reception program;
Step 2:CANOPEN slave station carries out the CAN bus communication by the ID sign gating CANOPEN slave station of this slave station, described CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then makes the CAN module receive data from the CAN bus by the CAN module reception program of CANFESTIVAL transplanting program; Perhaps, the CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then sends data to the CAN bus by the CAN module transmission program of CANFESTIVAL transplanting program.
Embodiment bis-: on embodiment mono-basis, in described step 2, the CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then makes the CAN module from the reception data detailed process of CAN bus be by the CAN module reception program of CANFESTIVAL transplanting program:
Step 21: when from the CAN bus, receiving data, CAN module used deposits the message that mails to this CAN slave station on the CAN bus in hardware register corresponding to CAN module in, by its receive interruption mark position 1, triggers processor and receives data;
Step 22: processor calls CAN module reception program, and CAN module reception program hardware register data-mapping that the CAN module is corresponding is to the Message structure of CANFESSTIVAL;
Step 23: processor calls the CANOPEN protocol library and according to the DS301 protocol requirement, the Message structure is processed, and result is put in object dictionary;
Step 24: the processor invokes application makes application program obtain data according to the DS401 protocol requirement from object dictionary.
Embodiment tri-: on embodiment mono-or two bases, the hardware register data-mapping that in described step 22, CAN module reception program is corresponding by the CAN module to the detailed process of the Message structure of CANFESSTIVAL is: CAN module reception program will leave respectively in CAN module hardware register used No. ID, remote frame zone bit, data length and the valid data assignment member variable corresponding to the Message structure in.
Embodiment tetra-: on one of embodiment mono-to three basis, in described step 2, the CANOPEN slave station is by processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then the detailed process that the CAN module transmission program by the CANFESTIVAL transplanting program sends data to the CAN bus is:
Step: 211: when the CANOPEN slave station sends data to the CAN bus, the processor invokes application, application program will need the data placement sent in object dictionary according to the DS401 agreement;
Step 212: processor calls the CANOPEN protocol library and deposits the data in object dictionary in the Message structure according to the requirement of DS301 agreement;
Step 213: processor calls the CAN module and sends program, and the CAN module sends program the member variable value of Message structure is mapped in register corresponding to CAN module;
Step 214:CAN module arranges the transmission zone bit and sends with log-on data; Then the CAN module is sent to the CAN bus by data in its register.
The detailed process that in described step 213, processor maps to register corresponding to CAN module by the member variable value of Message structure is: by the member variable of Message structure, No. ID, remote frame zone bit, data length and valid data are positioned in the corresponding hardware register of CAN module used.
Embodiment five: as shown in Figure 2, on one of embodiment mono-to four basis, a kind of CANOPEN agreement comprises XC164 chip, main memory circuit, memory circuit, CAN interface circuit, simulated measurement input circuit, analogue quantity output circuit, digital input circuit, digital quantity output circuit from station arrangement.Parameter and program code that described memory circuit needs for storing CANOPEN signal post, and use FRAM, there is the power down hold function; Described main memory circuit, for the program operation, is used the DDR memory chip; Described XC164 chip is connected with simulated measurement input circuit, analogue quantity output circuit, digital input circuit, digital quantity output circuit, CAN interface circuit respectively; Described CAN interface circuit comprises buffer circuit, CAN bus transceiver, described XC164
by buffer circuit, with the CAN bus transceiver, be connected.
the present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination disclosed in this manual, and the arbitrary new method disclosed or step or any new combination of process.
Claims (6)
1. the implementation method of a CANOPEN agreement slave station is characterized in that comprising:
Step 1: for CAN module hardware used, carry out the transplanting of CANFESTIVAL program, the CANFESTIVAL program comprises CANFESTIVAL transplanting program and CANOPEN protocol library, described CANFESTIVAL transplanting program comprises CAN module drive transplanting program, CAN module timer transplanting program, and wherein CAN module drive transplanting program comprises that CAN module initialization program, CAN module send program, CAN module reception program;
Step 2:CANOPEN slave station carries out the CAN bus communication by the ID sign gating CANOPEN slave station of this slave station, described CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then makes the CAN module receive data from the CAN bus by the CAN module reception program of CANFESTIVAL transplanting program; Perhaps, the CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then sends data to the CAN bus by the CAN module transmission program of CANFESTIVAL transplanting program.
2. a kind of CANOPEN agreement slave station implementation method according to claim 1, it is characterized in that in described step 2, the CANOPEN slave station passes through processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then make the CAN module from the detailed process of CAN bus reception data be by the CAN module reception program of CANFESTIVAL transplanting program:
Step 21: when from the CAN bus, receiving data, CAN module used deposits the message that mails to this CAN slave station on the CAN bus in hardware register corresponding to CAN module in, and the CAN module, by its receive interruption mark position 1, triggers processor and receives data;
Step 22: processor calls CAN module reception program, and CAN module reception program hardware register data-mapping that the CAN module is corresponding is to the Message structure of CANFESSTIVAL;
Step 23: processor calls the CANOPEN protocol library and according to the DS301 protocol requirement, the Message structure is processed, and result is put in object dictionary;
Step 24: the processor invokes application makes application program obtain data according to the DS401 protocol requirement from object dictionary.
3. a kind of CANOPEN agreement slave station implementation method according to claim 2 is characterized in that hardware register data-mapping that in described step 22, CAN module reception program is corresponding by the CAN module to the detailed process of the Message structure of CANFESSTIVAL is: CAN module reception program will leave respectively in CAN module hardware register used No. ID, remote frame zone bit, data length and the valid data assignment member variable corresponding to the Message structure in.
4. the implementation method of a kind of CANOPEN agreement slave station according to claim 1, it is characterized in that in described step 2 that the CANOPEN slave station is by processor invokes application, CANOPEN protocol library, CANFESTIVAL transplanting program, and then the detailed process that the CAN module transmission program by the CANFESTIVAL transplanting program sends data to the CAN bus is:
Step: 211: when the CANOPEN slave station sends data to the CAN bus, the processor invokes application, application program will need the data placement sent in object dictionary according to the DS401 protocol requirement;
Step 212: processor calls the CANOPEN protocol library and deposits the data in object dictionary in the Message structure according to the requirement of DS301 agreement;
Step 213: processor calls the CAN module and sends program, and the CAN module sends program the member variable value of Message structure is mapped in register corresponding to CAN module;
Step 214:CAN module sends programming transmission zone bit and sends with log-on data, and then the CAN module is sent to the CAN bus by data in its register.
5. the implementation method of a kind of CANOPEN agreement slave station according to claim 4, it is characterized in that the detailed process that in described step 213, processor maps to register corresponding to CAN module by the member variable value of Message structure is: by the member variable of Message structure, No. ID, remote frame zone bit, data length and valid data are positioned in the corresponding hardware register of CAN module used.
6. realize according to claim 1 a kind of CANOPEN agreement slave station implement device, it is characterized in that comprising XC164 chip, main memory circuit, memory circuit, CAN interface circuit, simulated measurement input circuit, analogue quantity output circuit, digital input circuit, digital quantity output circuit, parameter and program code that described memory circuit needs for storing CANOPEN signal post, and use FRAM, there is the power down hold function; Described main memory circuit, for the program operation, is used the DDR memory chip; Described XC164 chip is connected with simulated measurement input circuit, analogue quantity output circuit, digital input circuit, digital quantity output circuit, CAN interface circuit respectively; Described CAN interface circuit comprises buffer circuit, CAN bus transceiver, and described XC164 is connected with the CAN bus transceiver by buffer circuit.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111474908A (en) * | 2020-04-23 | 2020-07-31 | 中国人民解放军国防科技大学 | Method, system and medium for realizing motion control slave station of integrated CANopen protocol |
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Cited By (2)
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| CN111474908A (en) * | 2020-04-23 | 2020-07-31 | 中国人民解放军国防科技大学 | Method, system and medium for realizing motion control slave station of integrated CANopen protocol |
| CN111474908B (en) * | 2020-04-23 | 2021-04-02 | 中国人民解放军国防科技大学 | Method, system and medium for realizing motion control slave station of integrated CANopen protocol |
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