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1引言在上期文章中我们了解了一种嵌入式CANopen协议转换模块及其使用方法,本期文章将介绍一种支持二次开发的CANopen从站模块的使用方法。CANopen协议作为CAN总线的应用层协议,拥有复杂的网络管理(Network Management)、实时过程数据对象(process Data Object)、服务数据对象(Service Data Object)、预定义连接和特殊功能对象等基本功能,另外CANopen协议还定义了指示灯规范、通信安全架构、在线配置、EDS文件规范、标准设备规范等一系列的协议规范。因此开发基于CANopen协议的设备有着非常高的难度以及较长的开发周期。
1 Introduction In the last article, we learned about an embedded CANopen protocol conversion module and how to use it. This article will introduce how to use a CANopen slave module that supports secondary development. The CANopen protocol, as an application layer protocol for the CAN bus, has the basic functions of complex network management, process data objects, service data objects, predefined connections and special function objects, In addition, CANopen protocol also defines a series of protocol specifications such as LED specification, communication security architecture, online configuration, EDS file specification and standard equipment specification. Therefore, the development of equipment based on CANopen protocol has a very high degree of difficulty and a long development cycle.