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CANopen作为一种开放性好、标准化、低成本的基于CAN总线的应用层协议,目前已经广泛地应用于工业自动化领域。文章根据CANopen DS301应用层协议规范,在以C8051F500单片机为控制核心的开发平台上建立了CANopen从节点协议栈总框架,并实现了其中的各种功能模块,整合成完整的协议栈,在搭建的实验平台上进行了协议栈的测试,实验表明:该协议栈功能完整,实时性满足使用要求。
As an open, standardized and low-cost application layer protocol based on CAN bus, CANopen has been widely used in industrial automation. According to the CANopen DS301 application layer protocol specification, the CANopen slave node protocol stack is established on the development platform with C8051F500 as the control core, and various functional modules are integrated into a complete protocol stack. Experimental platform for the protocol stack test, experiments show that: the protocol stack is complete, real-time to meet the requirements.