canOpen学习八之canOpen应用实现主从机PDO定时同步数据

Posted 2022-12-14

从机字典文件

/* index 0x1800 :   Transmit PDO 1 Parameter. */
 UNS8 slave_objdict_highestSubIndex_obj1800 = 6; /* number of subindex - 1*/
 UNS32 slave_objdict_obj1800_COB_ID_used_by_PDO = 0x180;  /* 384 */
 UNS8 slave_objdict_obj1800_Transmission_Type = 0xFF; /* 1 */
 UNS16 slave_objdict_obj1800_Inhibit_Time = 0;  /* 0 */
 UNS8 slave_objdict_obj1800_Compatibility_Entry = 0x0;  /* 0 */
 UNS16 slave_objdict_obj1800_Event_Timer = 2000;  /* 0 */
 UNS8 slave_objdict_obj1800_SYNC_start_value = 0x0; /* 5 */
 subindex slave_objdict_Index1800[] = 
  
     RO, uint8, sizeof (UNS8), (void*)&slave_objdict_highestSubIndex_obj1800, NULL ,
     RW, uint32, sizeof (UNS32), (void*)&slave_objdict_obj1800_COB_ID_used_by_PDO, NULL ,
     RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1800_Transmission_Type, NULL ,
     RW, uint16, sizeof (UNS16), (void*)&slave_objdict_obj1800_Inhibit_Time, NULL ,
     RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1800_Compatibility_Entry, NULL ,
     RW, uint16, sizeof (UNS16), (void*)&slave_objdict_obj1800_Event_Timer, NULL ,
     RW, uint8, sizeof (UNS8), (void*)&slave_objdict_obj1800_SYNC_start_value, NULL 
  ;

主要设置为​​slave_objdict_obj1800_Transmission_Type​​​和​​slave_objdict_obj1800_Event_Timer​​​将​​slave_objdict_obj1800_Event_Timer​​​设置为2000就是2秒同步一次。
主机主程序

int main(void)
 
  u8 key; 
  Message msg;
  
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//设置系统中断优先级分组2
  delay_init(168);    //初始化延时函数
  uart_init(115200);  //初始化串口波特率为115200
  LED_Init();         //初始化LED 
  KEY_Init();         //按键初始化  
  cantimer_init(10-1,8400-1);  
  can_init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_Normal);//CAN初始化环回模式,波特率500Kbps    
  setNodeId(&master_objdict_Data, 0x00);
  setState(&master_objdict_Data, Initialisation);
  setState(&master_objdict_Data, Operational);  
  while(1)
  
    key=KEY_Scan(0);
    if(key==KEY0_PRES)
    
      masterSendNMTstateChange(&master_objdict_Data,0x01,NMT_Start_Node);
    
    else if(key==KEY1_PRES)
        
      sendPDOrequest(&master_objdict_Data,0x1400);
    
    else if(key==KEY2_PRES)
        
      msg.cob_id = (UNS16)0x80;
      msg.len = (UNS8)0x00;
      msg.rtr = (UNS8)0;
      canSend(&master_objdict_Data.canHandle,&msg );  
     
    else if(key==WKUP_PRES)
        

         
   

按下K0启动从机点1后从几点每隔两秒就会同步一次数据。