Method for implementing CANopen main station

A master station and thread technology, applied to electrical components, transmission systems, data exchange through path configuration, etc., to achieve high search efficiency and high storage space utilization

Inactive Publication Date: 2008-07-16
BEIJING UNIV OF TECH
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The implementation method of the CANopen master station has no pub

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  • Method for implementing CANopen main station
  • Method for implementing CANopen main station
  • Method for implementing CANopen main station

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Embodiment Construction

[0037] The present invention is based on the development of a CANopen master station based on Freescale's 16-bit single-chip microcomputer MC9S12DP512 hardware platform. The system software structure diagram is shown in Figure 1. Among them, the start thread, scheduler thread, and message writing thread are three threads established by the user and managed by the UC / OS-II kernel. The start thread is the first thread scheduled after the operating system completes initialization. It mainly completes hardware initialization, including serial port, system clock initialization, clock beat initialization, CAN initialization, interrupt initialization, and creation of scheduler threads and message writing threads. The thread will destroy itself after running once. The scheduler thread mainly completes the scheduling of various tasks within CANopen. The thread will always run in a loop when no higher-level thread is ready or an interrupt occurs. The message thread is responsible for...

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Abstract

A method for realizing CANopen master station belongs to the field bus field. The present invention is characterized in that: the realization of a master station is based on an MC9S12DP512 hardware platform; a multithread system comprising scheduling machine thread, message writing thread and message reading interrupt is constructed on a UC/OS-II operating system. A scheduling machine is used to manage CAN message receiving, CAN message sending, PDO message distribution, SDO message distribution, NMT message distribution, synchronous message generation, PDO processing, SDO processing, NMT processing and other basic CANopen tasks. In addition, an object dictionary as the kernel of a CANopen protocol is constructed in a hash table mode. The mode of constructing the object dictionary meets the requirements that the master station needs to have the characteristics of fast searching, adding and deleting objects to the object dictionary. The present invention has the advantage of applying task scheduling in the design of the master station to ensure the high real-time performance, concurrent processing capability and dynamic flexibility of the master station. The realized object dictionary can meet the flexible expansion capability of networks, and objects can be dynamically added to the object dictionary.

Description

technical field [0001] The invention belongs to the field bus field, in particular to a method for realizing a CANopen master station. Background technique [0002] As a truly open CAN bus high-level protocol, the CANopen protocol allows different CAN devices to communicate in a standardized manner, making CAN devices interoperable. With the increasing perfection of the CANopen protocol, it has been applied in many aspects at home and abroad, and has received extensive attention. CANopen is currently radiating from the automotive industry to more fields, and has been widely used in public transportation systems, medical equipment, marine electronic equipment and building automation systems. In Europe, the CANopen protocol has been widely used in medical devices, and has been further extended to security control systems; in the United States, the CANopen protocol has become the protocol standard for loading machinery and public transportation equipment, and is also used in e...

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Application Information

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IPC IPC(8): H04L29/06H04L12/28
Inventor 徐喆闫士珍宋威余春暄段建民张明杰
Owner BEIJING UNIV OF TECH
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