Method for realizing CANopen slave station

A CAN controller and initialization technology, applied in the direction of data exchange through path configuration, digital transmission system, electrical components, etc., to achieve the effects of improving bus communication characteristics, improving search efficiency, high real-time performance and concurrent processing capabilities

Inactive Publication Date: 2010-10-06
BEIJING UNIV OF TECH
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  • Abstract
  • Description
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Problems solved by technology

Due to the problems of intellectual property rights and productization, there are no public literature reports on the implementation of CANopen nodes in foreign countries

Method used

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  • Method for realizing CANopen slave station
  • Method for realizing CANopen slave station
  • Method for realizing CANopen slave station

Examples

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Embodiment Construction

[0039]The present invention is based on the development of the CANopen slave station of the MPC565 vehicle processor hardware platform based on Freescale's 32-bit PowerPC (Performance OptimizationWith Enhanced RISC-Performance Computing) framework, and applies the eCos embedded real-time operating system to the design of the slave station In the system structure block diagram as figure 1 shown. The entire CANopen slave station software part is designed and coded according to a three-layer structure, which are respectively the driver and hardware abstraction layer, the eCos operating system layer and the CANopen application protocol layer.

[0040] The hardware driver layer completes the initialization of the hardware, including at least the initialization of the hardware resources by the eCos operating system, the initialization of the CAN controller, and the initialization of the clock interrupt. The eCos operating system layer provides the reading and writing interface func...

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Abstract

The invention relates to a method for realizing a CANopen slave station, which is characterized in that: a hardware platform realized by the slave station is a PowerPC-based processor; a multi-thread system is constructed on an eCos operating system and comprises a CANopen state machine thread, a timer thread and message reading interruption; the state machine thread is used for managing CANopen basic tasks such as switching the state of the slave station, receiving CAN message, receiving and transmitting CAN messages, PDO messages and SDO messages, processing the PDO, SDO, NMT and synchronous messages and the like; and an earliest deadline first (EDF) dynamic scheduling algorithm is introduced into the synchronous PDO messages for transmitting real-time data so as to ensure the requirement of low-priority messages on instantaneity and improve the communication characteristic of a bus. The eCos embedded real-time operating system is applied to the design of the slave station, so the instantaneity and concurrent processing capacity are high; the dynamic scheduling algorithm is introduced into the design of the synchronous PDO messages in the CANopen slave station, so the requirement of the low-priority messages on instantaneity is ensured; and an object dictionary meets the flexible configuration of a network, and objects in the object dictionary are changed according to the dynamic change of a master station.

Description

Technical field: [0001] The invention belongs to the technical field of field bus, a kind of method that realizes CANopen slave station, especially the earliest deadline task priority scheduling algorithm (Earliest Deadline First, EDF) is introduced into CANopen agreement, and this method has guaranteed that low priority message is right Real-time requirements. Background technique: [0002] As a truly open CAN (Controller Area Network) 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. In Europe, the CANopen protocol has been widely used in medical devices, and has been further extended to security control systems; especially members of the CiA (CAN in A...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L12/56H04L12/40
Inventor 徐喆董石峰段建民
Owner BEIJING UNIV OF TECH
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