2.2. CANOPEN_SLAVE

2.2.1. Overview

The canopen_demo provides the following features:

HeartBeat test
NMT test
SDO test
PDO test

2.2.2. Board Setting

Download master routines on one board, download slave routines on another board, connect two boards

2.2.3. Running Steps

After the program is successfully downloaded, it will actively send pre optional information and wait for the master to issue instructions

2.2.4. Running the example

When the example runs successfully, the board shows the following:

----------------------------------------------------------------------
$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
----------------------------------------------------------------------
rxSize = 11, txSize = 8
excessive number of concurrent CAN RX filters enabled (needs 11, 16 available)
enter slave mode ~ ~

2.2.4.1. Test steps

The current routine is a canopen slave role. The board runs the current routine and connects to the board running the master role.

Slave board show as:

rxSize = 11, txSize = 8
excessive number of concurrent CAN RX filters enabled (needs 11, 16 available)
enter slave mode ~ ~

There will be no special printing on the slave side, and the test results will be judged based on the master side printing.