2. CANOPEN
2.1. Overview
The canopen_demo provides the following features:
HeartBeat test
NMT test
SDO test
PDO test
SYNC test
2.2. Board Setting
Connect 2 boards
2.3. Running the example
When the example runs successfully, the board shows the following:
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$$\ $$\ $$$$$$$\ $$\ $$\ $$\
$$ | $$ |$$ __$$\ $$$\ $$$ |\__|
$$ | $$ |$$ | $$ |$$$$\ $$$$ |$$\ $$$$$$$\ $$$$$$\ $$$$$$\
$$$$$$$$ |$$$$$$$ |$$\$$\$$ $$ |$$ |$$ _____|$$ __$$\ $$ __$$\
$$ __$$ |$$ ____/ $$ \$$$ $$ |$$ |$$ / $$ | \__|$$ / $$ |
$$ | $$ |$$ | $$ |\$ /$$ |$$ |$$ | $$ | $$ | $$ |
$$ | $$ |$$ | $$ | \_/ $$ |$$ |\$$$$$$$\ $$ | \$$$$$$ |
\__| \__|\__| \__| \__|\__| \_______|\__| \______/
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*********************************************************************************
* *
* CANOPEN Example Menu *
* *
* 0 - Master mode *
* 1 - Slave mode *
* *
*********************************************************************************
2.3.1. Test steps
users connect two boards and run this demo, when two boards all show select menu, then one choose slave, another choose master.
Slave board show as：
rxSize = 11, txSize = 8
excessive number of concurrent CAN RX filters enabled (needs 11, 16 available)
enter slave mode ~ ~
Master board show as：
enter master mode and find slave device ~~
rxSize = 11, txSize = 8
excessive number of concurrent CAN RX filters enabled (needs 11, 16 available)
find device, id:70a, status preoptional
slave enter to optional mode
PDO test successfully!
slave HBtime: 1000 ms
slave HBtime: 2000 ms
SDO test successfully!
canopen test done