.. _canopen:

CANOPEN
==============

Overview
--------

The canopen_demo provides the following features:

- HeartBeat test

- NMT test

- SDO test

- PDO test

- SYNC test

Board Setting
-------------

Connect 2 boards

Running the example
-------------------

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


.. code-block:: console

   ----------------------------------------------------------------------
   $$\   $$\ $$$$$$$\  $$\      $$\ $$\
   $$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
   $$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
   $$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
   $$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
   $$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
   $$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
   \__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
   ----------------------------------------------------------------------
   *********************************************************************************
   *                                                                               *
   *                         CANOPEN Example Menu                                  *
   *                                                                               *
   * 0 - Master mode                                                               *
   * 1 - Slave mode                                                                *
   *                                                                               *
   *********************************************************************************


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：

.. code-block:: console

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


Master board show as：

.. code-block:: console

   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