3.2. CANOPEN_SLAVE

3.2.1. 概述

canopen_slave_demo 例程提供如下功能：

• HeartBeat 心跳测试

• NMT 测试

• SDO 测试

• PDO 测试

3.2.2. 硬件设置

一块开发板下载 master 例程, 一块开发板下载 slave 例程, 连接两块开发板

3.2.3. 运行步骤

程序下载成功后, 会主动上发 pre-optional 信息, 等待主栈下发指令

3.2.4. 运行现象

当该例程成功运行后，会在串口终端打印如下:

----------------------------------------------------------------------
$$\   $$\ $$$$$$$\  $$\      $$\ $$\
$$ |  $$ |$$  __$$\ $$$\    $$$ |\__|
$$ |  $$ |$$ |  $$ |$$$$\  $$$$ |$$\  $$$$$$$\  $$$$$$\   $$$$$$\
$$$$$$$$ |$$$$$$$  |$$\$$\$$ $$ |$$ |$$  _____|$$  __$$\ $$  __$$\
$$  __$$ |$$  ____/ $$ \$$$  $$ |$$ |$$ /      $$ |  \__|$$ /  $$ |
$$ |  $$ |$$ |      $$ |\$  /$$ |$$ |$$ |      $$ |      $$ |  $$ |
$$ |  $$ |$$ |      $$ | \_/ $$ |$$ |\$$$$$$$\ $$ |      \$$$$$$  |
\__|  \__|\__|      \__|     \__|\__| \_______|\__|       \______/
----------------------------------------------------------------------
Allocated 4712 bytes for CANopen objects
CANopenNode - Reset communication...
rxSize = 17, txSize = 9
CANopenNode - Slave Mode Running...

3.2.4.1. 测试

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

Slave 端打印如下所示：

Allocated 4712 bytes for CANopen objects
CANopenNode - Reset communication...
rxSize = 17, txSize = 9
CANopenNode - Slave Mode Running...

Slave 端不会有特殊打印, 判断测试结果以 master 端打印为准。