.. _canopen:

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

概述
------

canopen_demo 例程提供如下功能：

- HeartBeat 心跳测试

- NMT 测试

- SDO 测试

- PDO 测试

- SYNC 测试

硬件设置
------------

将两块开发板连接

运行现象
------------

当该例程成功运行后，会在串口终端打印如下:


.. code-block:: console

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


测试
~~~~~~

用户连接两块开发板，并在两个开发板上同时运行该例程。必须等两块板子都出现选择菜单后，一块选择 slave，一块选择 master。

Slave 端打印如下所示：

.. code-block:: console

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


Master 端打印如下所示：

.. 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