2. CANOPEN
2.1. 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
2.2. 硬件设置
将两块开发板连接
2.3. 运行现象
当该例程成功运行后，会在串口终端打印如下:
----------------------------------------------------------------------
$$\ $$\ $$$$$$$\ $$\ $$\ $$\
$$ | $$ |$$ __$$\ $$$\ $$$ |\__|
$$ | $$ |$$ | $$ |$$$$\ $$$$ |$$\ $$$$$$$\ $$$$$$\ $$$$$$\
$$$$$$$$ |$$$$$$$ |$$\$$\$$ $$ |$$ |$$ _____|$$ __$$\ $$ __$$\
$$ __$$ |$$ ____/ $$ \$$$ $$ |$$ |$$ / $$ | \__|$$ / $$ |
$$ | $$ |$$ | $$ |\$ /$$ |$$ |$$ | $$ | $$ | $$ |
$$ | $$ |$$ | $$ | \_/ $$ |$$ |\$$$$$$$\ $$ | \$$$$$$ |
\__| \__|\__| \__| \__|\__| \_______|\__| \______/
----------------------------------------------------------------------
*********************************************************************************
* *
* CANOPEN Example Menu *
* *
* 0 - Master mode *
* 1 - Slave mode *
* *
*********************************************************************************
2.3.1. 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：
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：
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