本文将介绍如何基于 睿擎工业开发平台 实现 CANopen 通信，以开发板作为 CANopen 主机，与从机（支持 CANopen 协议的电机）通信，演示控制电机启停，需要读者具有一定 CANopen 协议相关基础知识。

这里使用的 CANopen 从机是 TLC42C-24V-04 两相 42 闭环一体机，站号设置为 2 ，波特率设置为 1Mbps ，站号表配置如下：

• SW1 ： OFF
• SW2 ： ON
• SW3 ： OFF
• SW4 ： OFF
• SW5 ： OFF
• SW6 ： ON

控制电机启停示例

本示例将演示如何通过 CANopen 协议与电机通信，控制电机启停。

硬件连接

1. 电机电源接口

   

2. 开发板 CAN 接口与电机 CAN 接口连接

   

创建工程点击展开

1. 依次点击 “文件” -> “新建” -> "RT-Thread RuiChing App 项目"。

   

2. 在弹出新建向导中选择 开发版 、BSP: 、示例 、 调试器/下载器。选择好之后点击 “完成”。

   

3. 点击 “完成” 后，等待工程创建完成。

   

4. 创建完成。

   

构建工程点击展开

1. 单击工程使工程进入 Active-Debug 模式。

   

2. 点击工具栏上的构建按钮进行工程编译。

   

3. 构建成功后，会显示构建成功的信息。

   

固件下载点击展开

1. 固化设备树

   

2. 固化 APP

   

核心示例代码

canopen 协议栈初始化

applications/master402_canopen.c

void canopen_task(void *pram)
{
  CAN_PORT port;
  OD_Data->heartbeatError = master402_heartbeatError;
  OD_Data->initialisation = master402_initialisation;
  OD_Data->preOperational = master402_preOperational;
  OD_Data->operational = master402_operational;
  OD_Data->stopped   = master402_stopped;
  OD_Data->post_sync = master402_post_sync;
  OD_Data->post_TPDO = master402_post_TPDO;
  OD_Data->storeODSubIndex = (storeODSubIndex_t)master402_storeODSubIndex;
  OD_Data->post_emcy = (post_emcy_t)master402_post_emcy;

  PDODisable(OD_Data,1);
  PDODisable(OD_Data,3);

  port = canOpen(&agv_board, OD_Data);
  if (port != RT_NULL)
  {
      OD_Data->canHandle = port;
  }
  else
  {
      return;
  }
  initTimer();
  StartTimerLoop(&InitNodes);
  //挂钩相关指针
  slave_conf.list = &can_node[1];
  can_node[1].nmt_state = &OD_Data->NMTable[2];
  can_node[0].nmt_state = &OD_Data->nodeState;
}

can 硬件初始化以及创建 can 接收线程。

applications/canopen_rtthread.c

CAN_PORT canOpen(s_BOARD *board, CO_Data *d)
{
    rt_thread_t tid;
    rt_err_t ret;

    if ((board == RT_NULL) || (d == RT_NULL))
    {
        return RT_NULL;
    }

    candev = can_init(board->busname, can_baud_to_rtt(board));
    if (candev == RT_NULL)
    {
        rt_kprintf("can_init failed\n");
        return RT_NULL;
    }

    ret = rt_sem_init(&can_data.sem, "co-rx", 0, RT_IPC_FLAG_PRIO);
    if (ret != RT_EOK)
    {
        rt_kprintf("canfestival init semaphore failed, err = %d\n", ret);
        return RT_NULL;
    }

    canfstvl_mutex = rt_mutex_create("canfstvl", RT_IPC_FLAG_PRIO);
    if (canfstvl_mutex == RT_NULL)
    {
        return RT_NULL;
    }

    OD_Data = d;
    tid = rt_thread_create("cf_recv", canopen_recv_thread_entry, &can_data,
        10240, CANFESTIVAL_RECV_THREAD_PRIO, 20);
    if (tid != RT_NULL)
    {
        rt_thread_startup(tid);
    }
    else
    {
        rt_mutex_delete(canfstvl_mutex);
        canfstvl_mutex = RT_NULL;
    }

    return candev;
}

预操作状态下用 SDO 指令配置 PDO 通信参数和映射表。

master402_canopen.c

static UNS8 (*NODECFG_Operation_2[])(uint8_t nodeId) =
{
  //TPDO1通道操作
  NODE2_DIS_SLAVE_TPDO1,
  NODE2_Write_SLAVE_TPDO1_Type,
  NODE2_Clear_SLAVE_TPDO1_Cnt,
  NODE2_Write_SLAVE_TPDO1_Sub1,
  NODE2_Write_SLAVE_TPDO1_Sub2,
  NODE2_Write_SLAVE_TPDO1_Sub0,
  NODE2_EN_SLAVE_TPDO1,
  //TPDO2通道操作
  NODE2_DIS_SLAVE_TPDO2,
  NODE2_Write_SLAVE_TPDO2_Type,
  NODE2_Clear_SLAVE_TPDO2_Cnt,
  NODE2_Write_SLAVE_TPDO2_Sub1,
  NODE2_Write_SLAVE_TPDO2_Sub0,
  NODE2_EN_SLAVE_TPDO2,
  //RPDO1通道操作
  NODE2_DIS_SLAVE_RPDO1,
  NODE2_Write_SLAVE_RPDO1_Type,
  NODE2_Clear_SLAVE_RPDO1_Cnt,
  NODE2_Write_SLAVE_RPDO1_Sub1,
  NODE2_Write_SLAVE_RPDO1_Sub2,
  NODE2_Write_SLAVE_RPDO1_Sub0,
  NODE2_EN_SLAVE_RPDO1,
  //RPDO2通道操作
  NODE2_DIS_SLAVE_RPDO2,
  NODE2_Write_SLAVE_RPDO2_Type,
  NODE2_Clear_SLAVE_RPDO2_Cnt,
  NODE2_Write_SLAVE_RPDO2_Sub1,
  NODE2_Write_SLAVE_RPDO2_Sub2,
  NODE2_Write_SLAVE_RPDO2_Sub0,
  NODE2_EN_SLAVE_RPDO2,
  //写入心跳
  NODE2_Write_SLAVE_P_heartbeat,
  //结束配置
  NODE2_MotorCFG_Done,
};

配置主机判断从机超时的时间，并将发送 NMT 状态切换请求将电机从预操作状态切换到操作状态。

master402_canopen.c

void config_node(uint8_t nodeId)
{
  if(Write_SLAVE_control_word(nodeId,0x80) == 0xFF)//初始化进行错误重置
  {
      rt_kprintf("nodeId:%d,Failed to clear error.The current node is not in operation\n",nodeId);
      rt_sem_init(&(slave_conf.finish_sem), "servocnf1", 0, RT_IPC_FLAG_FIFO);
      if(rt_sem_take(&(slave_conf.finish_sem), SDO_REPLY_TIMEOUT) != RT_EOK)
      {
        slave_conf.err_code = NODEID_CONFIG_NO_RESPOND;
        //掉线情况执行，重新上电情况无需处理
        rt_kprintf("Waiting for the repair to complete, CAN communication is currently unavailable\n");
        master402_fix_config_err(OD_Data,nodeId);
      }
      rt_sem_detach(&(slave_conf.finish_sem));
  }
  else
  {
      slave_conf.state = 0;
      slave_conf.try_cnt = 0;
      rt_sem_init(&(slave_conf.finish_sem), "servocnf1", 0, RT_IPC_FLAG_FIFO);
      EnterMutex();
      config_node_param(nodeId, &slave_conf);
      LeaveMutex();
      rt_sem_take(&(slave_conf.finish_sem), RT_WAITING_FOREVER);
      rt_sem_detach(&(slave_conf.finish_sem));

      if(slave_conf.err_code != 0X00)//因配置错误导致的退出
      {
        rt_kprintf("Failed to configure the dictionary for node %d\n",nodeId);
        if(slave_conf.err_code == NODEID_CONFIG_NO_SEND)
        {
          rt_kprintf("The configuration was not sent because the local dictionary failed\n");
        }
        else if(slave_conf.err_code == NODEID_CONFIG_NO_RESPOND)
        {
          rt_kprintf("The configuration reply did not respond, and the node dictionary failed\n");
        }
        rt_kprintf("Waiting for the repair to complete, CAN communication is currently unavailable\n");
        master402_fix_config_err(OD_Data,nodeId);
        return; //退出线程
      }
      else
      {
        UNS32 errorCode,map_val, size = SDO_MAX_LENGTH_TRANSFER;
        UNS8 data_type;
        errorCode = readLocalDict(OD_Data, 0x1016, nodeId - 1, &map_val, &size, &data_type, 0);
        if(errorCode == OD_SUCCESSFUL)
        {
          /**写入主机消费者/接收端判断心跳超时时间  DS301定义**/
          /**有格式定义，字典工具没有支持，需要自己写入**/
          UNS32 consumer_heartbeat_time = HEARTBEAT_FORMAT(nodeId,CONSUMER_HEARTBEAT_TIME);//写入节点的心跳时间
          errorCode = writeLocalDict(OD_Data, 0x1016, nodeId - 1, &consumer_heartbeat_time, &size, 0);
          if(errorCode != OD_SUCCESSFUL)
            rt_kprintf("index:0X%04X,subIndex:0X%X,write Local Dict false,abort code is 0X%08X\n",0x1016,nodeId - 1,errorCode);
        }
        else
        {
          rt_kprintf("index:0X%04X,subIndex:0X%X,write Local Dict false,abort code is 0X%08X\n",0x1016,nodeId - 1,errorCode);
          rt_kprintf("Node %d is not configured with a consumer heartbeat\n",nodeId);
        }
        //节点进入操作状态
        masterSendNMTstateChange(OD_Data, nodeId, NMT_Start_Node);
        rt_kprintf("Node %d configuration Complete\n",nodeId);
        rt_thread_mdelay(200);//确保NMT命令下发成功
      }
  }
}

运行程序

使用 IDE 调试并运行程序后，在终端输入以下命令：

1. 初始化 canopen 协议栈

   msh 命令行运行 canopen_start

2. 启动电机

   msh 命令行运行motor_start

3. 停止电机

   msh 命令行运行motor_stop