Research On The Implementation Of MicroCANopen Protocol Stack

CAN (Controller Area Network bus) is a widely used serial communication bus based on multiple host structures. However, according to the Open System Interconnection (OSI/ISO) model, the protocol of CAN merely defines physics layer and data link layer, so it is quite necessary to research the higher layer protocol of CAN. This thesis mainly concerns the research and implementation of MicroCANopen—a CAN based application layer protocol, which is used widely in auto industry, instruments and automatizations due to its excellent features such as opening, high efficiency, high reliability and good real time performance.Based on further study on MicroCANopen, the programming of MicroCANopen protocol stack for the CAN based experimental platform is accomplished. In order for the MicroCANOpen protocol stack to be implemented, the electrical vehicle communication network model which includes powertrain controller, motor controller and battery controller nodes is established. Object oriented programming is used, and functions such as protocol initializations, network administrations, access of object dictionary, process data transportations, as well as serving data transportations are realized.Considering the insufficient adaptability and inefficiency of the static scheduling algorithm, the dynamic scheduling algorithm is introduced to the communication network of electric vehicle. EEDF dynamic allocating PRI is assigned to the messages in order for the further optimization of the network, and a Visual Basic based schedulability analysis software is designed. The algorithm schedulability analysis of DM and EEDF are performed, which turn out to prove that real time performance of the system has been improved by using EEDF scheduling algorithm.