| CANopen is an Application Layer protocol based on CAN Bus. On the basis of data transmission on CAN Bus, CANopen define different frame of the structure, forming a series of derivative protocols such as PDO, SDO, Heartbeat and so on. These protocols form the CANopen application layer protocol of data transmission.UC/OS _II is a free open-source code, a multitasking operating system with a real-time kernel. Its kernel can provide some services such as scheduling and managing task, time management, communication and synchronization among tasks, memory management and interruption service and so on. UC/OS_II is suitable for small control system which has some features such as high efficiency, smaller size, good real-time performance, good scalability and so on.The ARM7 chip LPC2129 made in PHILIPS is a 32bit ARM7TDMI-S CPU which supports real-time simulation and tracking, it has a 256kB embedded high-speed Flash memory. Besides of a number of 32bit timer, four 10bit ADC and PWM channels, 46 GPIOs and as many as nine external interruptions, LPC2129 also has two independent CAN interfaces with CAN controller.The paper introduces the debugging process of hardware and the designing of software about the communication between Master and slave nodes based on CANopen + uC/OS_II on the ARM7 chip LPC2129 made in Philips. It includes: transplanting CANopen and uC/OS_II on the LPC2129, embedding the CANopen kernel into uC/OS_II, designing the software about communication between master and slave nodes of CANopen, programming software and debugging hardware.Currently, CANopen is one of the mainstream CAN-bus application layer protocols. Data communication based on the protocol of CANopen has been used in automobile electronics, industrial controlling, Maritime electronics, medical equipment and other fields. In the current, the development trend of CANopen is very strong. CANopen is continuously being applied to a variety of areas and will become the focus of the industry. |
PDF Full Text Request