Research On Embedded Lower-end Systems Based On CANopen

This paper analyzes the CAN bus and CANopen protocol first, proposing a hardware and software solutions which can implement the intelligent CANopen slave nodes in surveillance system by the 32-bit micro-controller that built-in CAN controller. The paper completes the hardware design of the intelligent slave node module which implement the CAN bus communication with nodes being divided into two types functions: temperature measurement and motor control. The paper also analysis in detail the working principle of the CAN controller that build-in STM32F103C8T6, transplanting the real-time multitasking operating system uCOS-Ⅱinto STM32 platform and implementing modular software design which enable it to send and receive messages from CAN bus. Besides, the paper gives a standard packaging to the interface functions of all the communication objects of CANopen and the main modules. Program flow chart and detailed circuit of the software and hardware design have been shown in this paper.The design of CANopen intelligent slave node gives full play to the advantage of CANopen object dictionary which realizes the functions of sending the scene temperature data to the CAN bus and receiving the control and management commands from the master node to drive the motor to perform, realizing online configuration from master node to intelligent slave nodes.Finally, through an actual test on the intelligent slave node module in specific application environments by the CANopen software used for testing, we has verified the feasibility of the proposal given in this paper. The result of the test shows that CANopen communication objects of the module have an efficient, reliable, accurate and analytical package in data transmission on the CAN bus, which achieves the expected results.It has a good promotion and application of value and has verified the feasibility of the proposal given in this paper.