The Implementation Of The CANopen Protocol Stack Based On STM32

The application of CANopen as an open standard CAN bus application layer protocol,reaches deep into the various fields at home and abroad,and it's still evolving.But,the relatively broad scope of application of CANopen protocol research and development in our country has not received enough attention.The key technology based on the communication interface protocol specification is still monopolized by several foreign companies,the relevant domestic CANopen protocol analysis and research is still in its infancy,it has the very big development space.Starting from the actual situation,this article analyzes the CANopen protocol research background and the status of the fieldbus technology first.and it is introduced the research purpose and meaning in this paper,Secondly the protocol specification of CANopen is described,and The protocol structure,object dictionary and communication object of CANopen are analyzed.,and described the use of open source CANfestival protocol stacks in detail in this paper.Again,this article analyzes the CANopen protocol stack system hardware and software implementation in detail in this paper.On this basis,this paper use STM32F103VET6 as main control chip of ST company to set up a target platform for the study protocol,and introduces in detail the CANopen communication interface based on embedded system implementation method in hardware platform,the paper put forward a effective experiment scheme,and according to this scheme,the CANopen communication interface developed in this paper is applied in welding robot interface,and it through this way.The robot welding communication controller is completed to prove the effectiveness of the research.At last,the paper summarizes and prospected the research contents.In this article,Based on the advanced experience of foreign countries,this paper studies the CANopen protocol stack on the target platform using open source CANfestival.and the effective scheme of communication interface development and experiment of CANopen protocol is proposed.Thus it lays a solid foundation for the future CANopen protocol from the development of nodes.The plan to shorten the development cycle,reduce the development difficulty,saving the cost of development,accelerate CANopen in domestic application and popularization has important practical significance.