CANopen protocol stack implementation

Since you need to ask these questions I suggest -

1) Read the CANOpen spec and supporting documents (there are lots on the web)

2) Buy a CANOpen library (try

or possibly re-think why you are using CAN and CANOpen for 2 PCs to talk - it's not a typical CAN application.

Michael Kellett

Hi foes,

And you are planning to accomplish exactly what?

The software design should be good

2-3 threads should be enough to mess up everything

It is difficult to help you since you don't know what you want.

Keep rocking.

VLV

Good advice. All the documents are available at

Home > Downloads > CiA specifications

What you first should read and understand is the "CiA 301: CANopen application layer and communication profile" Depending in your location, look for an CANopen training if possible. It will be much more easy if you don't develop your own stack. CANopen is around since 12 years and some companies offer stacks and tools for the development of CANopen communication functionality.

--

with best regards / mit freundlichen Grüßen

   Heinz-Jürgen Oertel

    12th international CAN Conference 
    Barcelona March 11 to March 13, 2008
    http://new.canopen.info/index.php?id=773

CANopen is basically a master/slave protocol, so connecting two PCs does not make much sense.

For peer-to-peer applications, just use your own CANbus protocol.

For CanOpen master, I use two threads, one handles the spontaneous (or SYNCed PDOs and EMCY) received messages, while the other handles SDO and RTR PDO transactions.

For CanOpen slave, I do not see what you would gain with more than one thread. You have to respond to SYNC, RTR PDOs and SDO requests more or less immediately.

Paul

CANopen is basically _not_ master/slave. Different communication principles are defined in CANopen and only network management (NMT) is a master slave communication. Only one communication node is the NMT master, all others slaves. But even without NMT, two nodes (can be two PCs) can communicate via SDO for example. Each of the nodes can start SDO download or upload data from the other one. In this case there is nothing which can be called master/slave.

If data size exceeds the number of bytes a CAN frame can carry, you will need a protocol anyway. Why not use CANopen SDO transfer?

--

with best regards / mit freundlichen Grüßen

   Heinz-Jürgen Oertel

    12th international CAN Conference 
    Barcelona March 11 to March 13, 2008
    http://new.canopen.info/index.php?id=773

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