CANopen protocol stack implementation

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Hi Friends,
Currently i have got two connected PC's with PCI plugged in CAN cards
with drivers installed.
We are planning to implement CANOpen protocol stack by using the API's
that are exported from CAN drivers.

Now that i have following queries:
1. How the software design should be?
2. How many threads i have to use?
3. what kind of IPCS i have to use?

Please help me..

Regards,
boyrocking

Re: CANopen protocol stack implementation

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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 www.port.de)

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
www.mkesc.co.uk




Re: CANopen protocol stack implementation

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Good advice.
All the documents are available at
http://www.can-cia.org/index.php?id44%0
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

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Re: CANopen protocol stack implementation


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Hi foes,


And you are planning to accomplish exactly what?

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The software design should be good

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2-3 threads should be enough to mess up everything

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http://www.ipsc.org

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

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Keep rocking.

VLV

Re: CANopen protocol stack implementation
On Mon, 31 Dec 2007 05:50:40 -0800 (PST), snipped-for-privacy@gmail.com

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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.

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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


Re: CANopen protocol stack implementation
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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.

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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

We've slightly trimmed the long signature. Click to see the full one.
Re: CANopen protocol stack implementation
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