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DS401 User’s & Porting Manual (Master & Slave) CANbus CANopen I/O Support Library for Analog, Digital, Serial, ASI-bridge fieldbus devices & Extension Layer DS402 for Motion Drive Support (Master) Ready to work with QNX / Neutrino® O.S Ready to work with Windows-2000® O.S. Ready to work with Linux-RTAI O.S. Easy to port to any other O.S. Object & Source Available C.J.B. Computer Job srl © 1999-2004 ### CiA DS401 CANopen Library：详细解析与应用 #### 一、概述 **CiA DS401 CANopen Library** 是一款专为CANopen协议设计的支持库，旨在帮助用户轻松管理数字和模拟I/O接口，尤其适用于CANopen标准的现场总线模块。该库简化了CANopen协议的复杂性，使设计者无需深入理解协议细节即可实现高效开发。此外，该库还支持访问服务数据对象(SDOs)，并能够管理如Wago和Beckhoff等设备的串行通信通道。 #### 二、软件功能及架构 ##### 1. **基本功能** - **数字和模拟I/O支持**：该库提供了一种简单的方式来管理CANopen标准下的数字和模拟输入/输出。 - **服务数据对象(SDOs)访问**：用户可以通过该库轻松读取和写入任何单元的服务数据对象，便于配置和监控设备状态。 - **串行通信管理**：支持对特定设备（例如Wago和Beckhoff）的串行通信进行管理，增强了系统的灵活性和可扩展性。 ##### 2. **操作系统兼容性** - **QNX/Neutrino**：库已经准备好在QNX/Neutrino操作系统上运行。 - **Windows 2000**：库同样适用于Windows 2000操作系统，并且要求主机平台具有基于i82527 CAN控制器的大师级CAN总线接口。 - **Linux RTAI**：支持Linux RTAI操作系统，为实时应用提供了强大的支持。 - **跨平台移植**：由于高度模块化的设计，库可以非常容易地移植到其他操作系统或硬件平台上。 ##### 3. **软件架构** - **Canopen.c**：负责协议管理的核心模块，独立于硬件和操作系统。此模块不应被修改，以保持其通用性和稳定性。 - **Canosi.c**：作为Canopen.c模块与操作系统的接口，提供了必要的系统调用和API支持。 - **Can82527.c**：针对i82527 CAN控制器的访问例程，可以根据实际使用的CAN总线接口设备进行修改或替换。 - **Candemo.c**：一个测试程序，用于演示库的主要功能和特性，可作为开发示例参考。 #### 三、软件结构中的线程机制 CANopen库利用三种类型的线程来实现其核心功能： - **周期性线程(Periodic Thread)**：定期更新输出并请求输入（如果输入不是通过中断管理的）。此外，它还负责节点保护程序，用于检测网络上的设备是否正常工作。 #### 四、具体应用场景 **CiA DS401 CANopen Library** 可广泛应用于工业自动化领域，特别是在涉及多种不同类型的传感器和执行器的情况下。例如，在运动控制领域，库的扩展层DS402可以提供对运动驱动的支持，使得设计人员能够更加专注于高级逻辑的开发，而无需过多关注底层通信细节。 **CiA DS401 CANopen Library** 是一个功能强大且易于使用的工具，不仅极大地简化了CANopen协议的应用，而且还提供了高度的灵活性和广泛的系统兼容性，是工业自动化项目中不可或缺的一部分。

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CANopen Library

DS401

User’s & Porting Manual

(Master & Slave)

CANbus CANopen I/O Support Library

for Analog, Digital, Serial, ASI-bridge

fieldbus devices

Extension Layer DS402

for Motion Drive Support

(Master)

Ready to work with QNX / Neutrino

O.S

Ready to work with Windows-2000

O.S.

Ready to work with Linux-RTAI O.S.

Easy to port to any other O.S.

Object & Source Available

C.J.B. Computer Job srl

C.J.B. Computer Job srl - Via Ghislandi, 24 25125 Brescia – Italy

Tel.: +39 0303531883 ~ Fax.: +39 030349557

WEB:

www.cjb.it ~ E-mail: sales@cjb.it

1. Introduction

CJB’s CANopen support Library enables you to easily manage Digital and Analog I/O for

CANopen-compliant fieldbus modules, without charging the designer of a complicate management

of the CANopen protocol.

More, the CANopen Library allows you to access (both read and write) the service data objects of

any unit, and also allows you to manage serial communication channels of such units as from Wago

& Beckhoff.

The Library is supplied ready to work for any PC platform hosting the QNX OS®, or Windows-

2000® provided there is a master CANbus interface based upon the i82527 CAN controller (but

you may modify it easily).

The Library itself may be quite easily ported onto any other PC platform hosting any other OS,

since it is highly modularized and the architecture is already designed to make a porting very easy.

The following modules are included:

Canopen.c

Protocol management, hardware independent and also operating system

independent. This module MUST BE NEVER modified, whichever the

porting you have to design

Canosi.c

Interface routines to the OS, for the canopen.c module

Can82527.c

i82527 access routines, used by canopen.c module. This module should

be changed and/or substituted if you have anothe CANbus interface

device in your h/w platform.

Candemo.c

Test program to stimulate the most important features of the fieldbus:

you may use it a a very good sample of usage of the primitive functions

our Library gives to you.

2. Basic Structure of Software: the Threads

CAN management is based upon three threads:

Periodic Thread

This is a periodic (periodically timed) thread which updates outputs and

asks for inputs (if they are not interrupt-managed upon changes). It also

serves the node-guarding procedure, so checking the over-all status of

the units.

Receive Thread

It wakes up when the CAN controller receive routine interrupt is

activated. It manages the translation & understanding of the received

message, then updating the related data areas.

Background Thread

If there are remoted serial communication lines (like those provided by

beckhoff and Wago modules) it manages the data transfer to/from these

modules.

4. Application program interface

Herebelow you will find the description of all the primitive function of the CANopen Support

Library from CJB.

4.1 int openCANUnits(int, baudRateCode, UNITINFO *ui)

Programmes the units as they are defined in the received array: ui , then generates the

threads to manage CAN, then puts all the units into RUN status. Before making this call, the

application program must write the numbers of the units to be configured into the field: unit of

each structure of the array: ui .

The array is ended when the first item with unit number = 0 has been found.

The fields to be written in the structure: UNITINFO before calling the function from the

application program are:

unit It must include the unit number

numSER Must include the number of serial comm channels in the

module (if WAGO), or 0

Diperiod Polling period for Digital Inputs, expressed in milli-seconds

(Notice: if Digital Inputs are managed in “asynch mode”,

i.e. the unit itself communicates the status of its inputs, this

field must be set at 0)

DofaultMode Specifies the status of the Digital Outputs when faulty. If 0

the Digital Outputs get the status defined by DofaultState. If

1 they retain their actual value.

DofaultState If DofaultMode was set to 0, then if this field is set to 0 the

outputs will be switched off, instead if this field is set to 1

the outputs will be switched on.

Aiperiod Specifies the polling period for Analog Inputs, in milli-

seconds. If 0 then the polling period is the default 100 ms.

Aitype Specifies the type and, consequently, the coding for the

Analog Inputs. If 0 the field gets the default type

(2 = +/-10Vdc)

Aotype Specifies the type and, consequently, the coding for the

Analog Outputs. If 0 the field gets the default type

(2 = +/-10Vdc)

AofaultMode Defines the status of the Analog Outputs when faulty. If 0

then the Analog Outputs will be forced to 0 Vdc, if 1 the

Analog Outputs will retain their actual value.

All fields (except the unit number field) may be set to 0 .

After calling the function, for each unit you will have the following informations updated in these

field of the UNITINFO structure:

linkDown If different from 0 then the unit is NOT correctly connected

or it does not give any answer to the system

wordsDI Number of groups of 16 inputs each, managed by the unit

wordsDO Number of groups of 16 outputs each, managed by the unit

numAI Number of Analog Inputs managed by the unit

numAO Number of Analog Outputs managed by the unit

numSER Number of Serial comm lines managed by the unit

deviceName It is a string with the unit name

The argument: baudRateCode which must be passed when calling the function includes a code

which defines the operating selected baud-rate for the CAN controller. Codes are described in the

defines: CAN1MBIT, CAN500KBIT … in file: can82527.h . In depth:

1 = 1 MB 2 = 500 KB 3 = 250 KB 4 = 125 KB

The openCANUnits function returns a value which is different from 0 if there is an error (then

error codes may be looked at in the file: canopen.h with the defines: CANOPEN_ERR_… and so

on). After calling the openCANUnits function, even if there is an error, you MUST always call the

closeCAN function before exiting the application program. See the following paragraph.

4.2 void closeCAN()

Deletes the threads which manage CAN, switches off the interface device, stops any CAN related

activity.

4.3 void setCANPeriod(int per)

Sets the time period of the periodic thread which manages CANopen. The received parameter is the

period value in milli-seconds. At startup the defualt period value is 10 milli-seconds.

4.4 int getCANPeriod()

Returns the present value of the execution period of the periodic thread, in milli-seconds.

4.5 int readServiceDataObject(int unit, int idx, int subidx, int *len,

void *dst, int maxLen)

Lets you read the value of one Service Data Object (see CANopen documentation as supplied by

CIA; in CAN, an Object is like a message).

Both this function and the following one (writeServiceDataObject) will be used in the Application

program only in some instances, under your personal responsability, if you need to modify the

standard behaviour and/or implement new management layers for the remote units.

Received parameters:

unit Unit number

idx Object index (indentifier number)

subidx Object sub-index

len Pointer to the variable into which the function will write the

length (in bytes) of the received object

dst Destination buffer, where the function will write the object

value

maxLen Max length of the receive buffer

Returned parameters:

Integer value, which is <> 0 if error.

4.6 int writeServiceDataObject(int unit, int idx, int subidx, int len,

long value)

Lets you write the value of one Service Data Object (see CANopen documentation as supplied by

CIA; in CAN, an Object is like a message) with a length up to 4 bytes.

剩余20页未读，继续阅读

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yingyingyuxu

2013-05-08

非常有用，thanks
ALExyin01

2014-04-26

是操作说明书

pkltk

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