20.14使用PDO报文同步循环发送温湿度数据-从机.rar

共800个文件

d：214个

crf：213个

o：213个

需积分: 5 139 浏览量 2024-03-02 22:19:57 上传评论收藏 22.08MB RAR 举报

在工业自动化领域，PDO（Process Data Object）报文是CANopen通信协议中的一种核心机制，用于设备间的实时数据交换。PDO报文分为传输层和应用层两部分，其中传输层负责物理帧的构造，而应用层则处理实际的数据传输。本主题主要探讨的是如何在从机设备上使用PDO报文进行温湿度数据的同步循环发送。 PDO报文分为TPDO（传输层主控PDO）和RPDO（接收层主控PDO），它们分别用于从机到主机（设备到控制器）和主机到从机（控制器到设备）的数据传输。在温湿度监测系统中，从机设备通常扮演数据采集的角色，通过TPDO将采集到的温湿度数据发送给主机设备。实现PDO报文的同步循环发送，首先需要配置PDO映射。PDO映射定义了PDO报文中的哪些数据对象（Data Object）与设备的内部变量相对应。例如，温湿度传感器可能有温度和湿度两个内部变量，我们需要将这两个变量映射到TPDO中，以便在发送时自动包含这些数据。接下来，需要设置PDO传输参数，包括PDO类型、传输周期和COB-ID（通讯对象标识符）。PDO类型为TPDO，表示从设备到网络的数据传输；传输周期决定了数据发送的频率，如每秒发送一次或每毫秒发送一次，这取决于温湿度监控的实时性要求；COB-ID是PDO报文在网络上的唯一标识，用于区分不同的PDO。在从机设备的固件或应用程序中，需要编写相应的PDO处理函数，该函数会在预设的传输周期到来时触发，读取温湿度传感器的值，并将这些值打包到PDO报文中。PDO报文格式通常遵循CANopen的DS301规范，包括同步域、数据域和错误控制域。在数据域中，温湿度数据会按照映射关系填充到对应的位置。在主机设备端，需要设置RPDO接收并解析这些PDO报文。当收到TPDO报文时，主机设备会根据接收到的数据更新其内部状态，例如显示或存储温湿度值，或者根据这些数据执行控制逻辑。为了确保数据的可靠性和一致性，PDO报文通常使用CRC（循环冗余校验）或其他错误检测机制。如果从机设备检测到发送错误，它可能会重发数据，或者根据NMT（Network Management Traffic）服务进行错误恢复。总结来说，"20.14 使用PDO报文同步循环发送温湿度数据-从机"这个主题涵盖了CANopen通信协议中PDO报文的配置、发送和接收过程，以及在温湿度监测系统中的具体应用。从机设备通过配置PDO映射、传输参数，编写PDO处理函数，周期性地将温湿度数据发送给主机设备，从而实现数据的实时监控。理解并掌握这一技术对于开发工业自动化系统中的数据采集和传输模块至关重要。

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20.14 使用PDO报文同步循环发送温湿度数据-从机.rar （800个子文件）

ARM32.uvguix.Administrator 177KB

ARM32.axf 567KB

gd32f30x_enet.c 154KB

gd32f30x_timer.c 86KB

sdo.c 80KB

gd32f30x_rcu.c 48KB

gd32f30x_can.c 41KB

fonts_ascii.c 40KB

gd32f30x_adc.c 36KB

lss.c 36KB

gd32f30x_fmc.c 32KB

gd32f30x_exmc.c 32KB

Slaver.c 32KB

system_gd32f30x.c 31KB

gd32f30x_usart.c 30KB

gd32f30x_spi.c 28KB

gd32f30x_sdio.c 28KB

pdo.c 28KB

gd32f30x_dma.c 27KB

gd32f30x_i2c.c 26KB

gd32f30x_gpio.c 22KB

gd32f30x_dac.c 16KB

picture.c 16KB

touch_drv.c 16KB

eeprom_drv.c 14KB

gd32f30x_ctc.c 13KB

states.c 12KB

gd32f30x_pmu.c 11KB

lcd_drv.c 11KB

lifegrd.c 11KB

dcf.c 9KB

objacces.c 9KB

gd32f30x_bkp.c 9KB

gd32f30x_exti.c 8KB

rh_drv.c 8KB

exsram_drv.c 7KB

gd32f30x_fwdgt.c 7KB

sync.c 7KB

gd32f30x_misc.c 7KB

emcy.c 7KB

canbus_drv.c 7KB

gd32f30x_rtc.c 6KB

ntc_drv.c 6KB

exmc_drv.c 6KB

gd32f30x_dbg.c 6KB

timer.c 5KB

fonts_chinese.c 4KB

portcan.c 4KB

gd32f30x_wwdgt.c 4KB

gd32f30x_crc.c 4KB

nmtSlave.c 4KB

gd32f30x_it.c 4KB

usb2Com_drv.c 3KB

queue.c 3KB

key_drv.c 3KB

store_app.c 3KB

rtc_drv.c 3KB

nmtMaster.c 2KB

main.c 2KB

led_drv.c 2KB

porttimer.c 2KB

systick.c 1KB

delay.c 1KB

sensor_drv.c 1018B

canopen_app.c 656B

sensor_app.c 308B

portcan.crf 338KB

porttimer.crf 333KB

gd32f30x_timer.crf 320KB

gd32f30x_can.crf 313KB

rh_drv.crf 312KB

portserial.crf 311KB

ntc_drv.crf 311KB

canbus_drv.crf 310KB

exsram_drv.crf 310KB

lcd_drv.crf 310KB

lv_chart.crf 310KB

gd32f30x_dma.crf 309KB

touch_drv.crf 308KB

gd32f30x_rcu.crf 308KB

gd32f30x_adc.crf 307KB

eeprom_drv.crf 306KB

gd32f30x_exmc.crf 306KB

gd32f30x_usart.crf 306KB

lv_demo_widgets.crf 304KB

usb2com_drv.crf 304KB

gd32f30x_gpio.crf 303KB

systick.crf 303KB

system_gd32f30x.crf 302KB

gd32f30x_pmu.crf 301KB

rtc_drv.crf 301KB

gd32f30x_bkp.crf 301KB

lv_theme_default.crf 300KB

key_drv.crf 300KB

gd32f30x_rtc.crf 299KB

gd32f30x_misc.crf 299KB

led_drv.crf 299KB

sensor_drv.crf 299KB

gd32f30x_dbg.crf 299KB

delay.crf 298KB

共 800 条

TD4F0 000:005.568 SEGGER J-Link V7.58a Log File TD4F0 000:005.755 DLL Compiled: Nov 11 2021 16:50:12 TD4F0 000:005.761 Logging started @ 2024-01-29 09:01 TD4F0 000:005.765 - 5.767ms TD4F0 000:005.778 JLINK_SetWarnOutHandler(...) TD4F0 000:005.784 - 0.008ms TD4F0 000:005.790 JLINK_OpenEx(...) TD4F0 000:007.412 Firmware: J-Link V9 compiled May 7 2021 16:26:12 TD4F0 000:007.710 Firmware: J-Link V9 compiled May 7 2021 16:26:12 TD4F0 000:007.927 Decompressing FW timestamp took 176 us TD4F0 000:014.001 Hardware: V9.60 TD4F0 000:014.035 S/N: 69609814 TD4F0 000:014.043 OEM: SEGGER TD4F0 000:014.050 Feature(s): GDB, RDI, FlashBP, FlashDL, JFlash TD4F0 000:014.965 TELNET listener socket opened on port 19021 TD4F0 000:015.127 WEBSRV WEBSRV_Init(): Starting webserver thread(s) TD4F0 000:015.242 WEBSRV Webserver running on local port 19080 TD4F0 000:048.240 - 42.462ms returns "O.K." TD4F0 000:048.273 JLINK_GetEmuCaps() TD4F0 000:048.279 - 0.007ms returns 0xB9FF7BBF TD4F0 000:048.287 JLINK_TIF_GetAvailable(...) TD4F0 000:048.451 - 0.172ms TD4F0 000:048.467 JLINK_SetErrorOutHandler(...) TD4F0 000:048.472 - 0.007ms TD4F0 000:048.503 JLINK_ExecCommand("ProjectFile = "E:\03 PN\07 培训班\GD32F303实战课程\00 开发板\02 例程代码\20.14 使用PDO报文同步循环发送温湿度数据-从机\JLinkSettings.ini"", ...). TD4F0 000:060.290 Ref file found at: C:\Keil_v5\ARM\Segger\JLinkDevices.ref TD4F0 000:060.364 XML referenced by ref file: C:\Program Files\SEGGER\JLink\JLinkDevices.xml TD4F0 000:061.174 C:\Program Files\SEGGER\JLink\JLinkDevices.xml evaluated successfully. TD4F0 000:089.293 - 40.799ms returns 0x00 TD4F0 000:093.803 JLINK_ExecCommand("Device = GD32F303ZE", ...). TD4F0 000:098.034 Device "GD32F303ZE" selected. TD4F0 000:098.296 - 4.486ms returns 0x00 TD4F0 000:098.309 JLINK_ExecCommand("DisableConnectionTimeout", ...). TD4F0 000:098.317 - 0.004ms returns 0x01 TD4F0 000:098.323 JLINK_GetHardwareVersion() TD4F0 000:098.327 - 0.006ms returns 96000 TD4F0 000:098.332 JLINK_GetDLLVersion() TD4F0 000:098.341 - 0.010ms returns 75801 TD4F0 000:098.346 JLINK_GetOEMString(...) TD4F0 000:098.352 JLINK_GetFirmwareString(...) TD4F0 000:098.357 - 0.006ms TD4F0 000:114.984 JLINK_GetDLLVersion() TD4F0 000:114.997 - 0.015ms returns 75801 TD4F0 000:115.004 JLINK_GetCompileDateTime() TD4F0 000:115.008 - 0.006ms TD4F0 000:123.206 JLINK_GetFirmwareString(...) TD4F0 000:123.222 - 0.018ms TD4F0 000:126.003 JLINK_GetHardwareVersion() TD4F0 000:126.014 - 0.013ms returns 96000 TD4F0 000:128.331 JLINK_GetSN() TD4F0 000:128.343 - 0.014ms returns 69609814 TD4F0 000:130.719 JLINK_GetOEMString(...) TD4F0 000:140.100 JLINK_TIF_Select(JLINKARM_TIF_JTAG) TD4F0 000:140.805 - 0.713ms returns 0x00 TD4F0 000:140.824 JLINK_HasError() TD4F0 000:140.925 JLINK_SetSpeed(5000) TD4F0 000:141.013 - 0.094ms TD4F0 000:141.037 JLINK_GetIdData(pIdData) TD4F0 000:144.822 TotalIRLen = 9, IRPrint = 0x0011 TD4F0 000:148.880 JTAG chain detection found 2 devices: TD4F0 000:153.715 #0 Id: 0x4BA00477, IRLen: 04, CoreSight JTAG-DP TD4F0 000:156.460 #1 Id: 0x790007A3, IRLen: 05, Unknown device TD4F0 000:160.751 DPv0 detected TD4F0 000:163.632 Scanning AP map to find all available APs TD4F0 000:170.699 AP[1]: Stopped AP scan as end of AP map has been reached TD4F0 000:173.339 AP[0]: AHB-AP (IDR: 0x24770011) TD4F0 000:176.279 Iterating through AP map to find AHB-AP to use TD4F0 000:179.824 AP[0]: Core found TD4F0 000:185.349 AP[0]: AHB-AP ROM base: 0xE00FF000 TD4F0 000:188.351 CPUID register: 0x410FC241. Implementer code: 0x41 (ARM) TD4F0 000:191.016 Found Cortex-M4 r0p1, Little endian. TD4F0 000:191.366 -- Max. mem block: 0x00010C40 TD4F0 000:191.488 CPU_ReadMem(4 bytes @ 0xE000EDF0) TD4F0 000:192.543 CPU_WriteMem(4 bytes @ 0xE000EDF0) TD4F0 000:192.803 CPU_ReadMem(4 bytes @ 0xE0002000) TD4F0 000:195.907 FPUnit: 6 code (BP) slots and 2 literal slots TD4F0 000:195.926 CPU_ReadMem(4 bytes @ 0xE000EDFC) TD4F0 000:196.228 CPU_ReadMem(4 bytes @ 0xE0001000) TD4F0 000:196.533 CPU_WriteMem(4 bytes @ 0xE0001000) TD4F0 000:196.866 CPU_ReadMem(4 bytes @ 0xE000ED88) TD4F0 000:197.167 CPU_WriteMem(4 bytes @ 0xE000ED88) TD4F0 000:197.429 CPU_ReadMem(4 bytes @ 0xE000ED88) TD4F0 000:197.742 CPU_WriteMem(4 bytes @ 0xE000ED88) TD4F0 000:201.489 CoreSight components: TD4F0 000:204.331 ROMTbl[0] @ E00FF000 TD4F0 000:204.347 CPU_ReadMem(64 bytes @ 0xE00FF000) TD4F0 000:204.903 CPU_ReadMem(32 bytes @ 0xE000EFE0) TD4F0 000:208.371 [0][0]: E000E000 CID B105E00D PID 000BB00C SCS-M7 TD4F0 000:208.411 CPU_ReadMem(32 bytes @ 0xE0001FE0) TD4F0 000:212.020 [0][1]: E0001000 CID B105E00D PID 003BB002 DWT TD4F0 000:212.041 CPU_ReadMem(32 bytes @ 0xE0002FE0) TD4F0 000:218.754 [0][2]: E0002000 CID B105E00D PID 002BB003 FPB TD4F0 000:218.773 CPU_ReadMem(32 bytes @ 0xE0000FE0) TD4F0 000:221.845 [0][3]: E0000000 CID B105E00D PID 003BB001 ITM TD4F0 000:221.861 CPU_ReadMem(32 bytes @ 0xE0040FE0) TD4F0 000:225.062 [0][4]: E0040000 CID B105900D PID 000BB9A1 TPIU TD4F0 000:225.079 CPU_ReadMem(32 bytes @ 0xE0041FE0) TD4F0 000:232.278 [0][5]: E0041000 CID 00000000 PID 00000000 ??? TD4F0 000:232.334 pIdData->ScanLen=9 TD4F0 000:232.342 TD4F0 000:232.346 pIdData->NumDevices=2 TD4F0 000:232.351 TD4F0 000:232.355 pIdData->aId[0]=0x4BA00477 TD4F0 000:232.361 TD4F0 000:232.364 pIdData->aIrRead[0]=0 TD4F0 000:232.370 TD4F0 000:232.373 pIdData->aScanLen[0]=0 TD4F0 000:232.379 TD4F0 000:232.382 pIdData->aScanRead[0]=0 TD4F0 000:232.388 TD4F0 000:232.392 - 91.356ms TD4F0 000:232.423 JLINK_JTAG_GetDeviceID(DeviceIndex = 0) TD4F0 000:232.429 - 0.008ms returns 1268778103 TD4F0 000:232.478 JLINK_JTAG_GetDeviceInfo(DeviceIndex = 0) TD4F0 000:232.491 - 0.015ms returns 0 TD4F0 000:232.498 JLINK_JTAG_GetDeviceID(DeviceIndex = 1) TD4F0 000:232.502 - 0.006ms returns 2030045091 TD4F0 000:232.508 JLINK_JTAG_GetDeviceInfo(DeviceIndex = 1) TD4F0 000:232.512 - 0.006ms returns 1 TD4F0 000:232.519 JLINK_GetDLLVersion() TD4F0 000:232.523 - 0.006ms returns 75801 TD4F0 000:232.528 JLINK_CORE_GetFound() TD4F0 000:232.532 - 0.006ms returns 0xE0000FF TD4F0 000:232.538 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) TD4F0 000:232.555 Value=0xE00FF000 TD4F0 000:232.562 - 0.025ms returns 0 TD4F0 000:235.018 JLINK_GetDebugInfo(0x100 = JLINKARM_ROM_TABLE_ADDR_INDEX) TD4F0 000:235.031 Value=0xE00FF000 TD4F0 000:235.037 - 0.021ms returns 0 TD4F0 000:235.042 JLINK_GetDebugInfo(0x101 = JLINKARM_DEBUG_INFO_ETM_ADDR_INDEX) TD4F0 000:235.046 Value=0x00000000 TD4F0 000:235.056 - 0.016ms returns 0 TD4F0 000:235.062 JLINK_ReadMemEx(0xE0041FF0, 0x10 Bytes, Flags = 0x02000004) TD4F0 000:235.110 CPU_ReadMem(16 bytes @ 0xE0041FF0) TD4F0 000:235.502 Data: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 TD4F0 000:235.528 - 0.471ms returns 16 (0x10) TD4F0 000:235.546 JLINK_GetDebugInfo(0x102 = JLINKARM_DEBUG_INFO_MTB_ADDR_INDEX) TD4F0 000:235.559 Value=0x00000000 TD4F0 000:235.574 - 0.032ms returns 0 TD4F0 000:235.587 JLINK_GetDebugInfo(0x103 = JLINKARM_DEBUG_INFO_TPIU_ADDR_INDEX) TD4F0 000:235.599 Value=0xE0040000 TD4F0 000:235.613 - 0.031ms returns 0 TD4F0 000:235.626 JLINK_GetDebugInfo(0x104 = JLINKARM_DEBUG_INFO_ITM_ADDR_INDEX) TD4F0 000:235.638 Value=0xE0000000 TD4F0 000:235.652 - 0.031ms returns 0 TD4F0 000:235.665 JLINK_GetDebugInfo(0x105 = JLINKARM_DEBUG_INFO_DWT_ADDR_INDEX) TD4F0 000:235.677 Value=0xE0001000 TD4F0 000:235.691 - 0.031ms returns 0 TD4F0 000:235.704 JLINK_GetDebugInfo(0x106 = JLINKARM_DEBUG_INFO_FPB_ADDR_INDEX) TD4F0 000:235.716 Value=0xE0002000 TD4F0 000:235.731 - 0.031ms returns 0 TD4F0 000:235.743 JLINK_GetDebugInfo(0x107 = JLINKARM_DEBUG_INFO_NVIC_ADDR_INDEX) TD4F0 000:235.755 Value=0xE000E000 TD4F0 000:235.770 - 0.031ms returns 0 TD4F0 000:235.783 JLINK_GetDebugInfo(0x10C = JLINKARM_DEBUG

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