文件名称:
LPC11Cxx CANopen 组网实验
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上传时间: 2013-08-14
详细说明： LPC11Cxx CANopen 组网实验 1.1 CAN The Controller Area Network (CAN) is a serial, asynchronous, multi -master communication protocol for connecting electronic control modules, sensors and actuators in automotive and industrial applications. Important features of CAN are: • Very good signal integrity due to differential signaling. • Collision and error detection and re- transmission pos sibilities. • Multiple masters can exist within one network, allowing intelligent and redundant systems. A CAN frame exists of 11 i dentifier bits and 8 data bytes. CAN does not specify the meaning of these identifier bits, nor the meaning of the data bytes. A high - level protocol is necessary for this. 1.2 CANopen CANopen is a type of high - level protocol for CAN bus , suitable for embedded networks. It is built on top of CAL, using a subset of CAL services and communication protocols. I t provides an implementation of a distributed control system using the services and protocols of CAL. The central concept in CANopen is the d evice Object Dictionary (OD) . For every node in the network there exists an OD. The OD contains all parameters describing the device and its network behavior . The OD is an ordered grouping of objects; each object is addressed using a 16 -bit index. To allow individual elements of structures of data to be accessed, an 8- bit sub - index has been defined as well. Fig 1 shows the general layout of CANopen OD. ...展开收缩
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