Fix links
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Janez
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05931a6b76
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3 changed files with 18 additions and 16 deletions
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@ -401,8 +401,8 @@ OD_getFlagsPDO(OD_entry_t* entry) {
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* event driven transmission, then TPDO will be transmitted after this function call. If OD variable is mapped to more
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* than one TPDO with event driven transmission, only the first matched TPDO will be transmitted.
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*
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* TPDO event driven transmission is enabled, if TPDO communication parameter, transmission type is set to 0, 254 or
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* 255. For other transmission types (synchronous) flagPDO bit is ignored.
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* TPDO event driven transmission is enabled, if TPDO communication parameter, transmission type is set to 0, 254
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* or 255. For other transmission types (synchronous) flagPDO bit is ignored.
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*
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* @param flagsPDO TPDO request flags returned by @ref OD_getFlagsPDO.
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* @param subIndex subIndex of the OD variable.
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26
README.md
26
README.md
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@ -3,7 +3,7 @@ CANopenNode
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CANopenNode is free and open source CANopen protocol stack.
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CANopen is the internationally standardized (EN 50325-4) ([CiA301](http://can-cia.org/standardization/technical-documents)) higher-layer protocol for embedded control system built on top of CAN. For more information on CANopen see http://www.can-cia.org/
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CANopen is the internationally standardized (EN 50325-4) ([CiA301](https://www.can-cia.org/cia-groups/technical-documents)) higher-layer protocol for embedded control system built on top of CAN. For more information on CANopen see http://www.can-cia.org/
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CANopenNode is written in ANSI C in object-oriented way. It runs on different microcontrollers, as standalone application or with RTOS.
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@ -17,19 +17,19 @@ This is version 4 of CANopenNode with new Object Dictionary implementation. For
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Characteristics
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---------------
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### CANopen
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- [Object Dictionary](https://www.can-cia.org/can-knowledge/canopen/device-architecture/) offers clear and flexible organisation of any variables. Variables can be accessed directly or via read/write functions.
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- [NMT](https://www.can-cia.org/can-knowledge/canopen/network-management/) slave to start, stop, reset device. Simple NMT master.
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- [Heartbeat](https://www.can-cia.org/can-knowledge/canopen/error-control-protocols/) producer/consumer error control for monitoring of CANopen devices. An older alternative, 'node guarding', is also available.
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- [PDO](https://www.can-cia.org/can-knowledge/canopen/pdo-protocol/) for broadcasting process data with high priority and no protocol overhead. Variables from Object Dictionary can be dynamically mapped to the TPDO, which is then transmitted according to communication rules and received as RPDO by another device.
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- [SDO](https://www.can-cia.org/can-knowledge/canopen/sdo-protocol/) server enables expedited, segmented and block transfer access to all Object Dictionary variables inside CANopen device.
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- [SDO](https://www.can-cia.org/can-knowledge/canopen/sdo-protocol/) client can access any Object Dictionary variable on any CANopen device inside the network.
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- [Emergency](https://www.can-cia.org/can-knowledge/canopen/special-function-protocols/) message producer/consumer.
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- [Sync](https://www.can-cia.org/can-knowledge/canopen/special-function-protocols/) producer/consumer enables network synchronized transmission of the PDO objects, etc.
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- [Time-stamp](https://www.can-cia.org/can-knowledge/canopen/special-function-protocols/) producer/consumer enables date and time synchronization in millisecond resolution.
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- [LSS](https://www.can-cia.org/can-knowledge/canopen/cia305/) CANopen node-id and bitrate setup, master and slave, LSS fastscan.
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- [CANopen gateway](https://www.can-cia.org/can-knowledge/canopen/cia309/), CiA309-3 Ascii command interface for NMT master, LSS master and SDO client.
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- [Object Dictionary](https://www.can-cia.org/can-knowledge/canopen-internal-device-architecture/) offers clear and flexible organisation of any variables. Variables can be accessed directly or via read/write functions.
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- [NMT](https://www.can-cia.org/can-knowledge/network-management/) slave to start, stop, reset device. Simple NMT master.
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- [Heartbeat](https://www.can-cia.org/can-knowledge/error-control-protocols) producer/consumer error control for monitoring of CANopen devices. An older alternative, 'node guarding', is also available.
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- [PDO](https://www.can-cia.org/can-knowledge/pdo-protocol/) for broadcasting process data with high priority and no protocol overhead. Variables from Object Dictionary can be dynamically mapped to the TPDO, which is then transmitted according to communication rules and received as RPDO by another device.
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- [SDO](https://www.can-cia.org/can-knowledge/sdo-protocol/) server enables expedited, segmented and block transfer access to all Object Dictionary variables inside CANopen device.
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- [SDO](https://www.can-cia.org/can-knowledge/sdo-protocol/) client can access any Object Dictionary variable on any CANopen device inside the network.
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- [Emergency](https://www.can-cia.org/can-knowledge/special-function-protocols/) message producer/consumer.
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- [Sync](https://www.can-cia.org/can-knowledge/special-function-protocols/) producer/consumer enables network synchronized transmission of the PDO objects, etc.
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- [Time-stamp](https://www.can-cia.org/can-knowledge/special-function-protocols/) producer/consumer enables date and time synchronization in millisecond resolution.
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- [LSS](https://www.can-cia.org/can-knowledge/cia-305-layer-setting-services-lss/) CANopen node-id and bitrate setup, master and slave, LSS fastscan.
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- [CANopen gateway](https://www.can-cia.org/can-knowledge/cia-309-series-accessing-canopen-via-tcp/), CiA309-3 Ascii command interface for NMT master, LSS master and SDO client.
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- [CANopen Safety](https://standards.globalspec.com/std/1284438/en-50325-5), EN 50325-5, CiA304, "PDO like" communication in safety-relevant networks
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- [CANopen Conformance Test Tool](https://www.can-cia.org/services/test-center/conformance-test-tool/) passed.
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- [CANopen Conformance Test Tool](https://www.can-cia.org/services/canopen-conformance-test-tool/) passed.
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### Other
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- [Suitable for 16-bit microcontrollers and above](#device-support)
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@ -35,6 +35,7 @@ STM32
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* https://github.com/CANopenNode/CanOpenSTM32
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* CANopenNode version: (v4.0)
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PIC32, dsPIC30, dsPIC33
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-----------------------
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* CANopenNode integration with 16 and 32 bit PIC microcontrollers from Microchip.
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@ -43,6 +44,7 @@ PIC32, dsPIC30, dsPIC33
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* Features: OD storage for PIC32, SDO client demo for PIC32, error counters
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* Development tools: MPLAB X
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* Demo hardware: Explorer 16 from Microchip, [Max32 board](https://reference.digilentinc.com/reference/microprocessor/max32/start)
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* Example with smallest resuorces (less than 2kb RAM), 4TPDO+4RPDO: 16-bit dsPIC30F4011
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[Analog Devices Inc](https://www.analog.com): MAX32662, MAX32690
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@ -54,7 +56,7 @@ PIC32, dsPIC30, dsPIC33
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* Features: LED indicators, error counters
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* Development tools: Maxim Micros SDK
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* Demo hardware: MAX32662-EVKIT and MAX32690-EVKIT
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* Information updated 2023-02-17
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* Information updated 2023-02-17
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Zephyr RTOS
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