f076be1e9c
For further project history see http://sourceforge.net/projects/canopennode/ This initial commit contains relevant files, which are the same as in the following git repository on this date (25.7.2015): http://sourceforge.net/p/canopennode/code_complete/
104 lines
4.7 KiB
Text
104 lines
4.7 KiB
Text
CANopenNode is an opensource CANopen Stack.
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CANopen is the internationally standardized (EN 50325-4) CAN-based higher-layer protocol for embedded control system. For more information on CANopen see http://www.can-cia.org/
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Stack is written in ANSI C in object-oriented way. Code is documented. License is LGPL. It includes Example for CANopen Input/Output device and simple CANopen master.
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Variables (communication, device, custom) are ordered in CANopen object dictionary and are accessible from both: C code and from CAN network.
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Code includes:
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- CANopen Stack for multiple microcontrollers with documenation.
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- Working examples of simple Input Output CANopen device for all microcontrolers.
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- Working CANopen master device with HTML interface to CANopen: CAN log, Emergency log, SDO master, NMT master, Custom CAN message. (It runs on demo board DB240 from beck-ipc. It's available also for simpler custom borad based on SC243.)
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- CANopen Object dictionary editor. For usage of this web application see "about.html".
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CANopen Features:
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- NMT slave to start, stop, reset device.
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- Heartbeat producer/consumer error control.
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- PDO linking and dynamic mapping for fast exchange of process variables.
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- SDO expedited and segmented transfer for service access to all parameters.
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- SDO master.
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- Emergency message.
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- Sync producer/consumer.
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- Nonvolatile storage.
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Supported controllers:
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- From microchip.com:
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- dsPIC30F
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- PIC24H
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- dsPIC33F
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- PIC32
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- From beck-ipc.com
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- SC2x3
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****************************************************************************************************
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Version next
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Style change:
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- SVN version 31 has completely different style from previous. SVN history is broken. However, C code is the same. Files compile to THE SAME hex file in PIC32. See file Misc/convert text.html.
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- Indentation changed from three to four spaces.
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- Comments are now doxigen style.
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- Replacement of typedefs UNSIGNED32 to uint32_t, etc.
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Updates:
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- Object dictionary editor: changed HTML output, no ODF functions.
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- SDO server rewritten. Better interface with Object dictionary function.
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- Multiple files was updated for newer Object dictionary function.
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Additional features:
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- Added block transfer. It is possible to transfer large block of data (32bit length).
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- Added CRC function. Calculation of CRC in eeprom.c files updated to this function.
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- Added are files for generic driver, which allows compiling the stack without hardware. They should be used as a template for other microcontrollers.
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Fixes:
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- Time drift in heartbeat fixed.
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FIXES IN PROCESSOR SPECIFIC FILES:
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- !!IMPORTANT BUGFIX!! Problems with synchronous TPDOs. Microcontroller stopped transmitting on tx overflow. Code for CAN transmission is revised and fixed in all microcontrollers. Tested on PIC32 and dsPIC33F.
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Note:
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- Object dictionary editor does not work any more in Firefox 17 and above, because: https://developer.mozilla.org/en-US/docs/E4X. (It is possible to re-enable E4X in FF17: type about:config in addressbar and change javascript.options.xml.content to true.)
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****************************************************************************************************
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Version 3.10
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Additional features:
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- Master device with HTML interface to CANopen: CAN log, Emergency log, SDO master, NMT master, Custom CAN message.
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- Additional data types: UNSIGNED64, INTEGER64, REAL32, REAL64, DOMAIN.
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- SDO transfer now supports more than 255 bytes in one communication cycle. (SDO master too.)
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- EEPROM for PIC32 and SC243 fully functional.
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Fixes:
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- Synchronous window lenght now works.
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- Filters in PIC32 are dinamicaly editable.
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- Heartbeat consumer is fixed. Now is dinamicaly editable.
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- Some fixes in PDO.
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Changes in processor specific files:
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- !!Bugfix!! Some variables are set to volatile.
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- !!Bugfix!! in all processors: Line "CANmodule->bufferInhibitFlag = 0;" in CAN tx interrupt moved up.
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- Added DOMAIN data type.
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- Function CO_ODF() removed from driver.
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****************************************************************************************************
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Version 3.02
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Fixes:
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- SYNC object changes:
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- LED tripple flash corrected.
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- No need for definition of communication cycle period (index 1006).
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- Correction in 'Object dictionary editor' output.
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- PIC32 now resets correctly when receives NMT command.
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- NMT master example now works.
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****************************************************************************************************
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Version 3.01
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Fixes:
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- It compiles now without errors for all controllers.
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- Newly generated files from object dictionary, including CO_OD.c, .h.
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****************************************************************************************************
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Version 3.00
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