Main parameter configuration of object dictionary

0x1000-0x1029 system parameter

0x1005 SYNC CON ID involve CANopen The host sent SYNC Sync frame ID And enable
0x1005 Sub indicators 0x00 Value ：
31: meaningless
30:gen 0: Do not generate synchronization messages 1: Generate synchronization message
29:frame 0 11 position CAN-ID It works 1 29 position CAN-ID It works
28:0 ID 0:10 11 position ID 0:28 29 position ID
Generally, the host is defined as 0x40000080 Send synchronization message ,11 position ID,ID=0x80.

0x1006 Definition SYNC Time interval of

namely SYNC Cycle unit of transmission ms 0 Then disable SYNC 1000 be 1S Send a synchronization frame

0x1007 SYNC Synchronization window

Indicates that the host is sending SYNC How long after receiving the synchronization message is valid , It doesn't work for the time being

0x1016 The host detects the heartbeat timeout of the slave

The type of setting value is 32 Bit , front 16 Bit represents slave ID Number , after 16 Bit is the inspection time .0x107D0 The detection time of slave I is 0x07d0 That is to say 2S.

0x1017 The heartbeat interval sent by the slave

0x1400-0x15FF To configure PDO receive

This has no effect for the time being

0x1600-0x17FF

PDO Receive mapping address , example 0x1600 After clicking, you can right-click the sub indicator to add a sub indicator , Sub indicators 0x00 instructions PDOx How many addresses are mapped , except 0x00 Sub indicators other than , The optional value is 0x2000-0x5FFF Region defined scalar , After the configuration of this area is completed, you can use a shorter PDO Instruction to change the value of the mapping address . Try to configure this in the dictionary , Don't use... In operation PDO Change the agreement .
example ：0x1403 0x01=DI+0x500;0x1603 0x00=1;0x01=0x2003;ID=0x03;
Then send ID=0x503 data=06 05 03 04 The end result is 0x2003 The value of is updated according to its own data type , if u8 type , It becomes 0x06,u32 Type changed to 0x04030506.

0x1403 0x01=DI+0x500;0x1603 0x00=2;0x01=0x2003;0x02=0x2004;ID=0x03;
Then send ID=0x503 data=06 05 03 04 0x2003 and 0x2004 by u16 type , 0x2003=0x0506,0x2004=0x0403.

Be careful ID Format PDO Different areas of ,data There is no requirement , however ID Different will correspond directly to different PDO Area .

There are errors in the above data ,0x1600-0x17FF and 0x1A00-0x1BFF yes PDO Mapping , Two of his four data are mapping relationships （ The variable corresponding to the object dictionary ）, One is the data type of mapping relationship , One is the sub index of the mapping relationship .

example ： value 20000108 h For mapping to index 2000h Sub index of 01h, The object is 8 position From left to right 2000 Is a mapping relationship 01 It's a sub index ,08 Represents the data type
The above example , use SDO The instruction is written as 23 01 00 16 08 01 00 20, Please refer to PDO Use and routine configuration corresponding variables

data type

0x08	8 position
0x10	16 position
0x20	32 position

0x1A00-0x1BFF

This area and 0x1600-0x17FF Usage is similar. , Difference is that 0x1600-0x17FF Is to receive the number from outside ,0x1A00-0x1BFF The number of sent itself , The data to be sent directly corresponds to the mapping address .

0x1800-0x19FF PDO Communication parameters

This area is focused on understanding . With 0x1800 For example , Sub indicators are generally seven
0x00 : Number of sub indicators

0x01 :ID 0x180+ Fix

0x02 :Transmission type Send type
00h： Acyclic synchronization
　　 Can only send asynchronously （ That is, receiving the sending request or actively sending ）, Received SYNC Frames will not be sent .
01h-FBh： Cyclic synchronization
　　 according to TestSlave_obj1400_SYNC_start_value The value set inside receives SYNC Send the number of once .
FCh： Remote synchronization 　　
　　 When I received PDO request , If so PDO_status Status bit of PDO_RTR_SYNC_READY Set up （ You'll receive SYNC Signal call _sendPDOevent in BuildPDO Juxtapose this bit ）, Then directly send PDO The last frame of .
FDh： Remote asynchronous 　　
　　 When I received PDO request （SendPDORequest） Immediately after BuildPDO Send the requested PDO frame （cob_id Mark ）.
FEh： asynchronous , Manufacturer specific events and FFh： asynchronous , Device sub protocol specific events 　　
　　 call sendPDOevent()（ Not blocked inhibited） Post establishment PDO And check it PDO Frame is the same as the last transmission （PDO_status.last_message） Of PDO Whether the frame content changes , If there is a change, send , Otherwise do not send . Received SYNC Frame will not be sent . But if you receive PDO The request is forced to establish and send .

0x03：Inhibit Time PDO Minimum period of transmission Set up as 1S, be 1S Send at most once in , The rest will not be executed , The transmission frequency when the limit value changes .0x00 Don't take effect

0x04:Compatibility Entry Temporarily useless

0x05:Event Time Time to send , if 0x03=0xFE or 0xFF, stay Canopen In the operating state , Send regularly according to the specified time of this variable :1000=1S.0x00 Send from time to time .

0x06: Synchronous transmission PDO, After receiving a synchronization package from Nuo , Before sending This doesn't work .

0x2000-0x5FFF User defined area

User configurable area , Generally, it is blank after creating a new one , You can add map variables ：
indicators ：0x2000-0x5FFF arbitrarily , This is for PDO Address mapping or SDO Direct control
name ： The variable name in the program , Single chip microcomputer PDO、SDO The number sent and the number changed after receiving is the name .
type ：VAR A single variable that is not extensible ;ARRAY Array ;REC Multiple variables ;ARRAY and REC When adding map variables, the number entered is the number of elements and variables of the array , Pay attention to the names of map variables and sub indicators , If the same naming program appears, an error will be reported .

0x6000-0x9FFF Standardized equipment sub protocol area

When building the object dictionary, if Profile Choice is not without , Some variables will be automatically defined in this area , It belongs to the unchangeable area , When used, it is the same as the user-defined area , It belongs to the general agreement .

SDO Use and routines

First say SDO, This is simpler , and PDO Configuration will use SDO The way

SDO write in

SDO write in ( Host send )

Number of bytes	ID	RTR	Function code	Index_L	Index_H	Sub index	data	data	data	data
A byte	600 + ServNodeId	0	2F	Index_L	Index_H	Sub index	D0	-	-	-
Two bytes	600 + ServNodeId	0	2B	Index_L	Index_H	Sub index	D0	D1	-	-
Three bytes	600 + ServNodeId	0	27	Index_L	Index_H	Sub index	D0	D1	D2	-
Four bytes	600 + ServNodeId	0	23	Index_L	Index_H	Sub index	D0	D1	D2	D3

SDO write in ( The host receives )

success ：

ID	RTR	Function code	Index_L	Index_H	Sub index	data	data	data	data
580 + Serv NodeId	0	60	Index_L	Index_H	Sub index	00	00	00	00

When the failure ：

ID	RTR	Function code	Index_L	Index_H	Sub index	data[0…3]
580 + Serv NodeId	0	80	Index_L	Index_H	Sub index	SDO abort code error

example ：DI:0x621 DLC 8 Standard frame Data frame DATA：2F 01 14 02 FD 00 00 00
write in ID by 0x21 Of 0x1401, Sub indicators 0x02, The data is 0xFD
success ：DI:0x5A1 DLC 8 Standard frame Data frame DATA：60 01 14 02 00 00 00 00
DI:0x621 DLC 8 Standard frame Data frame DATA：23 01 16 02 FD 65 43 21
write in ID by 0x21 Of 0x1601, Sub indicators 0x02, The data is 0x314365FD

SDO Read

SDO Read ( Host send )

ID	RTR	Function code	Index_L	Index_H	Sub index	data	data	data	data
600 + Serv NodeId	0	40	Index_L	Index_H	Sub index	00	00	00	00

SDO Read ( The host receives )

success ：

Number of bytes	ID	RTR	Function code	Index_L	Index_H	Sub index	data	data	data	data
A byte	580 + ServNodeId	0	4F	Index_L	Index_H	Sub index	D0	-	-	-
Two bytes	580 + ServNodeId	0	4B	Index_L	Index_H	Sub index	D0	D1	-	-
Three bytes	580 + ServNodeId	0	47	Index_L	Index_H	Sub index	D0	D1	D2	-
Four bytes	580 + ServNodeId	0	43	Index_L	Index_H	Sub index	D0	D1	D2	D3

Failure

ID	RTR	Function code	Index_L	Index_H	Sub index	data[0…3]
580+ Serv NodeId	0	8	Index_L	Index_H	Sub index	SDO abort code error

example ：DI:0x621 DLC 8 Standard frame Data frame DATA：40 01 14 02 00 00 00 00
Read ID by 0x21 Of 0x1401, Sub indicators 0x02
success ：DI:0x5A1 DLC 8 Standard frame Data frame DATA：60 01 14 02 FD 00 00 00
The value read is 0xFD

DI:0x621 DLC 8 Standard frame Data frame DATA：40 01 16 02 00 00 00 00
success ：DI:0x5A1 DLC 8 Standard frame Data frame DATA：60 01 14 02 FD 65 43 21
The data read is 0x214365FD

PDO Use and routines

PDO The default is 4 Four sending areas and four receiving areas , To configure PDO This is the configuration 4R4T Corresponding program variables , And this 4R4T Working mode of .

Configure the corresponding variable

The first method is to match... Directly in the object dictionary

Method 2: configure... In the program , Use SDO Change the way Mapping（0x1A00-0x1BFF and 0x1600-0x17FF） The value of the inside

example ：

605 2F 00 18 02 FF 00 00 00 　　-- catalog index Index 1800, Event transport
605 2F 00 18 05 CB 00 00 00　　-- catalog index Index 1800, The time interval 200ms
605 2F 00 1A 00 00 00 00 00　　-- Set sub index to disable
605 23 00 1A 01 10 00 30 40　　--0x40300010, Set mapping index 0x4030, Subindex 00, size 0x10（16 position ）
605 23 00 1A 02 20 00 10 20　　--0x20100020, Set mapping index 0x2010, Subindex 00, size 0x20（32 position ）
605 2F 00 1A 00 02 00 00 00　　-- Set the number of mappings , Set as many as you use , This is used here. 01–02
Be careful ： When defining a mapping , First set the sub index to disable ; Then set the corresponding mapping ; Then set the number of mappings

example ：
ID=0x700+ID,rtr=1( Remote frame ) Request node status
DI=0x00,rtr=0,DLC=2,Data[0]=0x01(Start),Data[1]= Specify the device address , All are 0. Set nodes start
DI=0x00,rtr=0,DLC=2,Data[0]=0x02(Stop),Data[1]= Specify the device address , All are 0. Set nodes Stop
DI=0x180+ID,RTR=0 PDOTX1 Remote control frame
DI=0x280+ID,RTR=0 PDOTX2 Remote control frame

data type

0x08	8 position
0x10	16 position
0x20	32 position

Configure working mode

Configuration 0x1400-0x19FF and 0x1800-0x19FF,0x1400-0x19FF Area management MCU receives , I don't see this effect at present . Use words similar to sending , May refer to 0x1800-0x19FF District .

The last chapter has already introduced 0x1800-0x19FF Parameters , The main configuration is 0x01,0x05.0x03 It's usually fixed .

example ：

605 2F 00 18 02 FF 00 00 00 　　-- catalog index Index 1800, Event transport
605 2F 00 18 05 CB 00 00 00　　-- catalog index Index 1800, The time interval 200ms
605 2F 00 1A 00 00 00 00 00　　-- Set sub index to disable
605 23 00 1A 01 10 00 30 40　　--0x40300010, Set mapping index 0x4030, Subindex 00, size 0x10（16 position ）
605 23 00 1A 02 20 00 10 20　　--0x20100020, Set mapping index 0x2010, Subindex 00, size 0x20（32 position ）
605 2F 00 1A 00 02 00 00 00　　-- Set the number of mappings , Set as many as you use , This is used here. 01–02

After the above configuration is completed, data can be sent directly
0x180+id data ( No function code , All valid ) 12 34 56 78 9A 00 be 0x4030=0x3412 0x2010=0x009A7856

Function callback

1、 Check "return visit" in the object dictionary
2、 Define callback function

typedef UNS32 (*ODCallback_t)(CO_Data* d, const indextable *, UNS8 bSubindex);
 example ：
/* index 0x2000 : Mapped variable value */
UNS32 index2000_callback(CO_Data* d, const indextable *table, UNS8 bSubindex)
{
    
	printf("value=%x\r\n",*(uint8_t*)table->pSubindex[bSubindex].pObject);
	return OD_SUCCESSFUL;
}

3、 Callback function access
The first is to assign values directly in the dictionary ：

/* index 0x2000 : Mapped variable value */
  subindex slave_objdict_Index2000[] = 
   {
    
     {
     RW, uint8, sizeof (UNS8), (void*)&value, index2000_callback }
   };

The second is to call UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback) This function ：

RegisterSetODentryCallBack(&slave_objdict_Data,0x2000, 0, index2000_callback);

Special callback function ： The master detects that the slave is lost

void _heartbeatError(CO_Data* d, UNS8 heartbeatID){
    heartbeat_error(d,heartbeatID);}
//d by CO_Data ,heartbeatID For slave ID value .
// function _heartbeatError be located lifegrd file , The original function is void _heartbeatError(CO_Data* d, UNS8 heartbeatID){(void)d;(void)heartbeatID;}
// Change it to void _heartbeatError(CO_Data* d, UNS8 heartbeatID){heartbeat_error(d,heartbeatID);}
// Talk about adding the header file where the function you wrote is located lifegrd, Introduction statement 
// Write the function body 
void heartbeat_error(CO_Data* d, UNS8 heartbeatID)
{
    
	printf("heartbeatID %d\r\n",heartbeatID);
}
// Statement 
void heartbeat_error(CO_Data* d, UNS8 heartbeatID);
// About index 0x1016
// front 16 Bit represents slave ID Number , after 16 Bit is the inspection time  20000+(0x02<<16) ID 0x02 Timeout time 20000ms=20s
// The start time is... Received ID 0x700+ID +data data=0x00, namely Boot up State start 

Address is function

Reference resources CANOpen-memento file

CAN frame ID 11 position
COB-ID Eleven
Node-ID： node , ID The last seven
ID The no. 10-7 Senior four , Hereinafter referred to as the function code ID The last seven digits of the number are 0, Only the top four

1、0x700+Node-ID NMT Error Control

It's feedback CANopen System status , That is, heartbeat frame
Function code =0x700,ID=0x700+Node-ID length DLC=1
Data : 00 Node online message （boot-up）
04 h It is in the stop state stop
05 h The operation status is operational
7F h It is in pre operation state pre-operational

2、0x80 Sync frame

ID Fixed for 0x80 DLC=0; Only on PDO It works

3、PDO Remote control frame

Remote frame ,DLC Constant is 0,ID Combined with the function code, it directly affects the slave , When slave PDO Map There are sending types >=FC Of , Will correspond to .
0x180+Node-ID PDO1 send out
0x200+Node-ID PDO1 receive
0x280+Node-ID PDO2 send out
0x300+Node-ID PDO2 receive
0x380+Node-ID PDO3 send out
0x400+Node-ID PDO3 receive
0x480+Node-ID PDO4 send out
0x500+Node-ID PDO4 receive

4、PDO

Address with PDO Remote control frame , The frame format shall be data frame , namely DLC and Data meaningful , This is being configured PDO map after , This frame format sent by the right MCU and the received frame format ,Data All valid data .
0x180+Node-ID PDO1 send out
0x200+Node-ID PDO1 receive
0x280+Node-ID PDO2 send out
0x300+Node-ID PDO2 receive
0x380+Node-ID PDO3 send out
0x400+Node-ID PDO3 receive
0x480+Node-ID PDO4 send out
0x500+Node-ID PDO4 receive

5、0x00 NMT Network management command

NMT Module Control

ID Constant 0x00
DLC=1 Time broadcast DLC=2 When broadcasting, you can specify
Data[0]:
0x01 operational Pattern Operation mode （ Normal operation mode ）
0x02 stop Pattern （ silent ）
0x80 pre-operational Pattern （ wait for ）
0x81 reset-application Pattern （ Reset ）
0x82 reset-communication Pattern （ Reset ）

Data[1]: Node-ID The status of other devices in the network changes to Data[0] Specified state

example ：DLC=2 Data: 0x02 0x55 node 0x55 Change to stop

6、SDO 0x600+Node-ID and 0x580+Node-ID

Whether sent by MCU or others to MCU , That is, whether the master or slave , Whether sending or reading .
Send send instruction or send read instruction ：ID=0x600+Node-ID
Send instruction return or read instruction return ：ID=0x580+Node-ID
Reference resources SDO Use and routines

CAN filter

1、 Configure the filter so that the filter group works in initialization mode , Enter normal mode after configuration

CAN1->FMR|=1<<0;		// Filter bank 0 Working in initialization mode 
//CAN1->FMR|=1<<n; // Filter bank n Working in initialization mode 
/*... To configure */
CAN1->FMR&=0<<0;		// Filter bank 0 Enter normal mode 
//CAN1->FMR&=0<<n; // Filter bank n Enter normal mode 

2、 When configuring a filter, it is also necessary to turn off the activation of the filter

CAN1->FA1R&=~(1<<0);	// filter 0 Do not activate 
//CAN1->FA1R&=~(1<<n); // filter n Do not activate 

CAN1->FA1R|=1<<0;		// Activate the filter 0
//CAN1->FA1R|=1<<n; // Activate the filter n

3、 Set the filter bit width , Yes 32 Bit and 16 Two modes , This affects the later filtering and shielding ID length

CAN1->FS1R|=1<<0; 		// filter 0 The seat width is 32 position 
CAN1->FS1R&=~(1<<0); 		// filter 0 The seat width is 16 position 
CAN1->FS1R|=1<<n; 		// filter n The seat width is 32 position 
CAN1->FS1R&=~(1<<n); 		// filter n The seat width is 16 position 

STID standard ID
EXID Expand ID
IDE
RTR

32 Bit mode

CAN_FxR1[31:21]	CAN_FxR1[20:3]	CAN_FxR1[2]	CAN_FxR1[1]	CAN_FxR1[0]
CAN_FxR2[31:21]	CAN_FxR2[20:3]	CAN_FxR2[2]	CAN_FxR2[1]	CAN_FxR2[0]
STID[10:0]	EXID[17:0]	IDE	RTR	0

16 Bit mode

CAN_FxR1[15:5]	CAN_FxR1[4]	CAN_FxR1[3]	CAN_FxR1[2:0]
CAN_FxR1[31:21]	CAN_FxR1[20]	CAN_FxR1[19]	CAN_FxR1[18:16]
CAN_FxR2[15:5]	CAN_FxR2[4]	CAN_FxR2[3]	CAN_FxR2[2:0]
CAN_FxR2[31:21]	CAN_FxR2[20]	CAN_FxR2[19]	CAN_FxR2[18:16]
STID[10:0]	IDE	RTR	EXID[17:15]

4、 Set the filter operating mode , Identifier mask bit mode and identifier list mode

CAN1->FM1R&=~(1<<0);		// filter 0 Working in identifier mask bit mode 
CAN1->FM1R|=1<<0;		// filter 0 Working in identifier list mode 
CAN1->FM1R&=~(1<<n);		// filter n Working in identifier mask bit mode 
CAN1->FM1R|=1<<n;		// filter n Working in identifier list mode 

5、 Filter associated to FIFOn n=0,1

CAN1->FFA1R&=~(1<<0);		// filter 0 Related to FIFO0CAN1->FFA1R|=1<<0; // filter 0 Related to FIFO1CAN1->FFA1R&=~(1<<n); // filter n Related to FIFO0CAN1->FFA1R|=1<<n; // filter n Related to FIFO1

6、 Set filtering rules

	CAN1->sFilterRegister[0].FR1=0x21<<21;//32 position ID CAN1->sFilterRegister[0].FR2=(0x7F<<21);//32 position MASK

Identifier pattern
Each of the registers corresponds to the level of the corresponding bit of the desired identifier .
0: It is expected that the corresponding bit is dominant ;
1: The corresponding bit is expected to be recessive .
Mask bit mode
Each bit of the register indicating whether the corresponding identifier register bit must be consistent with the corresponding bit of the desired identifier .
0: No concern , This bit is not used for comparison ;
1: Must match , The incoming identifier bit must be consistent with the identifier register bit corresponding to the filter

The identifier pattern is FR2 by 1 The bit of identifies the bit to be verified ,FR1 Explain what the identified bit must be , That is, a filter, a rule , The logic here is similar to & operation

	CAN1->sFilterRegister[0].FR1=0x21<<21;//32 position ID CAN1->sFilterRegister[0].FR2=(0x7F<<21);//32 position MASK// Means to check SDID Standard frame ID The lower seven of , The lower seven must be 0x21 To pass 

Mask bit mode Is to specify a specific one ID,ID All bits of must conform to the set value

CAN1->sFilterRegister[0].FR1=0x21<<21;//32 position IDCAN1->sFilterRegister[0].FR2=0xFF<<21)//32 position MASK// Only 0x00 and 0xFF It can be filtered 

Program routine

void CAN_Set_Filter(u8 Addr){
    	Addr=Addr&0x7F;	// Filter initialization  CAN1->FMR|=1<<0; // The filter group works in initialization mode /* Filtering rules 1 CAN ID The lower seven digits of must be the same as Addr Agreement , Others don't care  */ CAN1->FA1R&=~(1<<0); // filter 0 Do not activate  CAN1->FS1R|=1<<0; // The filter bit width is 32 position . CAN1->FM1R|=0<<0; // filter 0 Working in identifier mask bit mode  //CAN1->FM1R|=1<<0; // filter 0 Working in identifier list mode  CAN1->FFA1R|=0<<0; // filter 0 Related to FIFO0 CAN1->sFilterRegister[0].FR1=Addr<<21;//32 position ID CAN1->sFilterRegister[0].FR2=(0x7F<<21);//32 position MASK CAN1->FA1R|=1<<0; // Activate the filter 0/* Filtering rules 2 CAN ID Of the 7 Bit must be 1, That is, only 0x80 Can pass */ CAN1->FA1R&=~(1<<1); // filter 1 Do not activate  CAN1->FS1R|=1<<1; // filter 1 The seat width is 32 position . CAN1->FM1R|=0<<1; // filter 1 Working in identifier mask bit mode  //CAN1->FM1R|=1<<1; // filter 1 Working in identifier list mode  CAN1->FFA1R|=0<<1; // filter 1 Related to FIFO0 CAN1->sFilterRegister[1].FR1=0x80<<21;//32 position ID CAN1->sFilterRegister[1].FR2=(0x80<<21);//32 position MASK CAN1->FA1R|=1<<1; // Activate the filter 1/* Filtering rules 3 CAN ID The lower eight digits of must be 0x00*/ CAN1->FA1R&=~(1<<2); // filter 2 Do not activate  CAN1->FS1R|=1<<2; // filter 2 The seat width is 32 position . CAN1->FM1R|=0<<2; // filter 2 Working in identifier mask bit mode  //CAN1->FM1R|=1<<2; // filter 2 Working in identifier list mode  CAN1->FFA1R|=0<<2; // filter 2 Related to FIFO0 CAN1->sFilterRegister[2].FR1=0x00<<21;//32 position ID CAN1->sFilterRegister[2].FR2=(0xFF<<21);//32 position MASK CAN1->FA1R|=1<<2; // Activate the filter 2 CAN1->FMR&=0<<0; // The filter bank enters normal mode }