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jl1987 / freertos_canopen Goto Github PK

111.0 13.0 82.0 19.72 MB

FreeRTOS+CANOpen For STM32F407 & 103

C 95.30% Assembly 0.92% Shell 0.29% C++ 3.01% Objective-C 0.49%

freertos_canopen's Introduction

#RTOS Folder Introduction#

FreeRTOS-CANOpen-STM32F407 -- This is a demo program for 407 chips, take CHASSIS as example.

FreeRTOS-CANOpen-STM32F103 -- This is a demo program for 103 chips, no control program in it. Just CANOpen dispatch task and sensor task.

##Knowledge Base##

All program is designed with the open source lib canfesitval, and the object dictionary is the key to every program.

You should read the cia-301 document and the manual pdf file in canfestival carefully to understand the basic definition of CANOpen and canfestival.

The

How To Edit a New Object Dictionary?

Download Python2.7 from ANYWHERE you like!
Download wxPython2.8-win32-unicode-2.8.12.1-py27.exe from http://www.wxpython.org/download.php
Download Gnosis_Utils-1.2.0.win32-py24.exe from http://gnosis.cx/download/Gnosis_Utils.More/
Install Python
Install wxPython
Install Gnosis
Open objectedit.py from .\CanFestival3\objectgen
Enjoy!

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if I have PDO producer whose node is 1 and PDO comsumer whose node is 2.

TPDO of node 1:
Index 0x1800 ,subIndex 0x1, 0x181; subIndex 0x2, Transmission_type 1
1A00 mapped = 0x60410010;

RPDO of node2:
0x1400 ,subIndex 0x1, 0x202; subIndex 0x2, Transmission_type 1
0x1600 mapped 0x60410010;

Is it correct? Thanks.

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