Overview
========
The mco_manager/mcofd_manager example implements a minimal CANopen Manager.
It produces a cyclic heartbeat message (701h) and waits for
CANopen Slave devices with a node ID in the range of 2 to 10.
Once a CiA 401 compatible generic I/O device is found,
the manager echos data received by the 401 device.
NOTE: For more details, please see the User's Manual for the
EmSA CANopen (FD) Libraries for NXP SDKs.
Implementation Description
Node-ID: 0x01, Baudrate: 500kbps
Messages produced (by CAN ID):
0x000 - NMT Master command message
0x602-0x60A - SDO requests to nodes 2 to 10
0x701 - Heartbeat (default 333ms)
Once a CiA 401 device is found with node ID nid:
0x200+nid - RPDO1 of nid - Total of 4 input Bytes
[6000h,1] Digital in byte 1: 0
[6000h,2] Digital in byte 2: 0
[6000h,3] Digital in byte 3: copy/echo of [6200h,1] Digital out byte 1
[6000h,4] Digital in byte 4: copy/echo of [6200h,2] Digital out byte 2
0x300+nid - RPDO2 of nid - Two 16-bit analog inputs
[6401h,1] Analog out word16 1: timer with hi byte seconds and lo byte quarter seconds
[6401h,2] Analog out word16 2: copy/echo of [6411h,2] Analog out word16 1
Messages consumed (by CAN ID):
0x082-0x0AA - Emergencies of nodes 2 to 10
0x582-0x58A - SDO responses to nodes 2 to 10
0x702-0x70A - Bootup and heartbeats of nodes 2 to 10
Once a CiA 401 device is found with node ID nid:
0x180+nid - TPDO1 of nid - Four bytes of digital outputs.
0x280+nid - TPDO2 of nid - Two 16-bit analog outputs.
User can use a CAN monitor (USB CAN analysis) to probe the CAN frame transfered.
- CANL in CAN USB analysis connected with CANL in two board by shunt-wound method.
- CANH in CAN USB analysis connected with CANH in two board by shunt-wound method.
- (optinal) GND in CAN USB analysis connected with GND in two board by shunt-wound method.
Toolchain supported
===================
- IAR embedded Workbench 9.30.1
- Keil MDK 5.37
- GCC ARM Embedded 10.3.1
- MCUXpresso 11.6.0
Hardware requirements
=====================
- Two mini/micro USB cables
- Two EVKB-IMXRT1020 boards with J10 pin header connector populated
- CAN cabling with pin header female connectors
- Personal Computer
Board settings
==============
The example requires 2 sets of boards, each of them with the J10 header pin connector populated.
Using dupont wires, connect all 3 pins of both boards with each other.
Pin 1 to pin 1 (CAN_Hi), pin 2 to pin 2 (GND) and pin 3 to pin 3 (CAN_Lo).
Prepare the Demo
================
1. Connect a USB cable between the PC host and the OpenSDA USB on the board.
2. Open a serial terminal on PC for OpenSDA serial device with these settings:
- 115200 baud rate
- 8 data bits
- No parity
- One stop bit
- No flow control
3. Download the mco_slave program to one target board.
4. Download the mco_manager program to the other target board.
Running the demo
================
1. First press the reset button on the board with the mco_slave example
2. Second press the reset button on the board with the mco_manager example
~~~~~~~~~~~~~~~~~~~~~
The terminal connected to the mco_manager example displays similar like that:
Starting CANopen Library manager example
Provided by EmSA - www.em-sa.com/nxp
CANopen Library Event - Reset Communication, bitrate 500kbps, node id 1
CANopen Library Event - NMT Change: 0x 0 boot
CANopen Library Event - NMT Change: 0x 5 operational
CANopen Manager Event - Node Status Change: 3, 0x 0 booted
CANopen Manager Event - Node Status Change: 3, 0x81 emergency over / reset
CANopen Manager Event - Node Status Change: 3, 0xA0 scan complete
[1000,00]: 191 [1018,01]:AF0002DC [1018,02]:C0DE0010
CANopen Manager Event - Node Status Change: 3, 0x 5 operational
CANopen Manager Event - Node Status Change: 3, 0x90 heartbeat monitoring active
CANopen Manager Client SDO Complete: node 3
[1008,00]:CANopenLibNXPSDK CiA401 Example
The terminal connected to the mco_slave example displays similar like that:
Starting CANopen Library slave example
Provided by EmSA - www.em-sa.com/nxp
CANopen Library Event - Reset Communication, bitrate 500kbps, node id 3
CANopen Library Event - NMT Change: 0x 0 boot
CANopen Library Event - NMT Change: 0x7F pre-operational
CANopen Library Event - NMT Change: 0x7F pre-operational
CANopen Library Event - NMT Change: 0x 5 operational
~~~~~~~~~~~~~~~~~~~~~
