1. canfestivel-由对象编辑器生成的对象字典

最新推荐文章于 2024-07-24 21:27:54 发布

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最新推荐文章于 2024-07-24 21:27:54 发布

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分类专栏： CANopen从站在stm32上的实现文章标签： canfestival CANopen stm32

本文链接：https://blog.csdn.net/weixin_38330669/article/details/102630434

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做了一个IO设备，需要实现CANopen从站，移植的是canfestival。在移植的过程中，CANOpen系列教程对我帮助很大，感谢博主。基于参考以上博客移植好的代码，对源码部分做一些分析。

用对象编辑器生成的对象字典，是一对.c/.h的文件。里面把对象字典编辑器里选择的对象和设置的参数都生成好了。自己定义的一些对象，旁边都自动生成了注释，索引和子所引。如下代码所示：

UNS8 Write_Outputs_8_Bit[] =		/* Mapped at index 0x6200, subindex 0x01 - 0x01 */
  {
    0x0	/* 0 */
  };

对象RPDO1 parameter内容如下：

/* index 0x1400 :   Receive PDO 1 Parameter. */
                    UNS8 A46Slave_highestSubIndex_obj1400 = 6; /* number of subindex - 1*/
                    UNS32 A46Slave_obj1400_COB_ID_used_by_PDO = 0x200;	/* 512 */
                    UNS8 A46Slave_obj1400_Transmission_Type = 0xFF;	/* 255 */
                    UNS16 A46Slave_obj1400_Inhibit_Time = 0x0;	/* 0 */
                    UNS8 A46Slave_obj1400_Compatibility_Entry = 0x0;	/* 0 */
                    UNS16 A46Slave_obj1400_Event_Timer = 0x0;	/* 0 */
                    UNS8 A46Slave_obj1400_SYNC_start_value = 0x0;	/* 0 */
                    subindex A46Slave_Index1400[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&A46Slave_highestSubIndex_obj1400, NULL },
                       { RW, uint32, sizeof (UNS32), (void*)&A46Slave_obj1400_COB_ID_used_by_PDO, NULL },
                       { RW, uint8, sizeof (UNS8), (void*)&A46Slave_obj1400_Transmission_Type, NULL },
                       { RW, uint16, sizeof (UNS16), (void*)&A46Slave_obj1400_Inhibit_Time, NULL },
                       { RW, uint8, sizeof (UNS8), (void*)&A46Slave_obj1400_Compatibility_Entry, NULL },
                       { RW, uint16, sizeof (UNS16), (void*)&A46Slave_obj1400_Event_Timer, NULL },
                       { RW, uint8, sizeof (UNS8), (void*)&A46Slave_obj1400_SYNC_start_value, NULL }
                     };

RPDO1 mapping内容如下：

/* index 0x1600 :   Receive PDO 1 Mapping. */
                    UNS8 A46Slave_highestSubIndex_obj1600 = 1; /* number of subindex - 1*/
                    UNS32 A46Slave_obj1600[] = 
                    {
                      0x62000108	/* 1644167432 */
                    };
                    subindex A46Slave_Index1600[] = 
                     {
                       { RW, uint8, sizeof (UNS8), (void*)&A46Slave_highestSubIndex_obj1600, NULL },
                       { RW, uint32, sizeof (UNS32), (void*)&A46Slave_obj1600[0], NULL }
                     };

实际对象内容如下：

/* index 0x6200 :   Mapped variable Write Outputs 8 Bit */
                    UNS8 A46Slave_highestSubIndex_obj6200 = 1; /* number of subindex - 1*/
                    subindex A46Slave_Index6200[] = 
                     {
                       { RO, uint8, sizeof (UNS8), (void*)&A46Slave_highestSubIndex_obj6200, NULL },
                       { RW, uint8, sizeof (UNS8), (void*)&Write_Outputs_8_Bit[0], NULL }
                     };

以上三部分联系在一起的，通过RPDO1 parameter对象，找到RPDO1 mapping对象，再根据RPDO1 mapping对象的内容，找到实际的对象地址（真正的数据存放处，姑且这么叫）。那么，源码中是怎么一步一步来找的呢？

首先，有一个indextable类型的字典数组，里面列出了所有的对象。

/**************************************************************************/
/* Declaration of pointed variables                                       */
/**************************************************************************/

const indextable A46Slave_objdict[] = 
{
  { (subindex*)A46Slave_Index1000,sizeof(A46Slave_Index1000)/sizeof(A46Slave_Index1000[0]), 0x1000},
  { (subindex*)A46Slave_Index1001,sizeof(A46Slave_Index1001)/sizeof(A46Slave_Index1001[0]), 0x1001},
  { (subindex*)A46Slave_Index1002,sizeof(A46Slave_Index1002)/sizeof(A46Slave_Index1002[0]), 0x1002},
  { (subindex*)A46Slave_Index1003,sizeof(A46Slave_Index1003)/sizeof(A46Slave_Index1003[0]), 0x1003},
  { (subindex*)A46Slave_Index1005,sizeof(A46Slave_Index1005)/sizeof(A46Slave_Index1005[0]), 0x1005},
  { (subindex*)A46Slave_Index1006,sizeof(A46Slave_Index1006)/sizeof(A46Slave_Index1006[0]), 0x1006},
  { (subindex*)A46Slave_Index1007,sizeof(A46Slave_Index1007)/sizeof(A46Slave_Index1007[0]), 0x1007},
  { (subindex*)A46Slave_Index1008,sizeof(A46Slave_Index1008)/sizeof(A46Slave_Index1008[0]), 0x1008},
  { (subindex*)A46Slave_Index1009,sizeof(A46Slave_Index1009)/sizeof(A46Slave_Index1009[0]), 0x1009},
  { (subindex*)A46Slave_Index100A,sizeof(A46Slave_Index100A)/sizeof(A46Slave_Index100A[0]), 0x100A},
  { (subindex*)A46Slave_Index100C,sizeof(A46Slave_Index100C)/sizeof(A46Slave_Index100C[0]), 0x100C},
  { (subindex*)A46Slave_Index100D,sizeof(A46Slave_Index100D)/sizeof(A46Slave_Index100D[0]), 0x100D},
  { (subindex*)A46Slave_Index1014,sizeof(A46Slave_Index1014)/sizeof(A46Slave_Index1014[0]), 0x1014},
  { (subindex*)A46Slave_Index1017,sizeof(A46Slave_Index1017)/sizeof(A46Slave_Index1017[0]), 0x1017},
  { (subindex*)A46Slave_Index1018,sizeof(A46Slave_Index1018)/sizeof(A46Slave_Index1018[0]), 0x1018},
  { (subindex*)A46Slave_Index1200,sizeof(A46Slave_Index1200)/sizeof(A46Slave_Index1200[0]), 0x1200},
  { (subindex*)A46Slave_Index1400,sizeof(A46Slave_Index1400)/sizeof(A46Slave_Index1400[0]), 0x1400},
  { (subindex*)A46Slave_Index1401,sizeof(A46Slave_Index1401)/sizeof(A46Slave_Index1401[0]), 0x1401},
  { (subindex*)A46Slave_Index1402,sizeof(A46Slave_Index1402)/sizeof(A46Slave_Index1402[0]), 0x1402},
  { (subindex*)A46Slave_Index1403,sizeof(A46Slave_Index1403)/sizeof(A46Slave_Index1403[0]), 0x1403},
  { (subindex*)A46Slave_Index1404,sizeof(A46Slave_Index1404)/sizeof(A46Slave_Index1404[0]), 0x1404},
  { (subindex*)A46Slave_Index1405,sizeof(A46Slave_Index1405)/sizeof(A46Slave_Index1405[0]), 0x1405},
  { (subindex*)A46Slave_Index1406,sizeof(A46Slave_Index1406)/sizeof(A46Slave_Index1406[0]), 0x1406},
  { (subindex*)A46Slave_Index1407,sizeof(A46Slave_Index1407)/sizeof(A46Slave_Index1407[0]), 0x1407},
  { (subindex*)A46Slave_Index1408,sizeof(A46Slave_Index1408)/sizeof(A46Slave_Index1408[0]), 0x1408},
  { (subindex*)A46Slave_Index1409,sizeof(A46Slave_Index1409)/sizeof(A46Slave_Index1409[0]), 0x1409},
  { (subindex*)A46Slave_Index1600,sizeof(A46Slave_Index1600)/sizeof(A46Slave_Index1600[0]), 0x1600},
  { (subindex*)A46Slave_Index1601,sizeof(A46Slave_Index1601)/sizeof(A46Slave_Index1601[0]), 0x1601},
  { (subindex*)A46Slave_Index1602,sizeof(A46Slave_Index1602)/sizeof(A46Slave_Index1602[0]), 0x1602},
  { (subindex*)A46Slave_Index1603,sizeof(A46Slave_Index1603)/sizeof(A46Slave_Index1603[0]), 0x1603},
  { (subindex*)A46Slave_Index1604,sizeof(A46Slave_Index1604)/sizeof(A46Slave_Index1604[0]), 0x1604},
  { (subindex*)A46Slave_Index1605,sizeof(A46Slave_Index1605)/sizeof(A46Slave_Index1605[0]), 0x1605},
  { (subindex*)A46Slave_Index1606,sizeof(A46Slave_Index1606)/sizeof(A46Slave_Index1606[0]), 0x1606},
  { (subindex*)A46Slave_Index1607,sizeof(A46Slave_Index1607)/sizeof(A46Slave_Index1607[0]), 0x1607},
  { (subindex*)A46Slave_Index1608,sizeof(A46Slave_Index1608)/sizeof(A46Slave_Index1608[0]), 0x1608},
  { (subindex*)A46Slave_Index1609,sizeof(A46Slave_Index1609)/sizeof(A46Slave_Index1609[0]), 0x1609},
  { (subindex*)A46Slave_Index1800,sizeof(A46Slave_Index1800)/sizeof(A46Slave_Index1800[0]), 0x1800},
  { (subindex*)A46Slave_Index1801,sizeof(A46Slave_Index1801)/sizeof(A46Slave_Index1801[0]), 0x1801},
  { (subindex*)A46Slave_Index1802,sizeof(A46Slave_Index1802)/sizeof(A46Slave_Index1802[0]), 0x1802},
  { (subindex*)A46Slave_Index1803,sizeof(A46Slave_Index1803)/sizeof(A46Slave_Index1803[0]), 0x1803},
  { (subindex*)A46Slave_Index1804,sizeof(A46Slave_Index1804)/sizeof(A46Slave_Index1804[0]), 0x1804},
  { (subindex*)A46Slave_Index1805,sizeof(A46Slave_Index1805)/sizeof(A46Slave_Index1805[0]), 0x1805},
  { (subindex*)A46Slave_Index1A00,sizeof(A46Slave_Index1A00)/sizeof(A46Slave_Index1A00[0]), 0x1A00},
  { (subindex*)A46Slave_Index1A01,sizeof(A46Slave_Index1A01)/sizeof(A46Slave_Index1A01[0]), 0x1A01},
  { (subindex*)A46Slave_Index1A02,sizeof(A46Slave_Index1A02)/sizeof(A46Slave_Index1A02[0]), 0x1A02},
  { (subindex*)A46Slave_Index1A03,sizeof(A46Slave_Index1A03)/sizeof(A46Slave_Index1A03[0]), 0x1A03},
  { (subindex*)A46Slave_Index1A04,sizeof(A46Slave_Index1A04)/sizeof(A46Slave_Index1A04[0]), 0x1A04},
  { (subindex*)A46Slave_Index1A05,sizeof(A46Slave_Index1A05)/sizeof(A46Slave_Index1A05[0]), 0x1A05},
  { (subindex*)A46Slave_Index2000,sizeof(A46Slave_Index2000)/sizeof(A46Slave_Index2000[0]), 0x2000},
  { (subindex*)A46Slave_Index2001,sizeof(A46Slave_Index2001)/sizeof(A46Slave_Index2001[0]), 0x2001},
  { (subindex*)A46Slave_Index2002,sizeof(A46Slave_Index2002)/sizeof(A46Slave_Index2002[0]), 0x2002},
  { (subindex*)A46Slave_Index2003,sizeof(A46Slave_Index2003)/sizeof(A46Slave_Index2003[0]), 0x2003},
  { (subindex*)A46Slave_Index2004,sizeof(A46Slave_Index2004)/sizeof(A46Slave_Index2004[0]), 0x2004},
  { (subindex*)A46Slave_Index2005,sizeof(A46Slave_Index2005)/sizeof(A46Slave_Index2005[0]), 0x2005},
  { (subindex*)A46Slave_Index2006,sizeof(A46Slave_Index2006)/sizeof(A46Slave_Index2006[0]), 0x2006},
  { (subindex*)A46Slave_Index2401,sizeof(A46Slave_Index2401)/sizeof(A46Slave_Index2401[0]), 0x2401},
  { (subindex*)A46Slave_Index6000,sizeof(A46Slave_Index6000)/sizeof(A46Slave_Index6000[0]), 0x6000},
  { (subindex*)A46Slave_Index6005,sizeof(A46Slave_Index6005)/sizeof(A46Slave_Index6005[0]), 0x6005},
  { (subindex*)A46Slave_Index6006,sizeof(A46Slave_Index6006)/sizeof(A46Slave_Index6006[0]), 0x6006},
  { (subindex*)A46Slave_Index6007,sizeof(A46Slave_Index6007)/sizeof(A46Slave_Index6007[0]), 0x6007},
  { (subindex*)A46Slave_Index6008,sizeof(A46Slave_Index6008)/sizeof(A46Slave_Index6008[0]), 0x6008},
  { (subindex*)A46Slave_Index6200,sizeof(A46Slave_Index6200)/sizeof(A46Slave_Index6200[0]), 0x6200},
  { (subindex*)A46Slave_Index6401,sizeof(A46Slave_Index6401)/sizeof(A46Slave_Index6401[0]), 0x6401},
};

又定义了两个quick_index类型的索引

const quick_index A46Slave_firstIndex = {
  15, /* SDO_SVR */
  0, /* SDO_CLT */
  16, /* PDO_RCV */
  26, /* PDO_RCV_MAP */
  36, /* PDO_TRS */
  42 /* PDO_TRS_MAP */
};

const quick_index A46Slave_lastIndex = {
  15, /* SDO_SVR */
  0, /* SDO_CLT */
  25, /* PDO_RCV */
  35, /* PDO_RCV_MAP */
  41, /* PDO_TRS */
  47 /* PDO_TRS_MAP */
};

RPDO属于上面代码注释中/*PDO_RCV*/这一项，一个记录了RPDO在A46Slave_objdict[]中的开始位置，一个记录了RPDO在A46Slave_objdict[]中的结束位置。我们以RPDO1为例，RPDO1 parameter对象正好是A46Slave_objdict[]的第16项。然后是/*PDO_RCV_MAP*/就对应了mapping参数，RPDO1 mapping正好是A46Slave_objdict[]中第26项。通过这两个索引就可以把parameter对象和mapping对象关联起来。那么，要怎么找到实际的对象地址呢？

当设备收到ID在PDO的ID范围内，且是非远程帧（远程帧是TPDO）时，就遍历A46Slave_objdict[]中下标为16-25之间的元素，如果找到某一个元素的参数中的ID与收到的ID相同，那么就记住这个元素相对16的偏移量，有了这个偏移量，就可以从mapping对应的元素找到mapping对象。然后得到mapping对象中内容，比如RPDO1中的内容为0x62000108，然后会把这个参数分解为索引0x6200和子索引0x01。根据索引值，调用扫描索引函数A46Slave_scanIndexOD，就可以得到实际对象在A46Slave_objdict[]中的位置。得到了这个实际对象，就可以找到里面子索引为1变量地址，RPDO1找的是(void*)&Write_Outputs_8_Bit[0]，这是就找到了文章最开始的那个变量，就可以对它进行操作了。

const indextable * A46Slave_scanIndexOD (CO_Data *d, UNS16 wIndex, UNS32 * errorCode)
{
	(void)d;
	int i;
	switch(wIndex){
		case 0x1000: i = 0;break;
		case 0x1001: i = 1;break;
		case 0x1002: i = 2;break;
		case 0x1003: i = 3;break;
		case 0x1005: i = 4;break;
		case 0x1006: i = 5;break;
		case 0x1007: i = 6;break;
		case 0x1008: i = 7;break;
		case 0x1009: i = 8;break;
		case 0x100A: i = 9;break;
		case 0x100C: i = 10;break;
		case 0x100D: i = 11;break;
		case 0x1014: i = 12;break;
		case 0x1017: i = 13;break;
		case 0x1018: i = 14;break;
		case 0x1200: i = 15;break;
		case 0x1400: i = 16;break;
		case 0x1401: i = 17;break;
		case 0x1402: i = 18;break;
		case 0x1403: i = 19;break;
		case 0x1404: i = 20;break;
		case 0x1405: i = 21;break;
		case 0x1406: i = 22;break;
		case 0x1407: i = 23;break;
		case 0x1408: i = 24;break;
		case 0x1409: i = 25;break;
		case 0x1600: i = 26;break;
		case 0x1601: i = 27;break;
		case 0x1602: i = 28;break;
		case 0x1603: i = 29;break;
		case 0x1604: i = 30;break;
		case 0x1605: i = 31;break;
		case 0x1606: i = 32;break;
		case 0x1607: i = 33;break;
		case 0x1608: i = 34;break;
		case 0x1609: i = 35;break;
		case 0x1800: i = 36;break;
		case 0x1801: i = 37;break;
		case 0x1802: i = 38;break;
		case 0x1803: i = 39;break;
		case 0x1804: i = 40;break;
		case 0x1805: i = 41;break;
		case 0x1A00: i = 42;break;
		case 0x1A01: i = 43;break;
		case 0x1A02: i = 44;break;
		case 0x1A03: i = 45;break;
		case 0x1A04: i = 46;break;
		case 0x1A05: i = 47;break;
		case 0x2000: i = 48;break;
		case 0x2001: i = 49;break;
		case 0x2002: i = 50;break;
		case 0x2003: i = 51;break;
		case 0x2004: i = 52;break;
		case 0x2005: i = 53;break;
		case 0x2006: i = 54;break;
		case 0x2401: i = 55;break;
		case 0x6000: i = 56;break;
		case 0x6005: i = 57;break;
		case 0x6006: i = 58;break;
		case 0x6007: i = 59;break;
		case 0x6008: i = 60;break;
		case 0x6200: i = 61;break;
		case 0x6401: i = 62;break;
		default:
			*errorCode = OD_NO_SUCH_OBJECT;
			return NULL;
	}
	*errorCode = OD_SUCCESSFUL;
	return &A46Slave_objdict[i];
}

至此，根据收到的ID找到了MCU里的变量，整个过程如下，还以RPDO1的索引为例0x1400-->0x1600-->0x6200-->Write_Outputs_8_Bit。

以上过程其实是pdo.c里proceedPDO这个函数的逻辑，后续也会对这个函数进行分析。

这个由对象编辑器生成的字典生成以后我们就不要去改动它了。可以看到，这些对象里的回调函数都是空的，即便在对象编辑器里相应的对象的“有回访”打上勾，也不会自动生成回调函数。需要用到回调函数的地方，我们可以在其他的地方写好，然后注册到相应的对象就可以。

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1. canfestivel-由对象编辑器生成的对象字典

做了一个IO设备，需要实现CANopen从站，移植的是canfestival。在移植的过程中，CANOpen系列教程对我帮助很大，感谢博主。基于参考以上博客移植好的代码，对源码部分做一些分析。用对象编辑器生成的对象字典，是一对.c/.h的文件。里面把对象字典编辑器里选择的对象和设置的参数都生成好了。自己定义的一些对象，旁边都自动生成了注释，索引和子所引。如下代码所示：UNS8 Write...
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