基于CANopen协议的机器人数据采集模块设计

CANopen是一种基于CAN总线的应用层协议,采用了面向对象的设计思想,具有很好的模块化特性和很高的适应性.本文为了在原有的移动机器人基础上扩展嗅觉导航功能,设计了一种基于CANopen协议的传感器数据采集模块,该模块可以作为CANopen从站与机器人主站通信,满足机器人控制系统扩展的可靠性与灵活性.本设计采用飞思卡尔单片机MC9S12XS128作为主控芯片,通过AD口采集气体传感器数据,在单片机上移植CANopen开源协议栈,给出了CanFestival在单片机上的实现.经过测试,模块能够与机器人通过CAN总线正确通信,完成数据采集功能.

Design of Data Acquisition Module for Robot Based on CANopen Protocol

As an application layer Protocol of CAN-bus, CANopon using object-oriented design ideas, has good modularity and high adaptability. In this paper, in order to extend the features of olfactory navigation on the mobile robot, we designed a data acquisition module based on CANopen protocol.This module can be used as an CANopen slave node to communicate with the master node of robot, fulfilling the reliability and reusing requirement of the expansion of robot control system. In this design, the Freescale MCU MC9S 12XS 128 is used as the microcontroller, and the sensor data is converted by AD module of the MCU. We transplant the CANopen protocol stack--CanFestival on the MCU. After testing, the module can communicate correctly with the robot through the CAN-bus.