Initialization Process

The CANopen Slave is initialised with CosMgrInit(). This routine will setup the CAN controller and initialise all necessary services. Afterwards the stack can be started by calling the CosMgrStart() function.

In summary three steps are necessary to run the CANopen Slave:

• Initialise CANopen Slave Protocol Stack: CosMgrInit()
• Start CANopen Slave Protocol Stack: CosMgrStart()
• Call the timer event function cyclically: CosTmrEvent()

The initialization functions of the CANopen Slave Protocol Stack have to be executed prior to any other API functions.

Starting in Classical CANopen mode

void MyCosInit(void)
{
   //----------------------------------------------------------------
   // Initialise the CANopen slave stack
   //
   CosMgrInit(eCP_CHANNEL_1, COS_CONF_SLAVE);
 
   //----------------------------------------------------------------
   // Start the CANopen Slave, node-ID = 1,
   // nominal bitrate = 500 kBit/s, 
   //
   CosMgrStart(1, eCP_BITRATE_500K , eCP_BITRATE_NONE);
   
   //----------------------------------------------------------------
   // now the CANopen Slave stack is initialized and
   // has to be triggered by calling CosTmrEvent() with
   // a cycle time of COS_TIMER_PERIOD
}

Starting in CANopen FD mode

void MyCosInit(void)
{
   //----------------------------------------------------------------
   // Initialise the CANopen slave stack
   //
   CosMgrInit(eCP_CHANNEL_1, COS_CONF_FD);
 
   //----------------------------------------------------------------
   // Start the CANopen FD Slave,  node-ID = 1,
   // nominal bitrate = 500 kBit/s, data bitrate = 2 MBit/s
   //
   CosMgrStart(1, eCP_BITRATE_500K , eCP_BITRATE_2M );
   
   //----------------------------------------------------------------
   // now the CANopen Slave stack is initialized and
   // has to be triggered by calling CosTmrEvent() with
   // a cycle time of COS_TIMER_PERIOD
}