rtfCANopen: Implementación del Bus CAN Para Sistemas Empotrados

摘要

[EN] This paper describes the design and implementation (hardware and software) of rtfCANopen, which it is a communication system based on CAN bus and suitable for the requirements of embedded systems. Those requirements imposed by the development of real time distributed systems to the communication system are discussed. The obtained conclusions are applied in the design of rtfCANopen. Some features of rtfCANopen: it is based in a high level standard protocol (CANopen); it needs of few resources (in terms of memory) to work; the nodes can download the software, configure and start up automatically; the control engineer does not have to concern about network issues. Furthermore, rtfCANopen can be used by its own but it fits in a coherent development process model supported by RTF (Real Time Framework). RTF is a tool set that aids the engineer by performing globally and coherently some tasks like: worst case execution time computing, timing analysis, priority assignment to messages and mapping of signals to messages. As a case study, rtfCANopen is used to control a mobile robot with path tracking capabilities.