Transplantable CANopen Master Based on Non-preemptive Task Scheduler

Since CANopen master is required to run real- timely, concurrently and dynamically, multi-task solution is a feasible choice. An ANSI C non-preemptive task scheduler is proposed, and then a transplantable and standard compatible CANopen master is implemented. Experimental results show that CANopen master based on non-preemptive scheduler meets timing constraints of internal control system of hybrid electric vehicles.