【米尔MYD-YG2LX开发板】在工控领域的应用-基于SOEM的EtherCAT主站

qinyunti 发表于 2023-6-10 23:36

<div class='showpostmsg'><h1>前言</h1>

本文介绍【米尔MYD-YG2LX开发板】在工控领域的应用

，实现基于SOEM的EtherCAT主站。开发环境基于WSL2.

<h1 >下载代码</h1>

git clone <a href="https://github.com/OpenEtherCATsociety/SOEM">https://github.com/OpenEtherCATsociety/SOEM</a>

<h1 >PC端</h1>

<h2 >编译</h2>

cd SOEM/

export CC=gcc

mkdir build_pc

cd build_pc/

 

cmake ..

<div class="parsedown-markdown">
lhj@lhj:~/SOEM/build_pc$ cmake ..

-- The C compiler identification is GNU 9.4.0

-- Check for working C compiler: /usr/bin/gcc

-- Check for working C compiler: /usr/bin/gcc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- OS is linux

-- LIB_DIR: lib

-- Configuring done

-- Generating done

-- Build files have been written to: /home/lhj/SOEM/build_pc

lhj@lhj:~/SOEM/build_pc$
</div>

 

make

<div class="parsedown-markdown">
lhj@lhj:~/SOEM/build_pc$ make

Scanning dependencies of target soem

[  4%] Building C object CMakeFiles/soem.dir/soem/ethercatbase.c.o

[  9%] Building C object CMakeFiles/soem.dir/soem/ethercatcoe.c.o

[ 14%] Building C object CMakeFiles/soem.dir/soem/ethercatconfig.c.o

[ 19%] Building C object CMakeFiles/soem.dir/soem/ethercatdc.c.o

[ 23%] Building C object CMakeFiles/soem.dir/soem/ethercateoe.c.o

[ 28%] Building C object CMakeFiles/soem.dir/soem/ethercatfoe.c.o

[ 33%] Building C object CMakeFiles/soem.dir/soem/ethercatmain.c.o

[ 38%] Building C object CMakeFiles/soem.dir/soem/ethercatprint.c.o

[ 42%] Building C object CMakeFiles/soem.dir/soem/ethercatsoe.c.o

[ 47%] Building C object CMakeFiles/soem.dir/osal/linux/osal.c.o

[ 52%] Building C object CMakeFiles/soem.dir/oshw/linux/nicdrv.c.o

[ 57%] Building C object CMakeFiles/soem.dir/oshw/linux/oshw.c.o

[ 61%] Linking C static library libsoem.a

[ 61%] Built target soem

Scanning dependencies of target simple_ng

[ 66%] Building C object test/simple_ng/CMakeFiles/simple_ng.dir/simple_ng.c.o

[ 71%] Linking C executable simple_ng

[ 71%] Built target simple_ng

Scanning dependencies of target slaveinfo

[ 76%] Building C object test/linux/slaveinfo/CMakeFiles/slaveinfo.dir/slaveinfo.c.o

[ 80%] Linking C executable slaveinfo

[ 80%] Built target slaveinfo

Scanning dependencies of target eepromtool

[ 85%] Building C object test/linux/eepromtool/CMakeFiles/eepromtool.dir/eepromtool.c.o

[ 90%] Linking C executable eepromtool

[ 90%] Built target eepromtool

Scanning dependencies of target simple_test

[ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o

 Linking C executable simple_test

 Built target simple_test

lhj@lhj:~/SOEM/build_pc$
</div>

 

<h2 >部署</h2>

生成的文件如下

其中libsoem.a为库文件

test/linux/下的

simple_test，slaveinfo，eepromtool为测试Demo。

<div class="parsedown-markdown">
lhj@lhj:~/SOEM/build_pc$ tree . 
. 
|-- CMakeCache.txt 
|-- CMakeFiles 
|   |-- 3.16.3 
|   |   |-- CMakeCCompiler.cmake 
|   |   |-- CMakeDetermineCompilerABI_C.bin 
|   |   |-- CMakeSystem.cmake 
|   |   `-- CompilerIdC 
|   |       |-- CMakeCCompilerId.c 
|   |       |-- a.out 
|   |       `-- tmp 
|   |-- CMakeDirectoryInformation.cmake 
|   |-- CMakeOutput.log 
|   |-- CMakeTmp 
|   |-- Export 
|   |   `-- share 
|   |       `-- soem 
|   |           `-- cmake 
|   |               |-- soemConfig-noconfig.cmake 
|   |               `-- soemConfig.cmake 
|   |-- Makefile.cmake 
|   |-- Makefile2 
|   |-- TargetDirectories.txt 
|   |-- cmake.check_cache 
|   |-- progress.marks 
|   `-- soem.dir 
|       |-- C.includecache 
|       |-- DependInfo.cmake 
|       |-- build.make 
|       |-- cmake_clean.cmake 
|       |-- cmake_clean_target.cmake 
|       |-- depend.internal 
|       |-- depend.make 
|       |-- flags.make 
|       |-- link.txt 
|       |-- osal 
|       |   `-- linux 
|       |       `-- osal.c.o 
|       |-- oshw 
|       |   `-- linux 
|       |       |-- nicdrv.c.o 
|       |       `-- oshw.c.o 
|       |-- progress.make 
|       `-- soem 
|           |-- ethercatbase.c.o 
|           |-- ethercatcoe.c.o 
|           |-- ethercatconfig.c.o 
|           |-- ethercatdc.c.o 
|           |-- ethercateoe.c.o 
|           |-- ethercatfoe.c.o 
|           |-- ethercatmain.c.o 
|           |-- ethercatprint.c.o 
|           `-- ethercatsoe.c.o 
|-- Makefile 
|-- cmake_install.cmake 
|-- libsoem.a 
`-- test 
    |-- linux 
    |   |-- eepromtool 
    |   |   |-- CMakeFiles 
    |   |   |   |-- CMakeDirectoryInformation.cmake 
    |   |   |   |-- eepromtool.dir 
    |   |   |   |   |-- C.includecache 
    |   |   |   |   |-- DependInfo.cmake 
    |   |   |   |   |-- build.make 
    |   |   |   |   |-- cmake_clean.cmake 
    |   |   |   |   |-- depend.internal 
    |   |   |   |   |-- depend.make 
    |   |   |   |   |-- eepromtool.c.o 
    |   |   |   |   |-- flags.make 
    |   |   |   |   |-- link.txt 
    |   |   |   |   `-- progress.make 
    |   |   |   `-- progress.marks 
    |   |   |-- Makefile 
    |   |   |-- cmake_install.cmake 
    |   |   `-- eepromtool 
    |   |-- simple_test 
    |   |   |-- CMakeFiles 
    |   |   |   |-- CMakeDirectoryInformation.cmake 
    |   |   |   |-- progress.marks 
    |   |   |   `-- simple_test.dir 
    |   |   |       |-- C.includecache 
    |   |   |       |-- DependInfo.cmake 
    |   |   |       |-- build.make 
    |   |   |       |-- cmake_clean.cmake 
    |   |   |       |-- depend.internal 
    |   |   |       |-- depend.make 
    |   |   |       |-- flags.make 
    |   |   |       |-- link.txt 
    |   |   |       |-- progress.make 
    |   |   |       `-- simple_test.c.o 
    |   |   |-- Makefile 
    |   |   |-- cmake_install.cmake 
    |   |   `-- simple_test 
    |   `-- slaveinfo 
    |       |-- CMakeFiles 
    |       |   |-- CMakeDirectoryInformation.cmake 
    |       |   |-- progress.marks 
    |       |   `-- slaveinfo.dir 
    |       |       |-- C.includecache 
    |       |       |-- DependInfo.cmake 
    |       |       |-- build.make 
    |       |       |-- cmake_clean.cmake 
    |       |       |-- depend.internal 
    |       |       |-- depend.make 
    |       |       |-- flags.make 
    |       |       |-- link.txt 
    |       |       |-- progress.make 
    |       |       `-- slaveinfo.c.o 
    |       |-- Makefile 
    |       |-- cmake_install.cmake 
    |       `-- slaveinfo 
    `-- simple_ng 
        |-- CMakeFiles 
        |   |-- CMakeDirectoryInformation.cmake 
        |   |-- progress.marks 
        |   `-- simple_ng.dir 
        |       |-- C.includecache 
        |       |-- DependInfo.cmake 
        |       |-- build.make 
        |       |-- cmake_clean.cmake 
        |       |-- depend.internal 
        |       |-- depend.make 
        |       |-- flags.make 
        |       |-- link.txt 
        |       |-- progress.make 
        |       `-- simple_ng.c.o 
        |-- Makefile 
        |-- cmake_install.cmake 
        `-- simple_ng

29 directories, 100 files 
lhj@lhj:~/SOEM/build_pc$
</div>

 

<h1 >开发板端</h1>

<h2 >编译</h2>

cd SOEM/

export CC=aarch64-linux-gnu-gcc

mkdir build

 

cd build/

 

cmake ..

<div class="parsedown-markdown">
lhj@lhj:~/SOEM/build$ cmake ..

-- The C compiler identification is GNU 9.4.0

-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc

-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- OS is linux

-- LIB_DIR: lib

-- Configuring done

-- Generating done

-- Build files have been written to: /home/lhj/SOEM/build

lhj@lhj:~/SOEM/build$
</div>

 

 

make

<div class="parsedown-markdown">
lhj@lhj:~/SOEM/build$ make

Scanning dependencies of target soem

[  4%] Building C object CMakeFiles/soem.dir/soem/ethercatbase.c.o

[  9%] Building C object CMakeFiles/soem.dir/soem/ethercatcoe.c.o

[ 14%] Building C object CMakeFiles/soem.dir/soem/ethercatconfig.c.o

[ 19%] Building C object CMakeFiles/soem.dir/soem/ethercatdc.c.o

[ 23%] Building C object CMakeFiles/soem.dir/soem/ethercateoe.c.o

[ 28%] Building C object CMakeFiles/soem.dir/soem/ethercatfoe.c.o

[ 33%] Building C object CMakeFiles/soem.dir/soem/ethercatmain.c.o

[ 38%] Building C object CMakeFiles/soem.dir/soem/ethercatprint.c.o

[ 42%] Building C object CMakeFiles/soem.dir/soem/ethercatsoe.c.o

[ 47%] Building C object CMakeFiles/soem.dir/osal/linux/osal.c.o

[ 52%] Building C object CMakeFiles/soem.dir/oshw/linux/nicdrv.c.o

[ 57%] Building C object CMakeFiles/soem.dir/oshw/linux/oshw.c.o

[ 61%] Linking C static library libsoem.a

[ 61%] Built target soem

Scanning dependencies of target simple_ng

[ 66%] Building C object test/simple_ng/CMakeFiles/simple_ng.dir/simple_ng.c.o

[ 71%] Linking C executable simple_ng

[ 71%] Built target simple_ng

Scanning dependencies of target slaveinfo

[ 76%] Building C object test/linux/slaveinfo/CMakeFiles/slaveinfo.dir/slaveinfo.c.o

[ 80%] Linking C executable slaveinfo

[ 80%] Built target slaveinfo

Scanning dependencies of target eepromtool

[ 85%] Building C object test/linux/eepromtool/CMakeFiles/eepromtool.dir/eepromtool.c.o

[ 90%] Linking C executable eepromtool

[ 90%] Built target eepromtool

Scanning dependencies of target simple_test

[ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o

 Linking C executable simple_test

 Built target simple_test

lhj@lhj:~/SOEM/build$
</div>

 

<h2 >部署</h2>

cp libsoem.a /mnt/d

cp test/linux/simple_test/simple_test /mnt/d

cp test/linux/slaveinfo/slaveinfo  /mnt/d

将上述文件rz导入开发板

chmod +x simple_test slaveinfo

<h2 >运行</h2>

<div class="parsedown-markdown">
root@myir-yg2lx:~# ./slaveinfo eth0

SOEM (Simple Open EtherCAT Master)

Slaveinfo

Starting slaveinfo

ec_init on eth0 succeeded.

No slaves found!

End slaveinfo, close socket

End program
</div>

 

<div class="parsedown-markdown">
root@myir-yg2lx:~# ./simple_test eth0

SOEM (Simple Open EtherCAT Master)

Simple test

Starting simple test

ec_init on eth0 succeeded.

No slaves found!

End simple test, close socket

End program

root@myir-yg2lx:~#
</div>

 

<h1 >总结</h1>

本开发板接口资源丰富，性能强，特别适合工控领域的应用，比如作为EtherCAT主站。由于没有从站，所以暂时未能演示和从站通讯的功能。

 
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【米尔MYD-YG2LX开发板】在工控领域的应用-基于SOEM的EtherCAT主站