瑞萨RZ/G2L开发板在工控领域的应用-基于SOEM的EtherCAT主站

本篇测评由优秀测评者“qinyunti”提供。

前言

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。

下载代码

git clone‍https://github.com/OpenEtherCATsociety/SOEM‍

PC端

编译

cd SOEM/export CC=gccmkdir build_pccd build_pc/ cmake ..

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_pclhj@lhj:~/SOEM/build_pc$

make

lhj@lhj:~/SOEM/build_pc$ makeScanning 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 soemScanning 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_ngScanning 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 slaveinfoScanning 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 eepromtoolScanning dependencies of target simple_test[ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o[100%] Linking C executable simple_test[100%] Built target simple_testlhj@lhj:~/SOEM/build_pc$

部署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。

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_ng29 directories, 100 fileslhj@lhj:~/SOEM/build_pc$

开发板端

编译

cd SOEM/export CC=aarch64-linux-gnu-gccmkdir build cd build/ cmake ..

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/buildlhj@lhj:~/SOEM/build$

make

lhj@lhj:~/SOEM/build$ makeScanning 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 soemScanning 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_ngScanning 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 slaveinfoScanning 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 eepromtoolScanning dependencies of target simple_test[ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o[100%] Linking C executable simple_test[100%] Built target simple_testlhj@lhj:~/SOEM/build$

部署cp libsoem.a /mnt/dcp test/linux/simple_test/simple_test /mnt/dcp test/linux/slaveinfo/slaveinfo /mnt/d将上述文件rz导入开发板chmod +x simple_test slaveinfo
运行

root@myir-yg2lx:~# ./slaveinfo eth0SOEM (Simple Open EtherCAT Master)SlaveinfoStarting slaveinfoec_init on eth0 succeeded.No slaves found!End slaveinfo, close socketEnd program

root@myir-yg2lx:~# ./simple_test eth0SOEM (Simple Open EtherCAT Master)Simple testStarting simple testec_init on eth0 succeeded.No slaves found!End simple test, close socketEnd programroot@myir-yg2lx:~#

总结

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。