米尔基于瑞萨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。

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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 clone

‍https://github.com/OpenEtherCATsociety/SOEM‍

PC端

编译

cd SOEM/

export CC=gcc

mkdir build_pc

cd 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_pc
lhj@lhj:~/SOEM/build_pc$

make

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
[100%] Linking C executable simple_test
[100%] Built target simple_test
lhj@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_ng
29 directories, 100 files
lhj@lhj:~/SOEM/build_pc$

开发板端

编译

cd SOEM/

export CC=aarch64-linux-gnu-gcc

mkdir 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/build
lhj@lhj:~/SOEM/build$

make

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
[100%] Linking C executable simple_test
[100%] Built target simple_test
lhj@lhj:~/SOEM/build$

部署

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

运行

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

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:~#

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。