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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

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myir米尔|  楼主 | 2023-8-24 18:43 | 只看该作者 回帖奖励 |倒序浏览 |阅读模式
瑞萨, EtherCAT, 嵌入式, 核心板, 开发板
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 clone ‍https://github.com/OpenEtherCATsociety/SOEM‍

PC端
编译
cd SOEM/
export CC=gcc
mkdir build_pc
cd build_pc/
cmake ..
复制
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
复制
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。
复制
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 ..
复制
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
复制
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
复制
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
复制
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。

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