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[嵌入式Linux] 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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 楼主| myir米尔 发表于 2023-8-24 18:43 | 显示全部楼层 |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
  1. lhj@lhj:~/SOEM/build_pc$ cmake ..
    

  2. -- The C compiler identification is GNU 9.4.0
    

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

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

  5. -- Detecting C compiler ABI info
    

  6. -- Detecting C compiler ABI info - done
    

  7. -- Detecting C compile features
    

  8. -- Detecting C compile features - done
    

  9. -- OS is linux
    

  10. -- LIB_DIR: lib
    

  11. -- Configuring done
    

  12. -- Generating done
    

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

  14. lhj@lhj:~/SOEM/build_pc$

make
复制
  1. lhj@lhj:~/SOEM/build_pc$ make
    

  2. Scanning dependencies of target soem
    

  3. [  4%] Building C object CMakeFiles/soem.dir/soem/ethercatbase.c.o
    

  4. [  9%] Building C object CMakeFiles/soem.dir/soem/ethercatcoe.c.o
    

  5. [ 14%] Building C object CMakeFiles/soem.dir/soem/ethercatconfig.c.o
    

  6. [ 19%] Building C object CMakeFiles/soem.dir/soem/ethercatdc.c.o
    

  7. [ 23%] Building C object CMakeFiles/soem.dir/soem/ethercateoe.c.o
    

  8. [ 28%] Building C object CMakeFiles/soem.dir/soem/ethercatfoe.c.o
    

  9. [ 33%] Building C object CMakeFiles/soem.dir/soem/ethercatmain.c.o
    

  10. [ 38%] Building C object CMakeFiles/soem.dir/soem/ethercatprint.c.o
    

  11. [ 42%] Building C object CMakeFiles/soem.dir/soem/ethercatsoe.c.o
    

  12. [ 47%] Building C object CMakeFiles/soem.dir/osal/linux/osal.c.o
    

  13. [ 52%] Building C object CMakeFiles/soem.dir/oshw/linux/nicdrv.c.o
    

  14. [ 57%] Building C object CMakeFiles/soem.dir/oshw/linux/oshw.c.o
    

  15. [ 61%] Linking C static library libsoem.a
    

  16. [ 61%] Built target soem
    

  17. Scanning dependencies of target simple_ng
    

  18. [ 66%] Building C object test/simple_ng/CMakeFiles/simple_ng.dir/simple_ng.c.o
    

  19. [ 71%] Linking C executable simple_ng
    

  20. [ 71%] Built target simple_ng
    

  21. Scanning dependencies of target slaveinfo
    

  22. [ 76%] Building C object test/linux/slaveinfo/CMakeFiles/slaveinfo.dir/slaveinfo.c.o
    

  23. [ 80%] Linking C executable slaveinfo
    

  24. [ 80%] Built target slaveinfo
    

  25. Scanning dependencies of target eepromtool
    

  26. [ 85%] Building C object test/linux/eepromtool/CMakeFiles/eepromtool.dir/eepromtool.c.o
    

  27. [ 90%] Linking C executable eepromtool
    

  28. [ 90%] Built target eepromtool
    

  29. Scanning dependencies of target simple_test
    

  30. [ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o
    

  31. [100%] Linking C executable simple_test
    

  32. [100%] Built target simple_test
    

  33. 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
  1. lhj@lhj:~/SOEM/build_pc$ tree .
    

  2. .
    

  3. |-- CMakeCache.txt
    

  4. |-- CMakeFiles
    

  5. |   |-- 3.16.3
    

  6. |   |   |-- CMakeCCompiler.cmake
    

  7. |   |   |-- CMakeDetermineCompilerABI_C.bin
    

  8. |   |   |-- CMakeSystem.cmake
    

  9. |   |   `-- CompilerIdC
    

  10. |   |       |-- CMakeCCompilerId.c
    

  11. |   |       |-- a.out
    

  12. |   |       `-- tmp
    

  13. |   |-- CMakeDirectoryInformation.cmake
    

  14. |   |-- CMakeOutput.log
    

  15. |   |-- CMakeTmp
    

  16. |   |-- Export
    

  17. |   |   `-- share
    

  18. |   |       `-- soem
    

  19. |   |           `-- cmake
    

  20. |   |               |-- soemConfig-noconfig.cmake
    

  21. |   |               `-- soemConfig.cmake
    

  22. |   |-- Makefile.cmake
    

  23. |   |-- Makefile2
    

  24. |   |-- TargetDirectories.txt
    

  25. |   |-- cmake.check_cache
    

  26. |   |-- progress.marks
    

  27. |   `-- soem.dir
    

  28. |       |-- C.includecache
    

  29. |       |-- DependInfo.cmake
    

  30. |       |-- build.make
    

  31. |       |-- cmake_clean.cmake
    

  32. |       |-- cmake_clean_target.cmake
    

  33. |       |-- depend.internal
    

  34. |       |-- depend.make
    

  35. |       |-- flags.make
    

  36. |       |-- link.txt
    

  37. |       |-- osal
    

  38. |       |   `-- linux
    

  39. |       |       `-- osal.c.o
    

  40. |       |-- oshw
    

  41. |       |   `-- linux
    

  42. |       |       |-- nicdrv.c.o
    

  43. |       |       `-- oshw.c.o
    

  44. |       |-- progress.make
    

  45. |       `-- soem
    

  46. |           |-- ethercatbase.c.o
    

  47. |           |-- ethercatcoe.c.o
    

  48. |           |-- ethercatconfig.c.o
    

  49. |           |-- ethercatdc.c.o
    

  50. |           |-- ethercateoe.c.o
    

  51. |           |-- ethercatfoe.c.o
    

  52. |           |-- ethercatmain.c.o
    

  53. |           |-- ethercatprint.c.o
    

  54. |           `-- ethercatsoe.c.o
    

  55. |-- Makefile
    

  56. |-- cmake_install.cmake
    

  57. |-- libsoem.a
    

  58. `-- test
    

  59.  |-- linux
    

  60.  |   |-- eepromtool
    

  61.  |   |   |-- CMakeFiles
    

  62.  |   |   |   |-- CMakeDirectoryInformation.cmake
    

  63.  |   |   |   |-- eepromtool.dir
    

  64.  |   |   |   |   |-- C.includecache
    

  65.  |   |   |   |   |-- DependInfo.cmake
    

  66.  |   |   |   |   |-- build.make
    

  67.  |   |   |   |   |-- cmake_clean.cmake
    

  68.  |   |   |   |   |-- depend.internal
    

  69.  |   |   |   |   |-- depend.make
    

  70.  |   |   |   |   |-- eepromtool.c.o
    

  71.  |   |   |   |   |-- flags.make
    

  72.  |   |   |   |   |-- link.txt
    

  73.  |   |   |   |   `-- progress.make
    

  74.  |   |   |   `-- progress.marks
    

  75.  |   |   |-- Makefile
    

  76.  |   |   |-- cmake_install.cmake
    

  77.  |   |   `-- eepromtool
    

  78.  |   |-- simple_test
    

  79.  |   |   |-- CMakeFiles
    

  80.  |   |   |   |-- CMakeDirectoryInformation.cmake
    

  81.  |   |   |   |-- progress.marks
    

  82.  |   |   |   `-- simple_test.dir
    

  83.  |   |   |       |-- C.includecache
    

  84.  |   |   |       |-- DependInfo.cmake
    

  85.  |   |   |       |-- build.make
    

  86.  |   |   |       |-- cmake_clean.cmake
    

  87.  |   |   |       |-- depend.internal
    

  88.  |   |   |       |-- depend.make
    

  89.  |   |   |       |-- flags.make
    

  90.  |   |   |       |-- link.txt
    

  91.  |   |   |       |-- progress.make
    

  92.  |   |   |       `-- simple_test.c.o
    

  93.  |   |   |-- Makefile
    

  94.  |   |   |-- cmake_install.cmake
    

  95.  |   |   `-- simple_test
    

  96.  |   `-- slaveinfo
    

  97.  |       |-- CMakeFiles
    

  98.  |       |   |-- CMakeDirectoryInformation.cmake
    

  99.  |       |   |-- progress.marks
    

  100.  |       |   `-- slaveinfo.dir
    

  101.  |       |       |-- C.includecache
    

  102.  |       |       |-- DependInfo.cmake
    

  103.  |       |       |-- build.make
    

  104.  |       |       |-- cmake_clean.cmake
    

  105.  |       |       |-- depend.internal
    

  106.  |       |       |-- depend.make
    

  107.  |       |       |-- flags.make
    

  108.  |       |       |-- link.txt
    

  109.  |       |       |-- progress.make
    

  110.  |       |       `-- slaveinfo.c.o
    

  111.  |       |-- Makefile
    

  112.  |       |-- cmake_install.cmake
    

  113.  |       `-- slaveinfo
    

  114.  `-- simple_ng
    

  115.  |-- CMakeFiles
    

  116.  |   |-- CMakeDirectoryInformation.cmake
    

  117.  |   |-- progress.marks
    

  118.  |   `-- simple_ng.dir
    

  119.  |       |-- C.includecache
    

  120.  |       |-- DependInfo.cmake
    

  121.  |       |-- build.make
    

  122.  |       |-- cmake_clean.cmake
    

  123.  |       |-- depend.internal
    

  124.  |       |-- depend.make
    

  125.  |       |-- flags.make
    

  126.  |       |-- link.txt
    

  127.  |       |-- progress.make
    

  128.  |       `-- simple_ng.c.o
    

  129.  |-- Makefile
    

  130.  |-- cmake_install.cmake
    

  131.  `-- simple_ng
    

  132. 29 directories, 100 files
    

  133. 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
  1. lhj@lhj:~/SOEM/build$ cmake ..
    

  2. -- The C compiler identification is GNU 9.4.0
    

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

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

  5. -- Detecting C compiler ABI info
    

  6. -- Detecting C compiler ABI info - done
    

  7. -- Detecting C compile features
    

  8. -- Detecting C compile features - done
    

  9. -- OS is linux
    

  10. -- LIB_DIR: lib
    

  11. -- Configuring done
    

  12. -- Generating done
    

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

  14. lhj@lhj:~/SOEM/build$


make
复制
  1. lhj@lhj:~/SOEM/build$ make
    

  2. Scanning dependencies of target soem
    

  3. [  4%] Building C object CMakeFiles/soem.dir/soem/ethercatbase.c.o
    

  4. [  9%] Building C object CMakeFiles/soem.dir/soem/ethercatcoe.c.o
    

  5. [ 14%] Building C object CMakeFiles/soem.dir/soem/ethercatconfig.c.o
    

  6. [ 19%] Building C object CMakeFiles/soem.dir/soem/ethercatdc.c.o
    

  7. [ 23%] Building C object CMakeFiles/soem.dir/soem/ethercateoe.c.o
    

  8. [ 28%] Building C object CMakeFiles/soem.dir/soem/ethercatfoe.c.o
    

  9. [ 33%] Building C object CMakeFiles/soem.dir/soem/ethercatmain.c.o
    

  10. [ 38%] Building C object CMakeFiles/soem.dir/soem/ethercatprint.c.o
    

  11. [ 42%] Building C object CMakeFiles/soem.dir/soem/ethercatsoe.c.o
    

  12. [ 47%] Building C object CMakeFiles/soem.dir/osal/linux/osal.c.o
    

  13. [ 52%] Building C object CMakeFiles/soem.dir/oshw/linux/nicdrv.c.o
    

  14. [ 57%] Building C object CMakeFiles/soem.dir/oshw/linux/oshw.c.o
    

  15. [ 61%] Linking C static library libsoem.a
    

  16. [ 61%] Built target soem
    

  17. Scanning dependencies of target simple_ng
    

  18. [ 66%] Building C object test/simple_ng/CMakeFiles/simple_ng.dir/simple_ng.c.o
    

  19. [ 71%] Linking C executable simple_ng
    

  20. [ 71%] Built target simple_ng
    

  21. Scanning dependencies of target slaveinfo
    

  22. [ 76%] Building C object test/linux/slaveinfo/CMakeFiles/slaveinfo.dir/slaveinfo.c.o
    

  23. [ 80%] Linking C executable slaveinfo
    

  24. [ 80%] Built target slaveinfo
    

  25. Scanning dependencies of target eepromtool
    

  26. [ 85%] Building C object test/linux/eepromtool/CMakeFiles/eepromtool.dir/eepromtool.c.o
    

  27. [ 90%] Linking C executable eepromtool
    

  28. [ 90%] Built target eepromtool
    

  29. Scanning dependencies of target simple_test
    

  30. [ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o
    

  31. [100%] Linking C executable simple_test
    

  32. [100%] Built target simple_test
    

  33. 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
  1. root@myir-yg2lx:~# ./slaveinfo eth0
    

  2. SOEM (Simple Open EtherCAT Master)
    

  3. Slaveinfo
    

  4. Starting slaveinfo
    

  5. ec_init on eth0 succeeded.
    

  6. No slaves found!
    

  7. End slaveinfo, close socket
    

  8. End program
复制
  1. root@myir-yg2lx:~# ./simple_test eth0
    

  2. SOEM (Simple Open EtherCAT Master)
    

  3. Simple test
    

  4. Starting simple test
    

  5. ec_init on eth0 succeeded.
    

  6. No slaves found!
    

  7. End simple test, close socket
    

  8. End program
    

  9. 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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