米尔基于瑞萨RZ/G2L开发板基于SOEM的EtherCAT主站应用

swiftman

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 ‍[url]https://github.com/OpenEtherCATsociety/SOEM‍[/url]
PC端
编译
cd SOEM/
export CC=gcc
mkdir build_pc
cd build_pc/

cmake ..

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$

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make

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$

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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。

1. <font face="黑体">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$
     
134. 
     
135. 
     
136. <font style="font-size: 20px"><b>开发板端</b></font>
     
137. <b><font style="font-size: 18px"><b>编译</b></font></b><font style="font-size: 15px">cd SOEM/</font><font style="font-size: 15px">export CC=aarch64-linux-gnu-gcc</font><font style="font-size: 15px">mkdir build</font><font style="font-size: 15px"> </font><font style="font-size: 15px">cd build/</font><font style="font-size: 15px"> </font>
     
138. </font><div align="left"><font face="黑体">cmake ..</font></div><font face="黑体">lhj@lhj:~/SOEM/build$ cmake ..
     
139. -- The C compiler identification is GNU 9.4.0
     
140. -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc
     
141. -- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc -- works
     
142. -- Detecting C compiler ABI info
     
143. -- Detecting C compiler ABI info - done
     
144. -- Detecting C compile features
     
145. -- Detecting C compile features - done
     
146. -- OS is linux
     
147. -- LIB_DIR: lib
     
148. -- Configuring done
     
149. -- Generating done
     
150. -- Build files have been written to: /home/lhj/SOEM/build
     
151. lhj@lhj:~/SOEM/build$
     
152. </font>

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make

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$

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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

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

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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:~#

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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。