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標題: STM32實現 Ethercat 從站源碼 [打印本頁]

作者: luipingwei 時間: 2022-3-29 18:37
標題: STM32實現 Ethercat 從站源碼
該源碼是當前流行的機器人控制系統倍福所采用的構架Ethercat  總線
xml文件是設備描述文件,燒寫在了EEPROM 里面  從站站 (ET11000)上電后會從 eeprom 加載配置參數
完成初始化過程

文件中有對應IO 及AD 全局變量的定義
extern    uint16_t uhADCxConvertedValue;
#define SWITCH_1       PCin(7)// PCin(8)             // PORTDbits.RD7 /**< \brief Access to switch 1 input*/
#define SWITCH_2       PCin(8)// PCin(9)             // PORTDbits.RD6 /**< \brief Access to switch 2 input*/
#define SWITCH_3       PCin(9)// PAin(11)             // PORTDbits.RD5 /**< \brief Access to switch 3 input*/
#define SWITCH_4       PGin(11)// PAin(12)             // PORTDbits.RD4 /**< \brief Access to switch 4 input*/
#define SWITCH_5       PGin(12)// PAin(13)             // PORTDbits.RD3 /**< \brief Access to switch 5 input*/
#define SWITCH_6       PGin(13)// PAin(14)             // PORTDbits.RD2 /**< \brief Access to switch 6 input*/
#define SWITCH_7       PGin(14)//  PAin(15)             // PORTDbits.RD1 /**< \brief Access to switch 7 input*/
#define SWITCH_8       PGin(15)// PCin(12)             // PORTDbits.RD0 /**< \brief Access to switch 8 input*/

#define LED_1          PCout(6) //    PCout(7)             // LATBbits.LATB8 /**< \brief Access to led 1 output*/
#define LED_2          PGout(8) //    PCout(6)          //3////LATBbits.LATB9 /**< \brief Access to led 2 output*/
#define LED_3          PGout(7)//    PGout(8)             // LATBbits.LATB10 /**< \brief Access to led 3 output*/
#define LED_4          PGout(6)//    PGout(7)             //LATBbits.LATB11 /**< \brief Access to led 4 output*/
#define LED_5          PGout(5)//    PGout(6)             // LATBbits.LATB12 /**< \brief Access to led 5 output*/
#define LED_6          PGout(4)//    PGout(5)             // LATBbits.LATB13 /**< \brief Access to led 6 output*/
#define LED_7          PGout(3)//    PGout(4)             //LATBbits.LATB14 /**< \brief Access to led 7 output*/
#define LED_8          PDout(13)//    PGout(3)

部分源碼如
/////////////////////////////////////////////////////////////////////////////////////////
/**
\return    0(ALSTATUSCODE_NOERROR), NOERROR_INWORK
\param    pInputSize  pointer to save the input process data length
\param    pOutputSize  pointer to save the output process data length

\brief This function calculates the process data sizes from the actual SM-PDO-Assign
         and PDO mapping
*////////////////////////////////////////////////////////////////////////////////////////
UINT16 APPL_GenerateMapping(UINT16* pInputSize,UINT16* pOutputSize)
{
#if COE_SUPPORTED
UINT16 result = ALSTATUSCODE_NOERROR;
UINT16 PDOAssignEntryCnt = 0;
OBJCONST TOBJECT OBJMEM * pPDO = NULL;
UINT16 PDOSubindex0 = 0;
UINT32 *pPDOEntry = NULL;
UINT16 PDOEntryCnt = 0;
UINT16 InputSize = 0;
UINT16 OutputSize = 0;

/*Scan object 0x1C12 RXPDO assign*/
for(PDOAssignEntryCnt = 0; PDOAssignEntryCnt < sRxPDOassign.u16SubIndex0; PDOAssignEntryCnt++)
{
      pPDO = OBJ_GetObjectHandle(sRxPDOassign.aEntries[PDOAssignEntryCnt]);
      if(pPDO != NULL)
      {
         PDOSubindex0 = *((UINT16 *)pPDO->pVarPtr);
         for(PDOEntryCnt = 0; PDOEntryCnt < PDOSubindex0; PDOEntryCnt++)
         {
                     //                               result = *(UINT8 *)pPDO->pVarPtr;
                     //                               result=(OBJ_GetEntryOffset((PDOEntryCnt+1),pPDO)>>3);
            pPDOEntry = (UINT32 *)((UINT8 *)pPDO->pVarPtr + (OBJ_GetEntryOffset((PDOEntryCnt+1),pPDO)>>3)); //goto PDO entry
            // we increment the expected output size depending on the mapped Entry
            OutputSize += (UINT16) ((*pPDOEntry) & 0xFF);
         }
      }
      else
      {
         /*assigned PDO was not found in object dictionary. return invalid mapping*/
         OutputSize = 0;
         result = ALSTATUSCODE_INVALIDOUTPUTMAPPING;
         break;
      }
}

OutputSize = (OutputSize + 7) >> 3;// +7

下載:

STM32實現 Ethercat 從站源碼.rar (1.19 MB, 下載次數: 98)

UC16-R1.rar (4.54 KB, 下載次數: 53)

作者: zhaomingli 時間: 2023-2-16 16:23
EtherCAT從站開發板及源程序：
簡化XML生成，簡化編程，10分鐘快速入門，詳細見：
http://www.openedv.com/forum.php?mod=viewthread&tid=340287

作者: shiman999 時間: 2023-3-31 08:50
樓主，你好！STM32實現EtherCat從站源碼，看不出從那體現出來。能否詳細解說一下，謝謝！

作者: yahuiwang 時間: 2024-8-7 11:19
受教了，謝謝分享

作者: huaishang 時間: 2025-1-1 19:21
受教了，謝謝分享

作者: suroy 時間: 2025-1-2 00:06
goodjob

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