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。
git clone
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。
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