CN109347884B - Method and device for converting real-time Ethernet to field bus and storage medium - Google Patents
Method and device for converting real-time Ethernet to field bus and storage medium Download PDFInfo
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Abstract
The device comprises an Ethernet side communication module and a bus side communication module, wherein the Ethernet side communication module is used for starting a protocol stack of a real-time Ethernet slave station, receiving asynchronous transmission data sent by a real-time Ethernet master station and completing the configuration of the real-time Ethernet slave station and the read-write operation of a real-time Ethernet application layer exclusive object; and the bus side communication module is used for starting a field bus master station protocol stack, analyzing the read-write operation of the real-time Ethernet application layer exclusive object and completing the configuration of the field bus master station and the field bus slave station. According to the method and the device, the read-write operation of the exclusive object of the real-time Ethernet application layer is analyzed on the bus side, the configuration of the field bus master station and the field bus slave station is completed, and the protocol conversion from the real-time Ethernet to the field bus is more flexible.
Description
Technical Field
The present invention relates to, but not limited to, the field of industrial automation technologies, and in particular, to a method and an apparatus for converting a real-time ethernet to a fieldbus, and a storage medium.
Background
With the development of industrial automation from low speed to high speed, from low precision to high precision and from centralized control to distributed control, new requirements are put forward on the transmission speed and data volume of a field bus, and the industrial real-time Ethernet conforms to the requirement of industrial automation technology and develops rapidly. POWERLINK is an open-source real-time Ethernet technology, an Application Specific Integrated Circuit (ASIC) chip is not needed, and the development cost is low; based on standard Ethernet, the data transmission rate of 100 Mbps/1000 Mbps is supported; the method supports the diversification of hardware platforms and has excellent performance. These advantages determine that POWERLINK is an industrial real-time Ethernet technology which is favored by end users and system integrators in the existing industrial Ethernet technology, and has good development prospect.
At present, the field device layer of industrial automation still uses the fieldbus as the most important communication mode, and the situation of ethernet in short term can not appear. A PROcess FIeld BUS (PROFIBUS) is an open digital communication system with a wide range of applications, is the only FIeld BUS capable of fully covering factory automation and PROcess automation applications, and has been in the leadership of the international market in the FIeld BUS technology FIeld and market applications. Therefore, in the aspect of market application requirements in the field of industrial control, it is necessary and urgent to implement protocol conversion from the POWERLINK real-time ethernet to the PROFIBUS field bus.
Disclosure of Invention
The embodiment of the invention provides a method and a device for converting a real-time Ethernet to a field bus and a storage medium, which can enable the protocol conversion from the real-time Ethernet to the field bus to be more flexible.
The technical scheme of the embodiment of the invention is realized as follows:
the embodiment of the invention provides a conversion device from a real-time Ethernet to a field bus, which comprises an Ethernet side communication module and a bus side communication module, wherein:
the Ethernet side communication module is used for starting a protocol stack of the real-time Ethernet slave station, receiving asynchronous transmission data sent by the real-time Ethernet master station and completing the configuration of the real-time Ethernet slave station and the read-write operation of a real-time Ethernet application layer exclusive object;
and the bus side communication module is used for starting a field bus master station protocol stack, analyzing the read-write operation of the real-time Ethernet application layer exclusive object and completing the configuration of the field bus master station and the field bus slave station.
In an embodiment, the real-time ethernet application layer specific object is a bus side protocol data object described by a real-time ethernet service data object SDO.
In one embodiment, the ethernet side communication module includes an ethernet core and an ethernet logic conversion unit, and the bus side communication module includes a bus core and a bus logic conversion unit, wherein:
the Ethernet core comprises an Ethernet protocol application layer unit for realizing a real-time Ethernet slave station protocol application layer and an Ethernet protocol stack unit for realizing a real-time Ethernet slave station protocol stack;
the Ethernet logic conversion unit is used for realizing the conversion logic processing of the data link layer and physical layer signals of the real-time Ethernet slave station protocol;
the bus core comprises a bus protocol application layer unit for realizing a field bus master station protocol application layer and a bus protocol stack unit for realizing a real-time field bus master station protocol stack;
the bus logic conversion unit is used for realizing conversion logic processing of data link layer and physical layer signals of a field bus master station protocol;
data are interacted between the Ethernet core and the Ethernet logic conversion unit, between the bus core and the bus logic conversion unit, and between the Ethernet protocol application layer unit and the bus protocol application layer unit respectively through shared memory.
In an example of this embodiment, the ethernet protocol application layer unit includes a protocol stack scheduling manager, an application layer event callback processor, an input/output IO copy executor, and a mailbox task executor, where:
the protocol stack scheduling manager is used for finishing the processing of the protocol stack state and the event of the real-time Ethernet slave station;
the application layer event callback processor is used for recording the aperiodic data transmission message task of the mailbox according to the SDO read-write operation of the Ethernet protocol stack unit;
the IO copy executor is used for finishing interactive processing of a Process Data Object (PDO) between the Ethernet protocol stack unit and the shared memory;
and the mailbox task executor is used for executing the read-write operation of the real-time Ethernet application layer exclusive object.
In an example of this embodiment, the ethernet protocol stack unit includes a protocol stack network manager, a link layer task handler, and an SDO data read-write manager, where:
the protocol stack network manager is used for starting and detecting the jump of a protocol stack link layer state machine of the real-time Ethernet slave station, and completing the corresponding protocol parameter setting in each state;
the link layer task processor is used for finishing the sending and response message processing between the Ethernet core and the data link layer realized by the Ethernet logic conversion unit;
and the SDO data read-write manager is used for processing the SDO data read-write task of the real-time Ethernet slave station protocol.
In an example of this embodiment, the bus protocol application layer unit includes a mailbox task parsing executor, a configuration parameter manager, and a data copy executor, where:
the mailbox task analysis executor is used for analyzing and executing the read-write operation of the real-time Ethernet application layer exclusive object;
the configuration parameter manager is used for analyzing and managing the received configuration parameter set of the field bus master station protocol;
and the data copying executor is used for finishing interactive processing of a process data object PDO between the bus protocol stack unit and the shared memory.
In an example of this embodiment, the bus protocol stack unit includes a slave state manager and a link layer processor, wherein:
the slave station state manager is used for finishing the scheduling and management of a slave station state machine of the field bus network;
and the link layer processor is used for finishing the sending and response message processing between the bus core and the data link layer realized by the bus logic conversion unit.
In an example of this embodiment, the ethernet core and the bus core are dual-core central processing units CPU, and the ethernet logic converting unit and the bus logic converting unit are implemented based on a field programmable gate array FPGA.
The embodiment of the invention also provides a method for converting the real-time Ethernet into the field bus, which comprises the following steps:
receiving asynchronous transmission data sent by a real-time Ethernet master station, and completing the configuration of the real-time Ethernet slave station and the read-write operation of a real-time Ethernet application layer exclusive object;
and analyzing the read-write operation of the real-time Ethernet application layer exclusive object to complete the configuration of the field bus master station and the field bus slave station.
Embodiments of the present invention also provide a storage medium storing one or more programs, which are executable by one or more processors to implement the steps of the real-time ethernet to fieldbus conversion method as described above.
The embodiment of the invention also provides a conversion device from the real-time Ethernet to the field bus, which comprises a processor and a memory, wherein:
the processor is configured to execute a program stored in the memory to implement the steps of the real-time ethernet to fieldbus conversion method as described above.
The technical scheme of the embodiment of the invention has the following beneficial effects:
according to the conversion method and device from the real-time Ethernet to the field bus and the storage medium, provided by the embodiment of the invention, the read-write operation of the exclusive object of the real-time Ethernet application layer is analyzed at the bus side, so that the configuration of the field bus master station and the field bus slave station is completed, and the protocol conversion from the real-time Ethernet to the field bus is more flexible.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a real-time ethernet to fieldbus conversion device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another real-time Ethernet to Fieldbus conversion apparatus according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a method for converting a real-time Ethernet network to a field bus according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a real-time Ethernet to Fieldbus conversion apparatus according to another embodiment of the present invention;
fig. 5 is a flowchart illustrating another real-time ethernet to fieldbus conversion method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
As shown in fig. 1, a real-time ethernet to fieldbus conversion device 10 according to an embodiment of the present invention includes an ethernet-side communication module 101 and a bus-side communication module 102, wherein:
the ethernet side communication module 101 is configured to start a protocol stack of the real-time ethernet slave station, receive asynchronous transmission data sent by the real-time ethernet master station, and complete configuration of the real-time ethernet slave station and read-write operation of a real-time ethernet application layer dedicated object;
and the bus side communication module 102 is configured to start a field bus master station protocol stack, analyze read-write operations of the real-time ethernet application layer proprietary object, and complete configuration of the field bus master station and the field bus slave station.
In an embodiment of the present invention, the real-time ethernet application layer specific object is a bus side protocol Data object (SDO) described by a real-time ethernet Service Data object (Service Data Objects).
According to the method and the device, the protocol data object at the bus side is described by using the SDO, and the object is issued to the field bus network equipment at the lower layer in the asynchronous transmission stage of the real-time Ethernet, so that the protocol conversion from the real-time Ethernet to the field bus is more flexible.
In an embodiment of the present invention, the real-time ethernet network is a POWERLINK network.
In one embodiment of the present invention, the fieldbus is PROFIBUS.
In an embodiment of the present invention, as shown in fig. 2, the ethernet side communication module 101 includes an ethernet core 1011 and an ethernet logic converting unit 1012, and the bus side communication module 102 includes a bus core 1021 and a bus logic converting unit 1022, where:
the ethernet core 1011 includes an ethernet protocol application layer unit 10111 for implementing a real-time ethernet slave station protocol application layer, and an ethernet protocol stack unit 10112 for implementing a real-time ethernet slave station protocol stack;
the ethernet logic conversion unit 1012 is configured to implement conversion logic processing of data link layer and physical layer signals of a real-time ethernet slave station protocol;
the bus core 1021 comprises a bus protocol application layer unit 10211 for realizing a field bus master station protocol application layer, and a bus protocol stack unit 10212 for realizing a real-time field bus master station protocol stack;
the bus logic conversion unit 1022 is configured to implement conversion logic processing of data link layer and physical layer signals of a fieldbus master station protocol;
data are exchanged between the ethernet core 1011 and the ethernet logic converting unit 1012, between the bus core 1021 and the bus logic converting unit 1022, and between the ethernet protocol application layer unit 10111 and the bus protocol application layer unit 10211 through a shared memory, respectively.
In an embodiment of the present invention, after the device is powered on, the bus core 1021 starts to run first, and after the program initialization is completed, sends a start command to the ethernet core 1011 and informs the ethernet core 1011 that the ethernet core 1011 is ready to receive a message through a shared memory interface; the bus core 1021 inquires whether a mailbox message of an application layer exclusive object exists in the shared memory interface or not, and if so, acquires the mailbox message for analysis and completes the configuration of the field bus master station and the field bus slave station;
the Ethernet core 1011 waits for a starting signal after the device is powered on, performs program initialization after the starting, starts a protocol stack of the real-time Ethernet slave station, receives asynchronous transmission data of the real-time Ethernet master station, completes configuration of the real-time Ethernet slave station, and completes filling and sending of mailbox messages in the shared memory interface when receiving read-write operation of an application layer exclusive object.
In an example of this embodiment, the ethernet core 1011 and the bus core 1021 are dual-core Central Processing Units (CPUs), and the ethernet logic conversion Unit 1012 and the bus logic conversion Unit 1022 are implemented based on a Field Programmable Gate Array (FPGA).
The existing protocol conversion technology from industrial Ethernet to field bus is usually based on an operating system, development and debugging need to accumulate operating system technology to a certain extent, and POWERLINK and PROFIBUS are realized by pure software or POWERLINK is realized by pure software and PROFIBUS is realized by an ASIC chip, and the performances of both are deficient. The software architecture of the conversion device from the real-time Ethernet to the field bus provided by the application has no operating system, the dual cores adopt an Asymmetric Multi-Processing (AMP) operation mode, a POWERLINK slave station protocol operates on an Ethernet core 1011, a PROFIBUS master station protocol operates on a bus core 1021, and the data link layer Processing and physical layer signal conversion logic design of the two protocol stacks are realized by fully utilizing the resources of the FPGA.
In another example of this embodiment, the ethernet core 1011 and the bus core 1021 are Advanced reduced instruction set Machine (ARM) chips, respectively, and the ethernet logic converting unit 1012 and the bus logic converting unit 1022 are implemented based on an FPGA.
In an example of this embodiment, the ethernet protocol application layer unit 10111 includes a protocol stack scheduling manager, an application layer event callback handler, an Input Output (IO) copy executor, and a mailbox task executor, where:
the protocol stack scheduling manager is used for finishing the processing of the protocol stack state and the event of the real-time Ethernet slave station;
the application layer event callback processor is used for recording the aperiodic data transmission message task of the mailbox according to the SDO read-write operation of the Ethernet protocol stack unit;
the IO copy executor is configured to complete interactive processing of a Process Data Object (PDO) between the ethernet protocol stack unit and the shared memory;
and the mailbox task executor is used for executing the read-write operation of the real-time Ethernet application layer exclusive object.
In an example of this embodiment, the ethernet protocol stack unit 10112 includes a protocol stack network manager, a link layer task handler, and an SDO data read-write manager, where:
the protocol stack network manager is used for starting and detecting the jump of a protocol stack link layer state machine of the real-time Ethernet slave station, and completing the corresponding protocol parameter setting in each state;
the link layer task processor is used for finishing the sending and response message processing between the Ethernet core and the data link layer realized by the Ethernet logic conversion unit;
and the SDO data read-write manager is used for processing the SDO data read-write task of the real-time Ethernet slave station protocol.
In an example of this embodiment, the bus protocol application layer unit 10211 includes a mailbox task parsing executor, a configuration parameter manager, and a data copy executor, where:
the mailbox task analysis executor is used for analyzing and executing the read-write operation of the real-time Ethernet application layer exclusive object;
the configuration parameter manager is used for analyzing and managing the received configuration parameter set of the field bus master station protocol;
and the data copying executor is used for finishing interactive processing of a process data object PDO between the bus protocol stack unit and the shared memory.
In an example of this embodiment, the bus protocol stack unit 10212 includes a slave state manager and a link layer processor, wherein:
the slave station state manager is used for finishing the scheduling and management of a slave station state machine of the field bus network;
and the link layer processor is used for finishing the sending and response message processing between the bus core and the data link layer realized by the bus logic conversion unit.
As shown in fig. 3, an embodiment of the present invention further provides a method for converting a real-time ethernet network into a fieldbus, including the following steps:
step 301: receiving asynchronous transmission data sent by a real-time Ethernet master station, and completing the configuration of the real-time Ethernet slave station and the read-write operation of a real-time Ethernet application layer exclusive object;
in an embodiment of the present invention, the real-time ethernet application layer specific object is a bus side protocol data object described by a real-time ethernet SDO.
According to the method and the device, the SDO is used for describing the protocol data object at the bus side, and the object is issued to the field bus network equipment at the lower layer in the asynchronous transmission stage of the real-time Ethernet, so that the protocol conversion from the real-time Ethernet to the field bus is more flexible.
In an embodiment of the present invention, the real-time ethernet network is a POWERLINK network.
Step 302: and analyzing the read-write operation of the real-time Ethernet application layer exclusive object to complete the configuration of the field bus master station and the field bus slave station.
In one embodiment of the present invention, the fieldbus is PROFIBUS.
Embodiments of the present invention also provide a storage medium storing one or more programs, which are executable by one or more processors to implement the steps of the real-time ethernet to fieldbus conversion method as described above.
The embodiment of the invention also provides a conversion device from the real-time Ethernet to the field bus, which comprises a processor and a memory, wherein:
the processor is configured to execute a program stored in the memory to implement the steps of the real-time ethernet to fieldbus conversion method as described above.
The embodiment of the invention focuses on the software architecture design realization of protocol conversion from POWERLINK to PROFIBUS and the proprietary application layer objectification software processing scheme of the protocol conversion. In an implementation scheme of the embodiment of the present invention, as shown in fig. 4, a dual-Core CPU of a ZYNQ chip (an extensible processing platform provided by saint corporation) is adopted as main hardware of a gateway, where Core0 is a bus Core, and includes a PROFIBUS protocol stack unit and a PROFIBUS protocol application layer unit, which respectively implement a PROFIBUS master station protocol and a PROFIBUS master station application layer; the Core1 is an Ethernet Core, and comprises a POWERLINK protocol stack unit and a POWERLINK protocol application layer unit, and respectively implements a POWERLINK slave station protocol and a POWERLINK slave station application layer. The Core0 controls the start operation of the whole system; the FPGA part of the ZYNQ chip realizes the double-protocol data link layer processing and the physical layer signal conversion logic design, and meanwhile, the FPGA carries a double PHY and double RS485 chips of a bus data transceiver required by the double protocols. Data are exchanged between the PROFIBUS logic unit and the Core0, between the POWERLINK logic unit and the Core1, and between the POWERLINK protocol application layer unit and the PROFIBUS protocol application layer unit of the FPGA through shared memory.
The software operation flow chart of the embodiment is shown in the software operation flow chart of fig. 5, wherein the POWERLINK slave station is converted into the PROFIBUS master station. The operation flow is as follows:
after the system is powered on, the Core0 is started to operate firstly, and after the Core0 program initialization is completed, a start command is sent to the Core1 and the Core1 is informed that the Core1 is ready to receive messages through a shared memory interface; core0 inquires whether mailbox information of an application layer object exists in a shared memory interface, if yes, the mailbox information is acquired to be analyzed, and the configuration of a PROFIBUS bus network is started;
normal periodic data interaction between the POWERLINK master and PROFIBUS slave devices occurs through the channel established by Core1 and Core 0.
The Core1 waits for a start signal after the system is powered on, software system initialization is carried out after the system is started, the Core1 starts to start a POWERLINK protocol stack after all the cores are ready, the POWERLINK master station finishes the setting of POWERLINK slave station objects through asynchronous transmission, and when a POWERLINK protocol stack unit in the Core1 receives the read-write operation of an application layer exclusive object, the exclusive object read-write operation of the POWERLINK protocol application layer unit is triggered to finish the filling and sending of mailbox messages in the shared memory interface.
The software Core components in Core1 mainly include: the system comprises a protocol stack scheduling manager, an application layer event callback processor, a protocol stack network manager, an IO copy actuator, a mailbox task actuator, a link layer task processor and an SDO data read-write manager, wherein:
protocol stack scheduling manager: the method mainly completes the processing of the protocol stack state and events.
Application layer event callback handler: and recording the aperiodic data transmission message task of the mailbox mainly according to the read-write operation of the application exclusive object.
Protocol stack network manager: and starting and detecting the jump of a protocol stack link layer state machine, and finishing the corresponding protocol parameter setting work in each state.
IO copy executor: the process data interaction is mainly completed.
Mailbox task executor: mainly executing read-write operation of the proprietary object of the POWERLINK protocol stack application layer.
The link layer task processor: and the transmission and response message processing between the Core1 and a link layer realized by a POWERLINK logic unit in the FPGA is mainly finished.
The SDO data read-write manager: the method mainly processes SDO data read-write tasks of the POWERLINK protocol.
The software Core components in Core0 mainly include: mailbox task analysis executor, configuration parameter manager, slave station state manager, data copy executor, link layer processor, etc., wherein:
mailbox task analysis executor: the analysis and execution of the read-write task of the proprietary object of the POWERLINK protocol stack application layer of the Core0 are mainly completed.
A configuration parameter manager: the received PROFIBUS protocol configuration parameter set is mainly analyzed and managed.
A slave station state manager: the method mainly completes the scheduling and management of the slave station state machine of the PROFIBUS network.
A data copying actuator: the method mainly completes the interaction of process data between the interior of the protocol stack and the shared memory.
A link layer processor: and the processing of sending and answering messages between the Core0 and a link layer realized by a PROFIBUS logic unit in the FPGA is mainly finished.
The POWERLINK logic unit in the FPGA mainly realizes the realization of a data link layer state machine of a POWERLINK protocol, the unpacking of data packets and the logic conversion of data receiving and transmitting signals.
The PROFIBUS logic unit in the FPGA mainly realizes the realization of a data link layer state machine of a PROFIBUS protocol, the unpacking of data package and the logic conversion of data receiving and transmitting signals.
The protocol conversion between POWERLINK and PROFIBUS in the embodiment of the invention adopts the proprietary objectification processing of the POWERLINK slave station side application layer, and the proprietary objectification processing is transmitted to the lower PROFIBUS network through the asynchronous communication stage of the POWERLINK. When the POWERLINK slave station protocol stack receives the asynchronous data frame of the object, the Core1 generates an application layer event callback, and pushes the object information to a configuration parameter manager in a PROFIBUS protocol stack unit of the Core0 for analysis processing.
The method and the device for converting the industrial real-time Ethernet to the field bus protocol, which are realized by the embodiment of the invention, are not assisted by any communication protocol chip and any operating system, completely depend on abundant CPU resources and FPGA resources of a ZYNQ chip, carry out reasonable software architecture design and function distribution on the dual-protocol stack, maintain high performance and avoid the technical difficulty of the operating system; in addition, the advantages of the POWERLINK protocol application layer object dictionary and the asynchronous communication protocol are fully utilized, all data to be interacted with in the non-cycle of the lower PROFIBUS are processed in an objectification mode, and the processing is completed through an asynchronous channel. The application object read-write processing method in the embodiment of the invention enables the protocol conversion to be more flexible, and provides software technical guidance for the subsequent development of any POWERLINK gateway.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be implemented by instructing the relevant hardware through a program, and the program may be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like. Alternatively, all or part of the steps of the foregoing embodiments may also be implemented by using one or more integrated circuits, and accordingly, each module/unit in the foregoing embodiments may be implemented in the form of hardware, and may also be implemented in the form of a software functional module. The present invention is not limited to any specific form of combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A real-time ethernet to fieldbus conversion apparatus comprising an ethernet-side communication module and a bus-side communication module, wherein:
the Ethernet side communication module is used for starting a protocol stack of the real-time Ethernet slave station, receiving asynchronous transmission data sent by the real-time Ethernet master station and completing the configuration of the real-time Ethernet slave station and the read-write operation of a real-time Ethernet application layer exclusive object;
the bus side communication module is used for starting a field bus master station protocol stack, analyzing the read-write operation of the real-time Ethernet application layer exclusive object and completing the configuration of the field bus master station and the field bus slave station;
wherein, the ethernet side communication module includes an ethernet core and an ethernet logic conversion unit, and the bus side communication module includes a bus core and a bus logic conversion unit, wherein:
the Ethernet core comprises an Ethernet protocol application layer unit for realizing a real-time Ethernet slave station protocol application layer and an Ethernet protocol stack unit for realizing a real-time Ethernet slave station protocol stack;
the Ethernet logic conversion unit is used for realizing the conversion logic processing of the data link layer and physical layer signals of the real-time Ethernet slave station protocol;
the bus core comprises a bus protocol application layer unit for realizing a field bus master station protocol application layer and a bus protocol stack unit for realizing a real-time field bus master station protocol stack;
the bus logic conversion unit is used for realizing conversion logic processing of data link layer and physical layer signals of a field bus master station protocol;
data are interacted between the Ethernet core and the Ethernet logic conversion unit, between the bus core and the bus logic conversion unit, and between the Ethernet protocol application layer unit and the bus protocol application layer unit respectively through shared memory.
2. The conversion apparatus according to claim 1, wherein the real-time ethernet application layer specific object is a bus side protocol data object described by a real-time ethernet service data object, SDO.
3. The conversion apparatus according to claim 1, wherein the ethernet protocol application layer unit includes a protocol stack scheduling manager, an application layer event callback handler, an input output IO copy executor, and a mailbox task executor, wherein:
the protocol stack scheduling manager is used for finishing the processing of the protocol stack state and the event of the real-time Ethernet slave station;
the application layer event callback processor is used for recording the aperiodic data transmission message task of the mailbox according to the SDO read-write operation of the Ethernet protocol stack unit;
the IO copy executor is used for finishing interactive processing of a Process Data Object (PDO) between the Ethernet protocol stack unit and the shared memory;
and the mailbox task executor is used for executing the read-write operation of the real-time Ethernet application layer exclusive object.
4. The conversion apparatus according to claim 1, wherein the ethernet protocol stack unit comprises a protocol stack network manager, a link layer task handler, and an SDO data read-write manager, wherein:
the protocol stack network manager is used for starting and detecting the jump of a protocol stack link layer state machine of the real-time Ethernet slave station, and completing the corresponding protocol parameter setting in each state;
the link layer task processor is used for finishing the sending and response message processing between the Ethernet core and the data link layer realized by the Ethernet logic conversion unit;
and the SDO data read-write manager is used for processing the SDO data read-write task of the real-time Ethernet slave station protocol.
5. The conversion apparatus according to claim 1, wherein the bus protocol application layer unit comprises a mailbox task parsing executor, a configuration parameter manager and a data copy executor, wherein:
the mailbox task analysis executor is used for analyzing and executing the read-write operation of the real-time Ethernet application layer exclusive object;
the configuration parameter manager is used for analyzing and managing the received configuration parameter set of the field bus master station protocol;
and the data copying executor is used for finishing interactive processing of a process data object PDO between the bus protocol stack unit and the shared memory.
6. The translation apparatus of claim 1, wherein said bus protocol stack unit comprises a slave state manager and a link layer processor, wherein:
the slave station state manager is used for finishing the scheduling and management of a slave station state machine of the field bus network;
and the link layer processor is used for finishing the sending and response message processing between the bus core and the data link layer realized by the bus logic conversion unit.
7. The conversion device according to claim 1, wherein the ethernet core and the bus core are dual-core Central Processing Units (CPUs), and the ethernet logic conversion unit and the bus logic conversion unit are implemented based on a Field Programmable Gate Array (FPGA).
8. A method for converting real-time ethernet to a fieldbus, comprising:
the Ethernet side communication module receives asynchronous transmission data sent by the real-time Ethernet master station, and completes the configuration of the real-time Ethernet slave station and the read-write operation of a real-time Ethernet application layer exclusive object;
the bus side communication module analyzes the read-write operation of the real-time Ethernet application layer exclusive object to complete the configuration of a field bus master station and a field bus slave station;
wherein, the ethernet side communication module includes an ethernet core and an ethernet logic conversion unit, and the bus side communication module includes a bus core and a bus logic conversion unit, wherein:
the Ethernet core comprises an Ethernet protocol application layer unit for realizing a real-time Ethernet slave station protocol application layer and an Ethernet protocol stack unit for realizing a real-time Ethernet slave station protocol stack;
the Ethernet logic conversion unit is used for realizing the conversion logic processing of the data link layer and physical layer signals of the real-time Ethernet slave station protocol;
the bus core comprises a bus protocol application layer unit for realizing a field bus master station protocol application layer and a bus protocol stack unit for realizing a real-time field bus master station protocol stack;
the bus logic conversion unit is used for realizing conversion logic processing of data link layer and physical layer signals of a field bus master station protocol;
data are interacted between the Ethernet core and the Ethernet logic conversion unit, between the bus core and the bus logic conversion unit, and between the Ethernet protocol application layer unit and the bus protocol application layer unit respectively through shared memory.
9. A storage medium storing one or more programs, the one or more programs being executable by one or more processors to perform the steps of the real-time ethernet to fieldbus conversion method of claim 8.
10. A real-time ethernet to fieldbus conversion device comprising a processor and a memory, wherein:
the processor is adapted to execute a program stored in the memory to implement the steps of the real-time ethernet to fieldbus conversion method of claim 8.
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| CN110519161B (en) * | 2019-09-29 | 2022-03-15 | 杭州和利时自动化有限公司 | Gateway device and data protocol conversion method |
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| CN112398714B (en) * | 2020-10-22 | 2022-06-14 | 北京和利时系统工程有限公司 | Backboard bus master station, system and data communication method thereof |
| CN112436988B (en) * | 2020-10-23 | 2022-06-10 | 武汉华中数控股份有限公司 | Device for converting standard Ethernet to NCUC field bus protocol and implementation method |
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