CN105652813A - Method for constructing embedded real-time EtherCAT master station on the basis of AM335X processor - Google Patents

Method for constructing embedded real-time EtherCAT master station on the basis of AM335X processor Download PDF

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Publication number
CN105652813A
CN105652813A CN201410639867.1A CN201410639867A CN105652813A CN 105652813 A CN105652813 A CN 105652813A CN 201410639867 A CN201410639867 A CN 201410639867A CN 105652813 A CN105652813 A CN 105652813A
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China
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time
am335x
ethercat
function
real
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CN201410639867.1A
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CN105652813B (en
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栾勇
李备备
王超
王喆
郑飂默
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Shenyang Zhongke CNC Technology Co.,Ltd.
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Shenyang Gaojing Numerical Control Intelligent Technology Co Ltd
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to a method for constructing an embedded real-time EtherCAT master station on the basis of an AM335X processor. First of all, core default configuration of the AM335X processor is executed; an RT Patch is put on a configured core, and core options correlated with real-time performance are further configured; and a Linux core and file system is installed, and an embedded real-time Linux system is constructed. Then, according to a driving realization principle of a local EtherCAT device of an IgH EtherCAT Master station, a network equipment driving program of the AM335X processor is transplanted; and according to the transplanted network equipment driving program, an IgH EtherCAT Master station module is configured, compiled and installed on the AM335X processor. According to the invention, the method is constructed completely based on open source assemblies, the development period is accelerated, by use of an embedded processor with high performance and low loss, the development cost is decreased, and the application mode is more flexible.

Description

A kind of method building embedded real-time EtherCAT main website based on AM335X treater
Technical field
The present invention relates to fields of numeric control technique, specifically a kind of method building embedded real-time EtherCAT main website based on AM335X treater.
Background technology
Real-time industrial ethernet because of its transmission speed fast, packet size is big, and long transmission distance, the feature of real-time height and opening and interconnecting, what got more and more has been applied to numerical control field. The EtherCAT (EthernetforControlAutomationTechnology) that Beckhoff company of Germany proposes is one wherein, it has, and high-performance, low cost, application are simple, topology feature flexibly, and support 100Mbps full duplex, valid data rate can reach more than 90%, it is possible to improves the performance of digital control system greatly.
Meanwhile, ARM embedded microprocessor just develops towards high-performance, intelligentized direction, and its dominant frequency is more and more higher, and interface function is more and more abundanter, and price is then more and more lower, and more flexible compared to Industrial PC Computer, power consumption is less, and cost is lower. Therefore digital control system is also more and more develops towards Embedded direction, and how designing corresponding embedded EtherCAT main website has become a difficult problem that EtherCAT technology is applied in digital control system.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of method building embedded real-time EtherCAT main website based on AM335X series processors
The technical scheme that the present invention adopts for achieving the above object is: a kind of method building embedded real-time EtherCAT main website based on AM335X treater, first builds embedded real-time Linux system, then build embedded real-time EtherCAT main website.
The embedded real-time Linux system of described structure comprises the following steps:
Step 1: the kernel default configuration performing AM335X treater;
Step 2: stamp RTPatch patch to the kernel configured, and configure the kernel option relevant to real-time further;
Step 3: install Linux kernel and file system, be built into embedded real-time Linux system.
The embedded real-time EtherCAT main website of described structure comprises the following steps:
Step 1: realize principle according to the local EtherCAT device drives of IgHEtherCATMaster main website, the network device driver program of amendment AM335X treater;
Step 2: according to the network device driver program of amendment, configures on AM335X treater, compiles, installs IgHEtherCATMaster master station module.
The network device driver program of described amendment AM335X treater comprises following process:
Step 1: the pointer object ecdev adding ec_device_t structure type in the structure representing the network equipment is to represent that this driving is for EtherCAT network device drives, and the time that the variable ec_watchdog_jiffies adding a long shaping askes for recording wheel;
Step 2: in the probe probe function of network device driver driven by program, register_netdev () the network device registration function of the EtherCAT facility registration function replacement acquiescence that the ecdev_offer () using EtherCATMaster to provide is special, is assigned to ecdev pointer variable simultaneously by return of value;
Step 3: last in probe probe function, EtherCAT network equipment is opened by the ecdev_open () function provided by EtherCATMaster;
Step 4: in the function that module is cancelled, the ecdev_close () function using EtherCATMaster to provide closes EtherCAT network equipment, and the network equipment using ecdev_withdraw () to nullify function replacement acquiescence nullifies function unregister_netdev ();
Step 5: the ec_poll () wheel using EtherCATMaster to provide is ask function and replaced the Poll () function in default network device drives, uses dog of guarding the gate periodically to take turns the inquiry network equipment in ec_poll ();
Step 6: use ecdev_receive () the data sink function that EtherCATMaster provides, replaces kernel protocol stack function netif_receive_skb () of acquiescence, lays equal stress on and open dog of guarding the gate.
Beat to kernel in the process of RTPatch patch and according to prompting, RTPatch patch is modified.
The described kernel option relevant to real-time comprises the real-time expansion option that real-time produces dysgenic option and needs unlatching.
The present invention has following useful effect and advantage:
1. the Linux system that the present invention's use is increased income is as the basis of EtherCAT main website, and use the real-time patch RTPatch that increases income to realize the real time implementation of Linux, open source software IgHEtherCATMaster is finally used to build EtherCAT main station system, all based on component construction of increasing income, accelerate the construction cycle.
2. the present invention uses the embedded processing device of high-performance low-power-consumption, has saved cost of development. The present invention uses AM335X series high-performance embedded processing device, realizes EtherCAT main website compared to tradition based on Industrial PC Computer and has more cost advantage.
3. the embedded EtherCAT main website that the present invention realizes both can integrated use in embedded systems, can use as an agreement module separately again, have good handiness.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, the inventive method comprises the following steps:
The present invention is a kind of method building embedded real-time EtherCAT main website, comprises the following steps:
For AM3358 treater:
Build embedded real-time Linux system, for the Linux kernel source code linux-3.2.0-psp04.06.00.11 that TI official website provides for AM3358 treater, it may also be useful to the RTPatch source code patch-3.2-rt10.patch.bz2 patch installing for it that version is corresponding with it.
RTPatch patch is that the Linux kernel source code for standard designs, for TI provide Linux kernel and not exclusively applicable, therefore according to error prompting manual modification kernel code after beating patch. Then configuration kernel order is performed.
Wherein need to configure the content of two aspects:
System real time can be produced bad impact by some configuration options, must being closed when configuration, these options comprise: Moduleversioningsupport, PowerManagementsupport (all subitems of Powermanagementoptions), CPUFrequencyscaling.
After having beaten the real-time patch of RTPatch, the configuration option of some expansion Linux kernel real-times can be gone out more, need to open, what comprise the real-time patch of unlatching seizes pattern, open the support to high-resolution timer, these options, in the Processortypeandfeture of kernel setup, comprising: PreemptionMode (CompletePreemption (Real-Time)), HighResolutionTimerSupport.
Finally compile and the embedded real-time kernel of RTPatch is installed on AM3358 treater platform.
Build embedded real-time EtherCAT main website
Download up-to-date EtherCAT main website source code IgHEtherCATMasterV1.5.2 from EtherLab official website, and unzip to current working directory.
Realizing principle according to local EtherCAT device drives, the network device driver program CPSW (CommonPlatformEthernetSwitch) of amendment AM3358 treater is with compatible EtherCAT, and the step of concrete modification method is as follows:
The pointer object ecdev adding ec_device_t structure type in the structure representing the network equipment is to represent that this driving is for EtherCAT network device drives, and the time that the variable ec_watchdog_jiffies adding a long shaping askes for recording wheel.
Then in the probe probe function of CPSW driving, register_netdev () the network device registration function of the EtherCAT facility registration function replacement acquiescence that the ecdev_offer () using EtherCATMaster to provide is special, is assigned to ecdev pointer variable simultaneously by return of value.
Then last in probe probe function, EtherCAT network equipment is opened by the ecdev_open () function provided by EtherCATMaster.
Then in the function cancelled in module, the ecdev_close () function using EtherCATMaster to provide closes EtherCAT network equipment, and the network equipment using ecdev_withdraw () to nullify function replacement acquiescence nullifies function unregister_netdev ();
The ec_poll () function of EtherCAT driving is realized with reference to the poll () function in CPSW driving, whether the groundwork of ec_poll () is the data frame that process receives and sends, expire according to dog of guarding the gate and select heavily to open dog of guarding the gate.
Use ecdev_receive () the data sink function that EtherCATMaster provides, replace kernel protocol stack function netif_receive_skb () of acquiescence, lay equal stress on and open dog of guarding the gate.
Shield the network protocol stack interface function that other are all, comprise netif_stop_queue (), dev_kfree_skb_any (), netif_wake_queue (), dev_kfree_skb ().
Then transplant EtherCAT master station module, enter EtherCATMaster catalogue and configure, compile and install. In configuration, by the path of prefix designated mounting, disable-8139too represents that forbidding falls 8139 trawl performance of acquiescence;Enable-cpsw represents the local EtherCAT network device drives of enable AM3358 treater, and this driving is that the CPSW for AM3358 treater drives red tape operation and carrys out local EtherCAT device drives; The path of the Linux kernel used is specified finally by with-linux-dir.

Claims (6)

1. one kind builds the method for embedded real-time EtherCAT main website based on AM335X treater, it is characterised in that: first build embedded real-time Linux system, then build embedded real-time EtherCAT main website.
2. the method building embedded real-time EtherCAT main website based on AM335X treater according to claim 1, it is characterised in that: the embedded real-time Linux system of described structure comprises the following steps:
Step 1: the kernel default configuration performing AM335X treater;
Step 2: stamp RTPatch patch to the kernel configured, and configure the kernel option relevant to real-time further;
Step 3: install Linux kernel and file system, be built into embedded real-time Linux system.
3. the method building embedded real-time EtherCAT main website based on AM335X treater according to claim 1, it is characterised in that: the embedded real-time EtherCAT main website of described structure comprises the following steps:
Step 1: realize principle according to the local EtherCAT device drives of IgHEtherCATMaster main website, the network device driver program of amendment AM335X treater;
Step 2: according to the network device driver program of amendment, configures on AM335X treater, compiles, installs IgHEtherCATMaster master station module.
4. the method building embedded real-time EtherCAT main website based on AM335X treater according to claim 3, it is characterised in that: the network device driver program of described amendment AM335X treater comprises following process:
Step 1: the pointer object ecdev adding ec_device_t structure type in the structure representing the network equipment is to represent that this driving is for EtherCAT network device drives, and the time that the variable ec_watchdog_jiffies adding a long shaping askes for recording wheel;
Step 2: in the probe probe function of network device driver driven by program, register_netdev () the network device registration function of the EtherCAT facility registration function replacement acquiescence that the ecdev_offer () using EtherCATMaster to provide is special, is assigned to ecdev pointer variable simultaneously by return of value;
Step 3: last in probe probe function, EtherCAT network equipment is opened by the ecdev_open () function provided by EtherCATMaster;
Step 4: in the function that module is cancelled, the ecdev_close () function using EtherCATMaster to provide closes EtherCAT network equipment, and the network equipment using ecdev_withdraw () to nullify function replacement acquiescence nullifies function unregister_netdev ();
Step 5: the ec_poll () wheel using EtherCATMaster to provide is ask function and replaced the Poll () function in default network device drives, uses dog of guarding the gate periodically to take turns the inquiry network equipment in ec_poll ();
Step 6: use ecdev_receive () the data sink function that EtherCATMaster provides, replaces kernel protocol stack function netif_receive_skb () of acquiescence, lays equal stress on and open dog of guarding the gate.
5. the method building embedded real-time EtherCAT main website based on AM335X treater according to claim 1, it is characterised in that: beat to kernel in the process of RTPatch patch and according to prompting, RTPatch patch is modified.
6. the method building embedded real-time EtherCAT main website based on AM335X treater according to claim 1, it is characterised in that: the described kernel option relevant to real-time comprises the real-time expansion option that real-time produces dysgenic option and needs unlatching.
CN201410639867.1A 2014-11-13 2014-11-13 A method of embedded real-time EtherCAT main websites are built based on AM335X processors Active CN105652813B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107391408A (en) * 2017-08-03 2017-11-24 上海新时达机器人有限公司 The creation method and equipment of EtherCAT main websites
CN109062542A (en) * 2018-03-15 2018-12-21 山东超越数控电子股份有限公司 A kind of method that domestic ten thousand Broadcom realizes network communication

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CN1912833A (en) * 2006-08-29 2007-02-14 华南理工大学 Embedded operation system driver dynamic update method
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107391408A (en) * 2017-08-03 2017-11-24 上海新时达机器人有限公司 The creation method and equipment of EtherCAT main websites
CN109062542A (en) * 2018-03-15 2018-12-21 山东超越数控电子股份有限公司 A kind of method that domestic ten thousand Broadcom realizes network communication

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Address after: Nanping Road in Dongling District of Shenyang city of Liaoning Province, No. 110168 16-2

Patentee after: Shenyang Zhongke CNC Technology Co.,Ltd.

Address before: Nanping Road in Dongling District of Shenyang city of Liaoning Province, No. 110168 16-2

Patentee before: SHENYANG GOLDING NC & INTELLIGENCE TECH. Co.,Ltd.