CN105652813B - A method of embedded real-time EtherCAT main websites are built based on AM335X processors - Google Patents
A method of embedded real-time EtherCAT main websites are built based on AM335X processors Download PDFInfo
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- CN105652813B CN105652813B CN201410639867.1A CN201410639867A CN105652813B CN 105652813 B CN105652813 B CN 105652813B CN 201410639867 A CN201410639867 A CN 201410639867A CN 105652813 B CN105652813 B CN 105652813B
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- 238000012986 modification Methods 0.000 claims description 6
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- Y—GENERAL 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
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Abstract
The present invention relates to a kind of methods building embedded real-time EtherCAT main websites based on AM335X processors, and the kernel default configuration of AM335X processors is first carried out；RT Patch patches, and further configuration and the relevant kernel option of real-time are stamped to the kernel configured；Linux kernel and file system are installed, Embeded Real_Time Linux System is built into.Then according to the realization principle of the local EtherCAT device drives of IgH EtherCAT Master main websites, the network device driver of AM335X processors is transplanted；According to the network device driver of transplanting, configures, compiles on AM335X processors, installation IgH EtherCAT Master master station modules.The present invention is all based on component construction of increasing income, and accelerates the development cycle, using the embeded processor of high-performance low-power-consumption, has saved development cost, and occupation mode is more flexible.
Description
Technical field
It is specifically a kind of embedded in real time based on AM335X processors structure the present invention relates to fields of numeric control technique
The method of EtherCAT main websites.
Background technology
Real-time industrial ethernet is because its transmission speed is fast, and packet size is big, long transmission distance, and real-time height and opening are mutual
The characteristics of connection, has more and more been applied to numerical control field.EtherCAT (the Ethernet that German Beckhoff companies propose
For Control Automation Technology) it is one such, it has high-performance, low cost, using letter
Feature single, topology is flexible, and support 100Mbps full duplexs, effective data rate can be improved greatly up to 90% or more
The performance of digital control system.
At the same time, ARM embedded microprocessors just develop towards high-performance, intelligentized direction, and dominant frequency is increasingly
Height, interface function is more and more abundant, and price is then lower and lower, power consumption smaller more flexible compared to Industrial PC Computer, and cost is more
It is low.Therefore digital control system also more and more develops towards Embedded direction, how to design corresponding embedded EtherCAT
Main website, which has become, applies EtherCAT technologies the problem in digital control system.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of embedded in real time based on AM335X series processors structure
The method of EtherCAT main websites
Present invention technical solution used for the above purpose is：One kind is built embedded based on AM335X processors
The method of real-time EtherCAT main websites, first builds Embeded Real_Time Linux System, then build embedded real-time EtherCAT master
It stands.
The structure Embeded Real_Time Linux System includes the following steps：
Step 1：Execute the kernel default configuration of AM335X processors；
Step 2：RT Patch patches are stamped to the kernel configured, and further configuration is selected with the relevant kernel of real-time
；
Step 3：Linux kernel and file system are installed, Embeded Real_Time Linux System is built into.
The embedded real-time EtherCAT main websites of structure include the following steps：
Step 1：According to the realization principle of the local EtherCAT device drives of IgH EtherCAT Master main websites, repair
Change the network device driver of AM335X processors；
Step 2：According to the network device driver of modification, configures, compiles on AM335X processors, installation IgH
EtherCAT Master master station modules.
The network device driver of the modification AM335X processors includes following procedure：
Step 1：The pointer object of ec_device_t structure types is added in the structure for representing the network equipment
Ecdev indicates originally to be driven to EtherCAT network device drives, and adds the variable ec_watchdog_ of a long shaping
Jiffies is used to record the time of poll；
Step 2：In the probe probe functions of network device driver driving, provided using EtherCAT Master
The dedicated EtherCAT facility registrations functions of ecdev_offer () replace register_netdev () network equipment of acquiescence
Registration function, while return value is assigned to ecdev pointer variables；
Step 3：In the last of probe probe functions, the ecdev_open () function provided by EtherCAT Master
EtherCAT network equipment is opened；
Step 4：In the function of module revocation, closed using ecdev_close () function that EtherCAT Master are provided
EtherCAT network equipment is closed, and the network equipment cancellation function that function replaces acquiescence is nullified using ecdev_withdraw ()
unregister_netdev()；
Step 5：Default network device drives are replaced using ec_poll () poll function that EtherCAT Master are provided
In Poll () function, the periodic polled network equipment of house dog is used in the ec_poll ()；
Step 6：Ecdev_receive () the data receiver function provided using EtherCAT Master, replaces acquiescence
Core protocol stack function netif_receive_skb (), and restart house dog.
It beats to kernel and modifies to RT Patch patches according to prompt during RT Patch patches.
The described and relevant kernel option of real-time includes generating dysgenic option to real-time and needing to open
Real-Time Extension option.
The invention has the advantages that and advantage：
1. the present invention uses basis of the linux system increased income as EtherCAT main websites, and use is increased income real-time patch
RT Patch realize the real time implementation of Linux, finally use open source software IgH EtherCAT Master structure EtherCAT main websites
System is all based on component construction of increasing income, and accelerates the development cycle.
2. the present invention uses the embeded processor of high-performance low-power-consumption, development cost has been saved.The present invention uses
AM335X series high-performance embeded processors realize that EtherCAT main websites have more cost compared to tradition based on Industrial PC Computer
Advantage.
It is used in embedded systems 3. the embedded EtherCAT main websites that the present invention realizes can not only integrate, but also can be single
It is solely used as a protocol module, there is considerable flexibility.
Description of the drawings
Fig. 1 is flow chart of the method for the present invention.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
As shown in Figure 1, the method for the present invention includes the following steps：
The present invention is a kind of method of the embedded real-time EtherCAT main websites of structure, is included the following steps：
By taking AM3358 processors as an example：
Embeded Real_Time Linux System is built, is the linux kernel source code that AM3358 processors provide for the official websites TI
Linux-3.2.0-psp04.06.00.11 uses the corresponding RT Patch source codes patch-3.2- of version
Rt10.patch.bz2 patch installing for it.
RT Patch patches designs for the linux kernel source code of standard, for TI offers linux kernel not
It is applicable in completely, therefore according to error prompting manual modification kernel code after beating patch.Then configuration kernel order is executed.
Wherein need to configure the content of two aspects：
Some config options can exert an adverse impact to system real time, it is necessary to it is turned off when configuration,
These options include：Module versioning support、Power Management support(Power
All subitems of management options), CPU Frequency scaling.
It has beaten after the real-time patches of RT Patch, the config option of some extension linux kernel real-times can be had more, needed
It opens, including opens the contention mode of real-time patch, open the support to high-resolution timer, these options are in kernel setup
In Processor type and feture, including：Preemption Mode(Complete Preemption(Real-
Time))、High Resolution Timer Support。
It finally compiles and installs on RT Patch embedded real-time kernels to AM3358 processor platforms.
Build embedded real-time EtherCAT main websites
Newest EtherCAT main websites source code IgH EtherCAT Master V1.5.2 are downloaded from the official websites EtherLab, and
Unzip to current working directory.
According to the realization principle of local EtherCAT device drives, the network device driver of AM3358 processors is changed
For CPSW (Common Platform Ethernet Switch) to be compatible with EtherCAT, the step of concrete modification method, is as follows：
The pointer object ecdev for adding ec_device_t structure types in the structure for representing the network equipment carrys out table
Show and be originally driven to EtherCAT network device drives, and the variable ec_watchdog_jiffies for adding a long shaping is used for
Record the time of poll.
Then in the probe probe functions of CPSW drivings, the ecdev_offer that is provided using EtherCAT Master
(), dedicated EtherCAT facility registrations function replaced register_netdev () network device registration function of acquiescence, simultaneously
Return value is assigned to ecdev pointer variables.
It then, will by ecdev_open () function that EtherCAT Master are provided in the last of probe probe functions
EtherCAT network equipment is opened.
Then it in the function of module revocation, is closed using ecdev_close () function that EtherCAT Master are provided
EtherCAT network equipment, and nullify the network equipment cancellation function that function replaces acquiescence using ecdev_withdraw ()
unregister_netdev()；
Ec_poll () function of EtherCAT drivings, ec_poll () are realized with reference to poll () function in CPSW drivings
Groundwork be the data frame that sends and receivees of processing, house dog is restarted according to the house dog selection that whether expires.
Ecdev_receive () the data receiver function provided using EtherCAT Master replaces the kernel association of acquiescence
Stack function netif_receive_skb () is discussed, and restarts house dog.
Shield other all network protocol stack interface functions, including netif_stop_queue (), dev_kfree_
skb_any()、netif_wake_queue()、dev_kfree_skb()。
Then EtherCAT master station modules are transplanted, configured, compiled and is installed into EtherCAT Master catalogues.
In configuration, by the path of prefix designated mountings, disable-8139too indicates that disabling falls the 8139 network interface cards drive of acquiescence
It is dynamic；Enable-cpsw indicates the local EtherCAT network device drives of enabled AM3358 processors, which is to be directed to
The CPSW drivers of AM3358 processors are changed and carry out local EtherCAT device drives；Finally by with-linux-dir
The path of the specified linux kernel used.
Claims (4)
1. a kind of method building embedded real-time EtherCAT main websites based on AM335X processors, it is characterised in that：First build
Embeded Real_Time Linux System, then build embedded real-time EtherCAT main websites；
The structure Embeded Real_Time Linux System includes the following steps：
Step 1：Execute the kernel default configuration of AM335X processors；
Step 2：RT Patch patches, and further configuration and the relevant kernel option of real-time are stamped to the kernel configured；
Step 3：Linux kernel and file system are installed, Embeded Real_Time Linux System is built into；
The embedded real-time EtherCAT main websites of structure include the following steps：
Step 1：According to the realization principle of the local EtherCAT device drives of IgH EtherCAT Master main websites, modification
The network device driver of AM335X processors；
Step 2：According to the network device driver of modification, configures, compiles on AM335X processors, installation IgH
EtherCAT Master master station modules.
2. the method according to claim 1 that embedded real-time EtherCAT main websites are built based on AM335X processors,
It is characterized in that：The network device driver of the modification AM335X processors includes following procedure：
Step 1：The pointer object ecdev that ec_device_t structure types are added in the structure for representing the network equipment comes
Expression is originally driven to EtherCAT network device drives, and the variable ec_watchdog_jiffies for adding a long shaping is used
In the time of record poll；
Step 2：In the probe probe functions of network device driver driving, provided using EtherCAT Master
The dedicated EtherCAT facility registrations functions of ecdev_offer () replace register_netdev () network equipment note of acquiescence
Volume function, while return value is assigned to ecdev pointer variables；
Step 3：It, will by ecdev_open () function that EtherCAT Master are provided in the last of probe probe functions
EtherCAT network equipment is opened；
Step 4：In the function of module revocation, closed using ecdev_close () function that EtherCAT Master are provided
EtherCAT network equipment, and nullify the network equipment cancellation function that function replaces acquiescence using ecdev_withdraw ()
unregister_netdev()；
Step 5：It is replaced in default network device drives using ec_poll () poll function that EtherCAT Master are provided
Poll () function uses the periodic polled network equipment of house dog in ec_poll ()；
Step 6：Ecdev_receive () the data receiver function provided using EtherCAT Master, replaces the kernel of acquiescence
Agreement stack function netif_receive_skb (), and restart house dog.
3. the method according to claim 1 that embedded real-time EtherCAT main websites are built based on AM335X processors,
It is characterized in that：It beats to kernel and modifies to RT Patch patches according to prompt during RT Patch patches.
4. the method according to claim 1 that embedded real-time EtherCAT main websites are built based on AM335X processors,
It is characterized in that：The described and relevant kernel option of real-time includes generating dysgenic option to real-time and needing to open
Real-Time Extension option.
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| CN201410639867.1A CN105652813B (en) | 2014-11-13 | 2014-11-13 | A method of embedded real-time EtherCAT main websites are built based on AM335X processors |
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| 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 |
| CN112579150B (en) * | 2020-12-29 | 2023-10-20 | 中标软件有限公司 | Method for supporting multi-CPU architecture to enhance system instantaneity |
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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 |
| CN101894045A (en) * | 2010-06-18 | 2010-11-24 | 阳坚 | Real-time Linux operating system |
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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. |
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