CN116819992A - STM32 EtherCAT-based embedded numerical control system - Google Patents
STM32 EtherCAT-based embedded numerical control system Download PDFInfo
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Abstract
The invention discloses an EtherCAT embedded numerical control system based on STM 32. The system comprises a Raspberry Pi4B development board and an EtherCAT master station; the Raspberry Pi4B development board and the EtherCAT master station mutually transmit control information and state information, and the EtherCAT master station transmits a data frame to the servo driver through a network port to control the motor. The invention provides an embedded numerical control system which is simple in application, low in cost and high in reliability by utilizing an embedded development technology and combining application and optimization of various open source software, and solves the problems of poor real-time performance and unstable frame period of the traditional embedded numerical control system.
Description
Technical Field
The invention relates to the field of EtherCAT master stations and embedded numerical control systems, in particular to an embedded numerical control system based on EtherCAT under STM 32.
Technical Field
On the premise of the development of the global market competition, the requirements on products produced by all numerical control manufacturers are higher and higher, and low cost and high reliability are pursued. Because the sealing performance of the traditional numerical control system cannot meet the development requirement of the market, the numerical control technology is developed by an open numerical control system with higher special steering universality and expansibility. With the wide application and rapid development of the embedded processor, the embedded numerical control system is produced, and the function of the embedded numerical control system is similar to that of a traditional control system, but the embedded numerical control system greatly enriches the software and hardware resources of the numerical control system due to the strong expansion capability and the computing capability. Along with the development of industrial communication technology, communication of various bus interfaces occurs, and the commonly used EtherCAT is originally developed and put into use by German Beifu company, and is an open architecture. On the premise of the background, the reliability of the bus communication technology is not high due to the limitation of the performance of the embedded hardware, and the frame period is unstable (the implementation of the embedded platform EtherCAT master station is Wang Huijiao).
Disclosure of Invention
Aiming at the problems, the invention provides an embedded numerical control system based on an EtherCAT master station under STM32F767, which consists of a plurality of parts, wherein different parts execute different functions respectively. The Raspberry Pi4B development board is a hardware platform used as a numerical control system and is provided with a Debian system based on a Preempt-rt real-time patch. The EtherCAT master station is used for realizing data exchange with the servo driver, sending a message to the slave station and receiving a message returned by the slave station. The SPI communication is used for realizing full duplex communication of data between the EtherCAT master station and the numerical control system. The LinuxCNC platform software comprises a UI interface, a task scheduling module, a motion control module, an I/O control module and a HAL module, wherein a command is input through the UI interface, the task scheduling module schedules the motion control module or the I/O module to execute corresponding actions according to the command, and a drive file realization pin signal of the HAL module can be sent to a master station in an SPI communication mode.
The invention is realized at least by one of the following technical schemes.
An EtherCAT embedded numerical control system based on STM32 comprises a Raspberry Pi4B development board and an EtherCAT master station;
the Raspberry Pi4B development board is used as a hardware platform of the embedded numerical control system and is provided with a Debian system based on a Preempt-rt real-time patch;
the EtherCAT master station is connected with the Raspberry Pi4B development board, and is sequentially connected with a plurality of servo drivers through a network port, so that data exchange between the embedded numerical control system and the slave station, namely the servo drivers, is realized, and a message is sent to the slave station and a message returned by the slave station is received;
the Raspberry Pi4B development board and the EtherCAT master station mutually transmit control information and state information, and the EtherCAT master station transmits a data frame to the servo driver through a network port to control the motor.
Further, the EtherCAT master station is connected with the embedded numerical control system through SPI communication, so that full duplex communication of data between the EtherCAT master station and the Raspberry Pi4B development board is realized.
Further, the real-time system carried by the Raspberry Pi4B development board is a Debian system based on a 4.19 kernel version Preempt-rt real-time patch, an SPI device interface is activated by driving configuration, and compiled LinuxCNC numerical control platform software is constructed on the Raspberry Pi4B development board and is responsible for realizing G code analysis and motion control.
Further, the LinuxCNC numerical control platform software comprises a task scheduling module, a motion control module, an I/O control module and a HAL module;
the task scheduling module is used as a control center, and respectively sends instructions to the motion control module, the I/O control module and the HAL module, and receives the returned state information; the motion control module is responsible for analyzing G codes, the I/O module is responsible for sending I/O instructions, and the drive file of the HAL module is used for realizing the generation of pin signals and sending the pin signals to the EtherCAT master station in an SPI communication mode.
Further, the EtherCAT master station is based on STM32F767 of ARM Cotex-M7 kernel as a hardware platform, and is an EtherCAT master station without an operating system, which adopts an open source SOEM1.4.0 software architecture of RT-LAB for transplanting.
Further, the Ethernet device driver of the EtherCAT master station is optimized, including clock optimization and network driver migration.
Furthermore, the clock optimization is to acquire a system clock based on two hardware timers TIM2 and TIM3 with different frequencies in a cascading manner, wherein the acquired system clock is the time of the EtherCAT master station for synchronizing with the slave station, and is the timing of the whole embedded numerical control system.
Further, the network driven migration is based on a physical layer chip PHY to implement code biasing, decoding and transmitting/receiving of data, and specifically includes the following steps:
the method comprises the steps of configuring and initializing MAC hardware of an EtherCAT master station, wherein the MAC hardware comprises an Ethernet MAC address, an auto-negotiation mode, a working mode, a transmission speed, a frame receiving mode, a checking mode, a used interface type and an external PHY address; secondly, initializing a transmission descriptor and a reception descriptor and starting MAC hardware; after the initialization configuration is completed, the API interface of the nicdrv module of the EtherCAT master station is called to send and receive functions of the frame.
Further, in SPI communication between the EtherCAT master station and the embedded numerical control system, a Raspberry Pi4B development board is used as a master mode, and the EtherCAT master station of which the STM32F767 is used as a hardware platform is used as a slave mode.
Further, the SPI communication mode adopted by the EtherCAT master station is an SPI_DMA mode.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes embedded development technology, takes STM32F767 as a hardware platform, and combines the open source SOEM1.4.0 software architecture of RT-LAB to transplant an EtherCAT master station without an operating system, improves and transplants an Ethernet ETH module of the hardware platform, optimizes a master station clock, adopts two hardware timers with different frequencies to acquire a system clock, realizes network port initialization and EtherCAT frame transmission and reception, uses a DMA interface to reduce the transmission time of data in an MAC buffer area and a memory, accelerates the transmission process of a data frame period, and solves the problems of longer and unstable EtherCAT master station frame period.
The operating system of the Raspberry Pi4B development board selected by the embedded numerical control system is a Linux system and a real-time kernel, is a hardware platform with very good compatibility and expandability, brings great convenience for subsequent development, and the loaded LinuxCNC numerical control platform software is flexible modularized software, so that great convenience is provided for transplanting the embedded numerical control system to the developed embedded numerical control system, and the HAL real-time communication module is used for solving the problem of communication between a master station and the numerical control system. An EtherCAT master station developed based on STM32F767 is matched, and an embedded numerical control system with simple application, low cost and high reliability is designed.
Drawings
FIG. 1 is a connection schematic diagram of an EtherCAT embedded numerical control system based on STM32 according to an embodiment of the present invention;
FIG. 2 is a flow chart of an EtherCAT master station migration stage provided by an embodiment of the invention;
FIG. 3 is a flow chart of a development stage of a HAL communication module according to an embodiment of the present invention.
Detailed Description
In order to clearly illustrate the technical features of the present patent, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings.
Examples:
the invention provides an EtherCAT embedded numerical control system based on STM32, which utilizes an embedded development technology and combines the application and optimization of various open source software to design an embedded numerical control system with simple application, low cost and high reliability.
As shown in FIG. 1, in the connection schematic diagram of the embedded numerical control system based on the EtherCAT master station under STM32F767, a Raspberry Pi4B development board is selected as a hardware platform of the numerical control system, a Debian system based on a Preempt-rt real-time patch is carried, and after an SPI is configured and activated, the system is connected with the EtherCAT master station through a MISO, MOSI, SLK, GND interface; the EtherCAT master station is based on an STM32F767 of ARM Cotex-M7 kernel as a hardware platform, is an EtherCAT master station without an operating system which adopts an open source SOEM1.4.0 software architecture of RT-LAB for transplanting, and is connected in series with a servo driver by using a network cable according to a linear topology.
Specifically, the system also comprises a LinuxCNC numerical control platform software, wherein a command is input through a UI interface, and the LinuxCNC numerical control platform software comprises a task scheduling module, a motion control module, an I/O control module and a HAL module;
the task scheduling module is used as a control center, and respectively sends instructions to the motion control module, the I/O control module and the HAL module, and receives the returned state information; the motion control module is responsible for analyzing G codes, the I/O module is responsible for sending I/O instructions, and a driving file of the HAL module is used for realizing the generation of pin signals and sending the pin signals to the EtherCAT master station in an SPI communication mode;
the development of the HAL communication module mainly completes the writing of a real-time function rtapi_app_main (), defines and distributes a memory, calls a specific function, converts the memory into a virtual pin of the HAL, realizes the virtual communication among the modules, and realizes the full duplex communication of data through SPI; in addition, the module needs to be loaded into the real-time kernel to execute the operation in a fixed time cycle.
In one embodiment, as shown in fig. 2, a flow chart of the EtherCAT master site migration phase of the present invention is shown, and the flow chart includes the following steps:
s1, optimizing clock configuration of a master station; selecting a hardware timer TIM2 and a hardware timer TIM3 to realize a system clock, adopting a timer cascading mode to count time, setting the TIM2 as a master mode, setting the TIM3 as a slave mode, setting the clock sources of the timers TIM2 and the TIM3 as 108MHz, setting the frequency division of the TIM2 as 108 times, setting the counting period as 1000000, namely, setting the TIM2 to reach a 1MHz timing period after 108 times of frequency division, and triggering the TIM3 to count time every 1000000 times; the frequency division of the TIM3 is set to be 1 time, the counting period is set to be the maximum value, and as the TIM3 is set as a slave module, the input trigger is a TIM2 timer, so that a TIM2 microsecond level count is integrally formed, and the TIM3 second level count can read the value of the system clock at any time only by reading the values of the two counters of the TIM2- > CNT and the TIM3- > CNT;
s2, initializing an Ethernet driver; firstly, according to configuration parameters, the network card LAN8720 is configured and initialized, including MAC address, auto-negotiation mode, working mode, transmission speed, frame receiving mode, checking mode, interface type used and external PHY address; the auto-negotiation mode is set to be closed, the working mode is set to be a full duplex mode, the transmission speed is set to be 100M, the frame receiving mode is set to be a polling mode, the interface type used is set to be an RMII interface, and the checking mode is set to be hardware frame checking;
after the configuration is finished, the MAC configuration is operated in a PromiscuousMode, namely, the value of PromisuousMode is set as ETH_PROMICUOUS_MODE_ENABLE;
after the configuration is completed, initializing a sending descriptor queue and a receiving descriptor queue, calling a function HAL_ETH_DMATxDedcListInit () and a function HAL_ETH_DMARxDedcListInit (), and finally calling a function HAL_ETH_Start () to Start MAC hardware;
s3, processing the MAC data frame; in the lw_emac module, serving as an intermediary for SOEM and STM32 to the NICDIV of the upper layer, wherein the NICDIV layer is a network driver module in the SOEM, and providing access to MAC hardware to the HAL_ETH of the lower layer; the ethernet frame is received and transmitted by using the EthRdPacket () function and the EthWrPacket () function in the LAN8720 drive file;
s4, calling a driving module by the NICDIV module; the NICDIV module is a network driving module and mainly used for receiving and sending EtherCAT frames; after receiving the MAC data frame, returning a data packet structure, wherein the function of the ecx_recvpkt () receiving the Ethernet frame in the NICDIV module can call the EthRdPacket () function; after the transmission of the MAC data frame is completed, returning to a successful transmission state, wherein the function of the ecx_outframe () transmitting the Ethernet frame in the NICDIV module calls the EthWrPacket () function, and returns after receiving the state, so as to complete the transmission operation;
s5, configuring logic address IO mapping of a master station; the EtherCAT master station transmits a control command and location information to each slave station using a logical addressing method, and acquires status information of the slave station. The FMMU is typically used to establish a logical to physical address mapping of the process data; establishing the IOMap memory space size according to the number of the secondary stations, and establishing the mapping by calling an ec_config_map () function;
s6, transmitting and receiving process data; the transmission of a process data frame may invoke a function ec_send_process data (), which packages the process data in the master logical space into one logical addressing frame, which is transmitted to each slave. The receipt of a process data frame may invoke a function ec_receive_process data (), which updates the process data to the master logical space based on the latest state data acquired from each slave after all the process frames returned to the master by the slave have been received.
Thus, the transplanting process of the EtherCAT master station is completed, and the EtherCAT master station based on STM32F767 is built.
In one embodiment, the Raspberry Pi4B development board is a hardware platform used as a numerical control system, and a real-time linux operating system needs to be built to serve as a development environment of the invention.
Specifically, the real-time system downloads KERNEL source codes based on a 4.19 KERNEL version of Preempt-rt real-time patch, wherein the version is rpi-4.19.Y-rt, the selected compiling mode is compiling on a development board, after entering a KERNEL directory, KERNEL options KERNEL=kernel 7l are modified, then the source code root directory is returned, and a configuration file make bcm2711_defcon is operated; after the completion, make-j4 zImage modules dtbs is compiled, the generated dtb file is copied to a memory card catalog, the generated zImage file is generated into an img file by using a packaging tool mkknlimg, a kernel is replaced, and a system real-time patch is restarted to take effect.
In one embodiment, the construction of the linux cnc numerical control platform software on the development board is performed by firstly obtaining the linux cnc source code, switching to the script autogen. Sh running in the src directory, then performing real-time platform configuration by using the configuration, selecting the parameter-with-real time=usace, using the preemptive RT patch, and performing compiling construction after the configuration is completed.
Thus, a real-time operating system is built on the Raspberry Pi4B development board, and the LinuxCNC numerical control platform is built.
In one embodiment, as shown in fig. 3, a flowchart of a development stage of the HAL communication module of the present invention is mainly to complete writing of a real-time function rtapi_app_main (), call a specific function, convert the specific function into a HAL virtual pin, and send the HAL virtual pin in an SPI manner for real-time virtual communication, where the process includes the following steps:
a1, defining variables and pointers of various inputs and outputs; according to the specifications of the LinuxCNC codes, the variables and pointers of each input and each output are defined in detail, and the variables and pointers comprise data structures of the input, the output, the stepping pulse generator and the encoder;
a2, starting and setting SPI communication; first, the raspi-config command enters the system configuration, enabling the SPI drive of the kernel. The SPI is started by calling an open () function in a main function, and a read-write mode, a word length of the SPI equipment and a maximum read-write speed are set by calling a function ioctl ();
a3, initializing a HAL communication module; the initialization is completed by calling the function hal_init (), the module name is used as a parameter, and the comp_id module ID number is returned as an identification number for the subsequent function call;
a4, distributing memory for communication data; calling a function hal_malloc () to allocate a memory block, taking the size of the memory to be allocated as a parameter, carrying out zero clearing processing on the data structure after allocation is finished, setting the parameter to zero, and setting a pointer to be empty;
a5, converting the pointer and the variable into pins of an abstract hardware layer; the HAL provides special functions, can conveniently convert the variables into virtual pins of an abstract hardware layer, calls different functions according to pins of different parameter types, establishes a calling function hal_pin_bit_newf (), establishes a calling function hal_pin_float_newf (), establishes a calling function hal_param_bit_newf (), and establishes a calling function hal_param_float_float_newf (), and takes the pin direction, pointer address, module id number and pin name as parameters for input;
a6, developing a pulse generator and an encoder; the control mode adopted by the servo motor driver of the system is a position control mode, signals are received in a pulse form, and a function write_stepgas () is called to perform pulse signal conversion operation; the development of the encoder calls the function read_encoders () to acquire feedback information.
A7, loading the module processing function to a real-time process; when the communication module operates, a processing function is loaded into a real-time process and is responsible for periodically and circularly executing reading and receiving communication data with a master station, and the core of the function is that the data is sent and received through an SPI protocol. After the function writing is completed, executing a loadrt command to add the module into a real-time kernel, and adding the written HAL module processing function into a real-time thread by using an addf command.
Specifically, after the development of the HAL communication module is completed, the SPI communication of the STM32F767 hardware platform is configured and developed, because the Raspberry Pi4B development board can only be in a master mode for communication, all master stations adopt a slave mode and a full duplex mode, and both sides select the same read-write mode, more importantly, the SPI communication mode of the master stations is an SPI_DMA mode, and a corresponding STREAM channel is selected according to a correspondingly selected SPI interface. This time the SPI1 interface is selected to be the DMA2_STREAM0 and DMA2_STREAM3 channels.
So far, the specific operation parts of each part of the invention are explained, and the connection can be completed according to the connection schematic diagram of fig. 1.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (10)
1. The embedded numerical control system based on the EtherCAT under STM32 is characterized by comprising a Raspberry Pi4B development board and an EtherCAT master station;
the Raspberry Pi4B development board is used as a hardware platform of the embedded numerical control system and is provided with a Debian system based on a Preempt-rt real-time patch;
the EtherCAT master station is connected with the Raspberry Pi4B development board, and is sequentially connected with a plurality of servo drivers through a network port, so that data exchange between the embedded numerical control system and the slave station, namely the servo drivers, is realized, and a message is sent to the slave station and a message returned by the slave station is received;
the Raspberry Pi4B development board and the EtherCAT master station mutually transmit control information and state information, and the EtherCAT master station transmits a data frame to the servo driver through a network port to control the motor.
2. The STM32 Ethernet-based embedded numerical control system of claim 1, wherein the EtherCAT master station is connected with the embedded numerical control system through SPI communication, so that full duplex communication of data between the EtherCAT master station and the Raspberry Pi4B development board is realized.
3. The embedded numerical control system based on etherCAT under STM32 according to claim 1, wherein the real-time system carried by the Raspberry Pi4B development board is a Debian system based on a 4.19 kernel version of Preempt-rt real-time patch, and the drive configuration activates an SPI device interface, and compiled LinuxCNC numerical control platform software is constructed on the Raspberry Pi4B development board and is responsible for realizing G code analysis and motion control.
4. The STM32 EtherCAT-based embedded numerical control system of claim 3, wherein the linux cnc numerical control platform software includes a task scheduling module, a motion control module, an I/O control module, and a HAL module;
the task scheduling module is used as a control center, and respectively sends instructions to the motion control module, the I/O control module and the HAL module, and receives the returned state information; the motion control module is responsible for analyzing G codes, the I/O module is responsible for sending I/O instructions, and the drive file of the HAL module is used for realizing the generation of pin signals and sending the pin signals to the EtherCAT master station in an SPI communication mode.
5. The STM32 lower EtherCAT-based embedded numerical control system according to claim 1, wherein the EtherCAT master station is an EtherCAT master station without an operating system, which takes STM32F767 based on ARM Cotex-M7 kernel as a hardware platform and adopts an open source SOEM1.4.0 software architecture of RT-LAB for transplantation.
6. The STM32 EtherCAT based embedded numerical control system of claim 1, wherein ethernet device drivers of the EtherCAT master are optimized, including clock optimization and network driven migration.
7. The STM 32-based EtherCAT-based embedded digitally controlled system of claim 6, wherein the clock optimization is based on two different frequency hardware timers TIM2 and TIM3 that are cascaded to obtain a system clock, the obtained system clock is the time of an EtherCAT master station for synchronizing with a slave station, and is the timing of the whole embedded digitally controlled system.
8. The embedded numerical control system based on EtherCAT under STM32 according to claim 6, wherein the network driven migration is based on a physical layer chip PHY to implement code biasing, decoding and transmitting of data, specifically as follows:
the method comprises the steps of configuring and initializing MAC hardware of an EtherCAT master station, wherein the MAC hardware comprises an Ethernet MAC address, an auto-negotiation mode, a working mode, a transmission speed, a frame receiving mode, a checking mode, a used interface type and an external PHY address; secondly, initializing a transmission descriptor and a reception descriptor and starting MAC hardware; after the initialization configuration is completed, the API interface of the nicdrv module of the EtherCAT master station is called to send and receive functions of the frame.
9. The embedded numerical control system based on the EtherCAT under the STM32 according to claim 2, wherein in the SPI communication between the EtherCAT master station and the embedded numerical control system, a development board of the rareberry Pi4B is used as a master mode, and the EtherCAT master station of the STM32F767 is used as a slave mode.
10. The STM32 lower EtherCAT based embedded digitally controlled system of claim 9, wherein the SPI communication mode adopted by the EtherCAT master station is an spi_dma mode.
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| CN117728925A (en) * | 2024-02-08 | 2024-03-19 | 东莞市晟鼎精密仪器有限公司 | Plasma source communication control system and method based on remote protocol |
| CN117728925B (en) * | 2024-02-08 | 2024-05-31 | 东莞市晟鼎精密仪器有限公司 | Plasma source communication control system and method based on remote protocol |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117728925A (en) * | 2024-02-08 | 2024-03-19 | 东莞市晟鼎精密仪器有限公司 | Plasma source communication control system and method based on remote protocol |
| CN117728925B (en) * | 2024-02-08 | 2024-05-31 | 东莞市晟鼎精密仪器有限公司 | Plasma source communication control system and method based on remote protocol |
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