STM32实现 Ethercat 从站源码

ID:647576 · 发表于 2022-3-29 18:37

该源码是当前流行的机器人控制系统倍福所采用的构架Ethercat  总线
xml文件是设备描述文件,烧写在了EEPROM 里面  从站站 (ET11000)上电后会从 eeprom 加载配置参数
完成初始化过程

文件中有对应IO 及AD 全局变量的定义
extern    uint16_t uhADCxConvertedValue;
#define SWITCH_1       PCin(7)// PCin(8)             // PORTDbits.RD7 /**< \brief Access to switch 1 input*/
#define SWITCH_2       PCin(8)// PCin(9)             // PORTDbits.RD6 /**< \brief Access to switch 2 input*/
#define SWITCH_3       PCin(9)// PAin(11)             // PORTDbits.RD5 /**< \brief Access to switch 3 input*/
#define SWITCH_4       PGin(11)// PAin(12)             // PORTDbits.RD4 /**< \brief Access to switch 4 input*/
#define SWITCH_5       PGin(12)// PAin(13)             // PORTDbits.RD3 /**< \brief Access to switch 5 input*/
#define SWITCH_6       PGin(13)// PAin(14)             // PORTDbits.RD2 /**< \brief Access to switch 6 input*/
#define SWITCH_7       PGin(14)//  PAin(15)             // PORTDbits.RD1 /**< \brief Access to switch 7 input*/
#define SWITCH_8       PGin(15)// PCin(12)             // PORTDbits.RD0 /**< \brief Access to switch 8 input*/

#define LED_1          PCout(6) //    PCout(7)             // LATBbits.LATB8 /**< \brief Access to led 1 output*/
#define LED_2          PGout(8) //    PCout(6)          //3////LATBbits.LATB9 /**< \brief Access to led 2 output*/
#define LED_3          PGout(7)//    PGout(8)             // LATBbits.LATB10 /**< \brief Access to led 3 output*/
#define LED_4          PGout(6)//    PGout(7)             //LATBbits.LATB11 /**< \brief Access to led 4 output*/
#define LED_5          PGout(5)//    PGout(6)             // LATBbits.LATB12 /**< \brief Access to led 5 output*/
#define LED_6          PGout(4)//    PGout(5)             // LATBbits.LATB13 /**< \brief Access to led 6 output*/
#define LED_7          PGout(3)//    PGout(4)             //LATBbits.LATB14 /**< \brief Access to led 7 output*/
#define LED_8          PDout(13)//    PGout(3)

部分源码如
/////////////////////////////////////////////////////////////////////////////////////////
/**
\return    0(ALSTATUSCODE_NOERROR), NOERROR_INWORK
\param    pInputSize  pointer to save the input process data length
\param    pOutputSize  pointer to save the output process data length

\brief This function calculates the process data sizes from the actual SM-PDO-Assign
         and PDO mapping
*////////////////////////////////////////////////////////////////////////////////////////
UINT16 APPL_GenerateMapping(UINT16* pInputSize,UINT16* pOutputSize)
{
#if COE_SUPPORTED
UINT16 result = ALSTATUSCODE_NOERROR;
UINT16 PDOAssignEntryCnt = 0;
OBJCONST TOBJECT OBJMEM * pPDO = NULL;
UINT16 PDOSubindex0 = 0;
UINT32 *pPDOEntry = NULL;
UINT16 PDOEntryCnt = 0;
UINT16 InputSize = 0;
UINT16 OutputSize = 0;

/*Scan object 0x1C12 RXPDO assign*/
for(PDOAssignEntryCnt = 0; PDOAssignEntryCnt < sRxPDOassign.u16SubIndex0; PDOAssignEntryCnt++)
{
      pPDO = OBJ_GetObjectHandle(sRxPDOassign.aEntries[PDOAssignEntryCnt]);
      if(pPDO != NULL)
      {
         PDOSubindex0 = *((UINT16 *)pPDO->pVarPtr);
         for(PDOEntryCnt = 0; PDOEntryCnt < PDOSubindex0; PDOEntryCnt++)
         {
                     //                               result = *(UINT8 *)pPDO->pVarPtr;
                     //                               result=(OBJ_GetEntryOffset((PDOEntryCnt+1),pPDO)>>3);
            pPDOEntry = (UINT32 *)((UINT8 *)pPDO->pVarPtr + (OBJ_GetEntryOffset((PDOEntryCnt+1),pPDO)>>3)); //goto PDO entry
            // we increment the expected output size depending on the mapped Entry
            OutputSize += (UINT16) ((*pPDOEntry) & 0xFF);
         }
      }
      else
      {
         /*assigned PDO was not found in object dictionary. return invalid mapping*/
         OutputSize = 0;
         result = ALSTATUSCODE_INVALIDOUTPUTMAPPING;
         break;
      }
}

OutputSize = (OutputSize + 7) >> 3;// +7

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