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
下载:
STM32实现 Ethercat 从站源码.rar
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UC16-R1.rar
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