米尔MYD-YG2LX开发板在工控领域的应用-基于SOEM的EtherCAT主站

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米尔MYD-YG2LX开发板在工控领域的应用-基于SOEM的EtherCAT主站

供稿：深圳市米尔电子有限公司
发布时间：2023/8/16 15:04:12

下载代码

git clone ‍https://github.com/OpenEtherCATsociety/SOEM‍

PC端

编译

cd SOEM/

export CC=gcc

mkdir build_pc

cd build_pc/

cmake ..

lhj@lhj:~/SOEM/build_pc$ cmake ..

-- The C compiler identification is GNU 9.4.0

-- Check for working C compiler: /usr/bin/gcc

-- Check for working C compiler: /usr/bin/gcc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- OS is linux

-- LIB_DIR: lib

-- Configuring done

-- Generating done

-- Build files have been written to: /home/lhj/SOEM/build_pc

lhj@lhj:~/SOEM/build_pc$

make

lhj@lhj:~/SOEM/build_pc$ make

Scanning dependencies of target soem

[ 4%] Building C object CMakeFiles/soem.dir/soem/ethercatbase.c.o

[ 9%] Building C object CMakeFiles/soem.dir/soem/ethercatcoe.c.o

[ 14%] Building C object CMakeFiles/soem.dir/soem/ethercatconfig.c.o

[ 19%] Building C object CMakeFiles/soem.dir/soem/ethercatdc.c.o

[ 23%] Building C object CMakeFiles/soem.dir/soem/ethercateoe.c.o

[ 28%] Building C object CMakeFiles/soem.dir/soem/ethercatfoe.c.o

[ 33%] Building C object CMakeFiles/soem.dir/soem/ethercatmain.c.o

[ 38%] Building C object CMakeFiles/soem.dir/soem/ethercatprint.c.o

[ 42%] Building C object CMakeFiles/soem.dir/soem/ethercatsoe.c.o

[ 47%] Building C object CMakeFiles/soem.dir/osal/linux/osal.c.o

[ 52%] Building C object CMakeFiles/soem.dir/oshw/linux/nicdrv.c.o

[ 57%] Building C object CMakeFiles/soem.dir/oshw/linux/oshw.c.o

[ 61%] Linking C static library libsoem.a

[ 61%] Built target soem

Scanning dependencies of target simple_ng

[ 66%] Building C object test/simple_ng/CMakeFiles/simple_ng.dir/simple_ng.c.o

[ 71%] Linking C executable simple_ng

[ 71%] Built target simple_ng

Scanning dependencies of target slaveinfo

[ 76%] Building C object test/linux/slaveinfo/CMakeFiles/slaveinfo.dir/slaveinfo.c.o

[ 80%] Linking C executable slaveinfo

[ 80%] Built target slaveinfo

Scanning dependencies of target eepromtool

[ 85%] Building C object test/linux/eepromtool/CMakeFiles/eepromtool.dir/eepromtool.c.o

[ 90%] Linking C executable eepromtool

[ 90%] Built target eepromtool

Scanning dependencies of target simple_test

[ 95%] Building C object test/linux/simple_test/CMakeFiles/simple_test.dir/simple_test.c.o

[100%] Linking C executable simple_test

[100%] Built target simple_test

lhj@lhj:~/SOEM/build_pc$

部署

生成的文件如下

其中libsoem.a为库文件

test/linux/下的

simple_test，slaveinfo，eepromtool为测试Demo。

lhj@lhj:~/SOEM/build_pc$ tree .

|-- CMakeCache.txt

|-- CMakeFiles

| |-- 3.16.3

| | |-- CMakeCCompiler.cmake

| | |-- CMakeDetermineCompilerABI_C.bin

| | |-- CMakeSystem.cmake

| | `-- CompilerIdC

| | |-- CMakeCCompilerId.c

| | |-- a.out

| | `-- tmp

| |-- CMakeDirectoryInformation.cmake

| |-- CMakeOutput.log

| |-- CMakeTmp

| |-- Export

| | `-- share

| | `-- soem

| | `-- cmake

| | |-- soemConfig-noconfig.cmake

| | `-- soemConfig.cmake

| |-- Makefile.cmake

| |-- Makefile2

| |-- TargetDirectories.txt

| |-- cmake.check_cache

| |-- progress.marks

| `-- soem.dir

| |-- C.includecache

| |-- DependInfo.cmake

| |-- build.make

| |-- cmake_clean.cmake

| |-- cmake_clean_target.cmake

| |-- depend.internal

| |-- depend.make

| |-- flags.make

| |-- link.txt

| |-- osal

| | `-- linux

| | `-- osal.c.o

| |-- oshw

| | `-- linux

| | |-- nicdrv.c.o

| | `-- oshw.c.o

| |-- progress.make

| `-- soem

| |-- ethercatbase.c.o

| |-- ethercatcoe.c.o

| |-- ethercatconfig.c.o

| |-- ethercatdc.c.o

| |-- ethercateoe.c.o

| |-- ethercatfoe.c.o

| |-- ethercatmain.c.o

| |-- ethercatprint.c.o

| `-- ethercatsoe.c.o

|-- Makefile

|-- cmake_install.cmake

|-- libsoem.a

`-- test

|-- linux

| |-- eepromtool

| | |-- CMakeFiles

| | | |-- CMakeDirectoryInformation.cmake

| | | |-- eepromtool.dir

| | | | `-- progress.make

| | | `-- progress.marks

| | |-- Makefile

| | |-- cmake_install.cmake

| | `-- eepromtool

| |-- simple_test

| | |-- CMakeFiles

| | | |-- CMakeDirectoryInformation.cmake

| | | |-- progress.marks

| | | `-- simple_test.dir

| | | |-- C.includecache

| | | |-- DependInfo.cmake

| | | |-- build.make

| | | |-- cmake_clean.cmake

| | | |-- depend.internal

| | | |-- depend.make

| | | |-- flags.make

| | | |-- link.txt

| | | |-- progress.make

| | | `-- simple_test.c.o

| | |-- Makefile

| | |-- cmake_install.cmake

| | `-- simple_test

| `-- slaveinfo

| |-- CMakeFiles

| | |-- CMakeDirectoryInformation.cmake

| | |-- progress.marks

| | `-- slaveinfo.dir

| | |-- C.includecache

| | |-- DependInfo.cmake

| | |-- build.make

| | |-- cmake_clean.cmake

| | |-- depend.internal

| | |-- depend.make

| | |-- flags.make

| | |-- link.txt

| | |-- progress.make

| | `-- slaveinfo.c.o

| |-- Makefile

| |-- cmake_install.cmake

| `-- slaveinfo

`-- simple_ng

|-- CMakeFiles

| |-- CMakeDirectoryInformation.cmake

| |-- progress.marks

| `-- simple_ng.dir

| |-- C.includecache

| |-- DependInfo.cmake

| |-- build.make

| |-- cmake_clean.cmake

| |-- depend.internal

| |-- depend.make

| |-- flags.make

| |-- link.txt

| |-- progress.make

| `-- simple_ng.c.o

|-- Makefile

|-- cmake_install.cmake

`-- simple_ng

29 directories, 100 files

lhj@lhj:~/SOEM/build_pc$

开发板端

编译

cd SOEM/

export CC=aarch64-linux-gnu-gcc

mkdir build

cd build/

cmake ..

lhj@lhj:~/SOEM/build$ cmake ..

-- The C compiler identification is GNU 9.4.0

-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc

-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc -- works

-- Detecting C compiler ABI info

-- Detecting C compiler ABI info - done

-- Detecting C compile features

-- Detecting C compile features - done

-- OS is linux

-- LIB_DIR: lib

-- Configuring done

-- Generating done

-- Build files have been written to: /home/lhj/SOEM/build

lhj@lhj:~/SOEM/build$

make

lhj@lhj:~/SOEM/build$ make