[STM32H5]【NUCLEO- H563ZI 测评】5.EtherCat移植(二）

1.下载和准备SOEM库，从官网给的GIT上下载：github.com/OpenEtherCATsociety/SOEM
我的版本比较旧，是1.3.1，git上最新的是1.4.0。
下载SOEM库的源代码，并根据所需的平台和编译器进行编译。
2.移植到工程内

将以上文件添加到工程内，添加好路径编译的时候会报错，在Compiler V5的typedef __packed struct 在Compiler V6上是报错的
因此需要修改#pragma pack(push,1)
typedef  struct
结束的时候再加#pragma pack(pop)
在ethercatmain.c文件中，ecx_statecheck函数需要ms定时器时间和us级延时，因此把之前工程的定时器中断计数值查询函数调用过来，再写一个us级的延时函数
 

uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)

{

   uint16 configadr, state, rval;

   ec_alstatust slstat;

   uint32_t timer2;

   if ( slave > *(context->slavecount) )

   {

      return 0;

   }

   timer2=<span style="background-color: yellow;">DrvTimer_InqCount();</span>

   configadr = context->slavelist[slave].configadr;

   do

   {

      if (slave < 1)

      {

         rval = 0;

         ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval , EC_TIMEOUTRET);

         rval = etohs(rval);

      }

      else

      {

         slstat.alstatus = 0;

         slstat.alstatuscode = 0;

         ecx_FPRD(context->port, configadr, ECT_REG_ALSTAT, sizeof(slstat), &slstat, EC_TIMEOUTRET);

         rval = etohs(slstat.alstatus);

         context->slavelist[slave].ALstatuscode = etohs(slstat.alstatuscode);

      }

      state = rval & 0x000f; /* read slave status */

      if (state != reqstate)

      {

<span style="background-color: sienna;">         DrvTimer_DelayUs(1000);</span>

      }

   }

   while ((state != reqstate) && ((<span style="background-color: yellow;">DrvTimer_InqCount()</span>-timer2)<timeout));

   context->slavelist[slave].state = rval;

   return state;

}

在nicdrv.c文件中修改网口发送和接收函数

int ecx_outframe(ecx_portt *port, int idx, int stacknumber)

{

         int lp, rval;

   ec_stackT *stack;

   if (!stacknumber)

   {

      stack = &(port->stack);

                  lp = (*stack->txbuflength)[idx];

                  MAC_Send((*stack->txbuf)[idx], lp);

   }

   else

   {

      stack = &(port->redport->stack);

                  lp = (*stack->txbuflength)[idx];

//                  dm9k_send_packet((*stack->txbuf)[idx], lp);

   }

   rval =1;

   (*stack->rxbufstat)[idx] = EC_BUF_TX;

   return rval;

}

int ecx_inframe(ecx_portt *port, int idx, int stacknumber)

{

         uint16  l;

   int     rval;

   int     idxf;

   ec_etherheadert *ehp;

   ec_comt *ecp;

   ec_stackT *stack;

   ec_bufT *rxbuf;

//   stack = &(port->stack);

                if (!stacknumber)

      {

                                        stack = &(port->stack);

//                                        if(ETH_CheckFrameReceived())         //检测是否收到数据包

                                        { 

                                                        gEtherCatPara.receiveLen=0;

                                                        memset(gEtherCatPara.receiveBuffer, 0, sizeof(gEtherCatPara.receiveBuffer));

//                                                        DrvETH_lwip_pkt_handle();

                                                        memcpy((uint8*)(*stack->rxbuf)[idx], (uint8*)gEtherCatPara.receiveBuffer, gEtherCatPara.receiveLen);

                                        } 

      }

     else

      { 

        stack = &(port->redport->stack);

                                gEtherCatPara.receiveLen_DM9000 = 0;                                                                /* Çå³ý½ÓÊյij¤¶È */

                    memset(gEtherCatPara.receiveBuffer_DM9000, 0, sizeof(gEtherCatPara.receiveBuffer_DM9000));

//                                if(dm9k_receive_packet())

//                                 {

//                                        memcpy((uint8*)(*stack->rxbuf)[idx], (uint8*)gEtherCatPara.receiveBuffer_DM9000, gEtherCatPara.receiveLen_DM9000);

//         }

      }                                          

                 rval = EC_NOFRAME;                 

                 rxbuf = &(*stack->rxbuf)[idx];

                 /* check if requested index is already in buffer ? */

                 if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD)) 

                 {

                                l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);

                                /* return WKC */

                                rval = ((*rxbuf)[l] + ((uint16)(*rxbuf)[l + 1] << 8));

                                /* mark as completed */

                                (*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;

                 }

                 else 

                 {

                                /* non blocking call to retrieve frame from socket */

                                if (ecx_recvpkt(port, stacknumber)) 

                                {

                                         rval = EC_OTHERFRAME;

                                         ehp =(ec_etherheadert*)(stack->tempbuf);

                                         /* check if it is an EtherCAT frame */

                                         if (ehp->etype == htons(ETH_P_ECAT)) 

                                         {

                                                        ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]); 

                                                        l = etohs(ecp->elength) & 0x0fff;                                                

                                                        idxf = ecp->index;

                                                        /* found index equals reqested index ? */

                                                        if (idxf == idx) 

                                                        {

                                                                 /* yes, put it in the buffer array (strip ethernet header) */

                                                                 memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);

                                                                /* return WKC */

                                                                 l=(*stack->txbuflength)[idx] - ETH_HEADERSIZE;

                                                                 rval = ((*rxbuf)[l-2] + ((uint16)((*rxbuf)[l-1]) << 8));

                                                                 /* mark as completed */

                                                                 (*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;

                                                                 /* store MAC source word 1 for redundant routing info */

                                                                 (*stack->rxsa)[idx] = etohs(ehp->sa1);

                                                        }

                                                        else 

                                                        {

                                                                 /* check if index exist? */

                                                                 if (idxf < EC_MAXBUF) 

                                                                 {

//                                                                                rxbuf = &(*stack->rxbuf)[idxf];

//                                                                                /* put it in the buffer array (strip ethernet header) */

//                                                                                memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idxf] - ETH_HEADERSIZE);

//                                                                                /* mark as received */

//                                                                                (*stack->rxbufstat)[idxf] = EC_BUF_RCVD;

//                                                                                (*stack->rxsa)[idxf] = etohs(ehp->sa1);

                                                                          (*stack->rxbufstat)[idxf] = EC_BUF_EMPTY;

                                                                 }

                                                                 else 

                                                                 {

                                                                                /* strange things happend */

                                                                 }

                                                        }

                                         }

                                }    

                 }

   return rval;

}

发送函数

 

uint8_t MAC_Send(uint8_t *data, int length)

{

        ETH_BufferTypeDef Txbuffer;

        uint8_t i;

        ETH_TxPacketConfig TxPacketCfg;

        TxPacketCfg.ChecksumCtrl = ETH_CHECKSUM_IPHDR_INSERT;

        Txbuffer.buffer = data;

        Txbuffer.len = length;

        TxPacketCfg.Length = length;

        TxPacketCfg.TxBuffer = Txbuffer;

        HAL_ETH_Transmit_IT(ð_handle, &TxPacketCfg);

//                 memcpy((u8*)(DMATxDescToSet->Buffer1Addr), (u8*)data, length);

//                /* Prepare transmit descriptors to give to DMA*/

//          i=ETH_Prepare_Transmit_Descriptors(length);

          return i;

}

根据使用ETH的THAL_ETH_Transmit_IT中断发送，将数据从网口中发出去，再将接收到的数据存储在gEtherCatPara.receiveBuffer_DM9000(之前是在DM9000的PHY上移植的），复制到内部缓存里memcpy((uint8*)(*stack->rxbuf)[idx], (uint8*)gEtherCatPara.receiveBuffer, gEtherCatPara.receiveLen);
至此，移植功能完成，下一部是对针对电机进行配置和控制。
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作者：穿西装的强子
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