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embedded_systems:ethercat:start [2021-09-30 14:43] – Urs Graf | embedded_systems:ethercat:start [2024-01-25 14:03] (aktuell) – Urs Graf | ||
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* [[embedded_systems: | * [[embedded_systems: | ||
* [[embedded_systems: | * [[embedded_systems: | ||
- | * [[embedded_systems: | + | * [[embedded_systems: |
</ | </ | ||
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* Acyclic messages, so-called SDOs (service data objects), are not discussed in this documentation. | * Acyclic messages, so-called SDOs (service data objects), are not discussed in this documentation. | ||
- | At its lowest level, ethercat uses an ethernet frame to send EtherCAT datagrams containing commands to read or write data, or both (' | + | At its lowest level, ethercat uses an ethernet frame to send EtherCAT datagrams containing commands to read or write data, or both (' |
The data that is actually read or written is accessed using a 4Gbit address space using byte.bit addressing. EtherCAT technically bit alignment, though in practice most things seem to be byte aligned. This address space is called the **Process Data Image** or **PDI**. | The data that is actually read or written is accessed using a 4Gbit address space using byte.bit addressing. EtherCAT technically bit alignment, though in practice most things seem to be byte aligned. This address space is called the **Process Data Image** or **PDI**. | ||
Object living in that space are often referred to as **Process Data Objects** or **PDO**s, though it's not entirely clear, whether that strictly refers to PDOs in the sense of [[ ..: | Object living in that space are often referred to as **Process Data Objects** or **PDO**s, though it's not entirely clear, whether that strictly refers to PDOs in the sense of [[ ..: | ||
- | {{: | + | {{: |
Each Slave Device can be configured to output some of its PDOs on the EtherCAT bus. This is done through the ENI file. | Each Slave Device can be configured to output some of its PDOs on the EtherCAT bus. This is done through the ENI file. | ||
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===== Recommended Workflow ===== | ===== Recommended Workflow ===== | ||
In this example workflow a Linux based master with Acontis stack and EEROS is used. | In this example workflow a Linux based master with Acontis stack and EEROS is used. | ||
- | |||
- | We build our system with Yocto. The necessary recipes and resources can be found in the private repository [[https:// | ||
- [[embedded_systems: | - [[embedded_systems: | ||
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- [[embedded_systems: | - [[embedded_systems: | ||
- [[embedded_systems: | - [[embedded_systems: | ||
- | - [[embedded_systems: | + | - [[embedded_systems: |
- [[embedded_systems: | - [[embedded_systems: | ||
- Get the [[https:// | - Get the [[https:// | ||
- | - [[http://wiki.eeros.org/getting_started/install|Download and install]] [[http://eeros.org/|EEROS]] | + | - Test the examples packed with [[https://gitlab.ost.ch/tech/inf/public/ecmasterlib|ecmasterlib]] |
- | - Full example with NTB [[embedded_systems: | + | - [[embedded_systems: |
- | IMPORTANT [[embedded_systems: | + | |
- | + | ||
- | ===== ecmasterlib, | + | |
- | The '' | + | |
- | You may copy and adapt '' | + | |
- | + | ||
- | [[https:// | + | |
- | [[embedded_systems:ethercat: | + | ===== Workflow with Yocto ===== |
+ | We build our system with Yocto. The necessary recipes and resources can be found in the private repository | ||
+ | The recipes therein | ||
+ | * build and install the kernel module | ||
+ | * install the current version of the ecmaster | ||
+ | * build and install the ecmasterlib | ||
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===== Teststand ===== | ===== Teststand ===== | ||
- | The " | + | The " |
- | * Acontis EtherCAT stack | + | |
- | * EEROS | + | |
- | * ecmasterlib | + | |
- | * EtherCATInterfaceElmo including test application | + | |
More detailed description [[embedded_systems: | More detailed description [[embedded_systems: |