POWERLINK协议在stm32单片机+w5500移植成功经验分享

业界资讯 2023-07-02 02:40:45 阅读次数: 0

连续折腾了多个晚上，又趁周末又花了一天时间，终于把powerlink协议移植成功到单片机上啦。本想放弃，但想了下不管我能不能用上，结个尾吧，分享给有需要的人。放弃并不难，但坚持一定很酷。为了移植测试这个协议花了不少血本。stm32开发板就买了两套，其中第一套板子在移植过程中发现内存不够用，型号买小啦，最后买了stm32F407ZGT6的开发板。

前言

STM32F407ZGT6芯片资源1M的falsh,192k的内存够用了。买的第一套Alientek的miniSTM32开发板芯片型号stm32F103RCT6，芯片资源256k的flash，48k的ram不够用（主要是ram不够用）。因为移植过程中发现这powerlink协议栈挺占内存的，rom倒是占的不大。

汇总下资源占用情况，分享给有需要的人参考。(资源包含嵌入式系统RTX内核源码和从站demo功能源码在内)

Program Size: Code=94008 RO-data=15352 RW-data=4204 ZI-data=62212  

RW-data+ZI-data 内存占用 4204+62212  = 66416，超过60K了，主要是字典文件占用内存大。Rom占用：94k。

项目开源，欢迎测试评测。开源地址：powerlink-stm32: powerlink-stm32

GitHub - yangyongzhen/powerlink-stm32: openPOWERLINK stack on stm32 mcu transplant 

我使用的开发板如下图所示长这样：

 移植工程结构：

从工程结构上看，我把涉及改动的文件都单独放到port文件夹了。里面涉及的文件挺多的，不过好在代码量不太大。使用Keil自带的RTX嵌入式内核系统的相关特性，移植不算难。

移植过程

协议栈移植

移植过程参考之前分享的一篇文章《POWERLINK协议源码(最新)在stm32单片机上的移植指南》POWERLINK协议源码(最新)在stm32单片机上的移植指南，把涉及的相关文件摘出来。

屏蔽掉跟系统或驱动相关的接口和编译错误，建立工程目录结构。

netif-stm32.c和target-stm32.c代码量不大，很好移植。

target-stm32.c中主要涉及target_msleep，target_enableGlobalInterrupt，target_getTickCount等的实现。使用RTX系统的相关api实现即可。target_setIpAdrs接口不需要，留空即可。

target-mutex.c文件移植：

/**
\brief  Create Mutex

The function creates a mutex.

\param[in]      mutexName_p         The name of the mutex to create.
\param[out]     pMutex_p            Pointer to store the created mutex.

\return The function returns a tOplkError error code.
\retval kErrorOk                    Mutex was successfully created.
\retval kErrorNoFreeInstance        An error occurred while creating the mutex.

\ingroup module_target
*/
//------------------------------------------------------------------------------
tOplkError target_createMutex(const char* mutexName_p,
                              OPLK_MUTEX_T* pMutex_p)
{

  UNUSED_PARAMETER(mutexName_p);
	pMutex_p =  osMutexNew(NULL);
	return kErrorOk;
}

//------------------------------------------------------------------------------
/**
\brief  Destroy Mutex

The function destroys a mutex.

\param[in]      mutexId_p           The ID of the mutex to destroy.

\ingroup module_target
*/
//------------------------------------------------------------------------------
void target_destroyMutex(OPLK_MUTEX_T mutexId_p)
{
//CloseHandle(mutexId_p);
	if(mutexId_p != NULL){
		osMutexDelete(mutexId_p);
	}
}

//------------------------------------------------------------------------------
/**
\brief  Lock Mutex

The function locks a mutex.

\param[in]      mutexId_p           The ID of the mutex to lock.

\return The function returns a tOplkError error code.
\retval kErrorOk                    Mutex was successfully locked.
\retval kErrorNoFreeInstance        An error occurred while locking the mutex.

\ingroup module_target
*/
//------------------------------------------------------------------------------
tOplkError target_lockMutex(OPLK_MUTEX_T mutexId_p)
{
  
    tOplkError  ret;
	  osStatus_t status;
 
    ret = kErrorOk;
		if (mutexId_p != NULL) {
			status = osMutexAcquire(mutexId_p, osWaitForever);
			if (status != osOK)  {
				// handle failure code
			}
		}    
    return ret;
}

//------------------------------------------------------------------------------
/**
\brief  Unlock Mutex

The function unlocks a mutex.

\param[in]      mutexId_p           The ID of the mutex to unlock.

\ingroup module_target
*/
//------------------------------------------------------------------------------
void target_unlockMutex(OPLK_MUTEX_T mutexId_p)
{
    //ReleaseMutex(mutexId_p);
	osStatus_t status;
 
  if (mutexId_p != NULL)  {
    status = osMutexRelease(mutexId_p);
    if (status != osOK)  {
      // handle failure code
    }
  }
}

int target_lock(void)
{
    target_enableGlobalInterrupt(FALSE);

    return 0;
}
int target_unlock(void)
{
    target_enableGlobalInterrupt(TRUE);

    return 0;
}

使用RTX的Mutex互斥量api接口，这部分很容易移植。

circbuf-stm32.c文件中，主要涉及加锁和解锁，也好移植。

//------------------------------------------------------------------------------
/**
\brief  Lock circular buffer

The function enters a locked section of the circular buffer.

\param[in]      pInstance_p         Pointer to circular buffer instance.

\ingroup module_lib_circbuf
*/
//------------------------------------------------------------------------------
void circbuf_lock(tCircBufInstance* pInstance_p)
{
    osStatus_t              waitResult;
    tCircBufArchInstance*   pArchInstance;

    // Check parameter validity
    ASSERT(pInstance_p != NULL);

    pArchInstance = (tCircBufArchInstance*)pInstance_p->pCircBufArchInstance;
	  waitResult = osMutexAcquire(pArchInstance->lockMutex, osWaitForever);
		switch (waitResult) {
				case osOK:
					break;
				default:
					DEBUG_LVL_ERROR_TRACE("%s() Mutex wait unknown error! Error:%ld\n",
                                  __func__);
					break;
			}
}

//------------------------------------------------------------------------------
/**
\brief  Unlock circular buffer

The function leaves a locked section of the circular buffer.

\param[in]      pInstance_p         Pointer to circular buffer instance.

\ingroup module_lib_circbuf
*/
//------------------------------------------------------------------------------
void circbuf_unlock(tCircBufInstance* pInstance_p)
{
    tCircBufArchInstance* pArchInstance;

    // Check parameter validity
    ASSERT(pInstance_p != NULL);

    pArchInstance = (tCircBufArchInstance*)pInstance_p->pCircBufArchInstance;
    osMutexRelease(pArchInstance->lockMutex);
}

 eventkcal-stm32.c文件移植：

 这个参考了eventkcal-win32.c的实现，比 eventkcal-linux.c的简单些。使用RTX的信号量机制，实现替代也不难。

//------------------------------------------------------------------------------
/**
\brief  Ethernet driver initialization

This function initializes the Ethernet driver.

\param[in]      pEdrvInitParam_p    Edrv initialization parameters

\return The function returns a tOplkError error code.

\ingroup module_edrv
*/
//------------------------------------------------------------------------------
tOplkError edrv_init(const tEdrvInitParam* pEdrvInitParam_p)
{

    // Check parameter validity
    ASSERT(pEdrvInitParam_p != NULL);

    // Clear instance structure
    OPLK_MEMSET(&edrvInstance_l, 0, sizeof(edrvInstance_l));

    if (pEdrvInitParam_p->pDevName == NULL)
        return kErrorEdrvInit;

    // Save the init data
    edrvInstance_l.initParam = *pEdrvInitParam_p;

    edrvInstance_l.fStartCommunication = TRUE;
    edrvInstance_l.fThreadIsExited = FALSE;

    // If no MAC address was specified read MAC address of used
    // Ethernet interface
    if ((edrvInstance_l.initParam.aMacAddr[0] == 0) &&
        (edrvInstance_l.initParam.aMacAddr[1] == 0) &&
        (edrvInstance_l.initParam.aMacAddr[2] == 0) &&
        (edrvInstance_l.initParam.aMacAddr[3] == 0) &&
        (edrvInstance_l.initParam.aMacAddr[4] == 0) &&
        (edrvInstance_l.initParam.aMacAddr[5] == 0))
    {   // read MAC address from controller
        getMacAdrs(edrvInstance_l.initParam.pDevName,
                   edrvInstance_l.initParam.aMacAddr);
    }

	edrvInstance_l.sock = socket(0, Sn_MR_MACRAW, 0,0);
    if (edrvInstance_l.sock < 0)
    {
        DEBUG_LVL_ERROR_TRACE("%s() cannot open socket\n", __func__);
        return kErrorEdrvInit;
    }

    edrvInstance_l.hThread = osThreadNew(workerThread,&edrvInstance_l,NULL);
//    // wait until thread is started
//    sem_wait(&edrvInstance_l.syncSem);

    return kErrorOk;
}
//------------------------------------------------------------------------------
/**
\brief  Event handler thread function

This function contains the main function for the event handler thread.

\param[in]      arg                 Thread parameter. Used to get the instance structure.

\return The function returns the thread exit code.
*/
//------------------------------------------------------------------------------
static void eventThread(void* arg)
{
    const tEventkCalInstance*   pInstance = (const tEventkCalInstance*)arg;
    osStatus_t waitResult;

    DEBUG_LVL_EVENTK_TRACE("Kernel event thread %d waiting for events...\n", GetCurrentThreadId());
    while (!pInstance->fStopThread)
    {
      waitResult = osSemaphoreAcquire(pInstance->semKernelData, 100UL);       // wait for max. 10 ticks for semaphore token to get available
			switch (waitResult) {
				case osOK:
					if (eventkcal_getEventCountCircbuf(kEventQueueKInt) > 0)
					{
							eventkcal_processEventCircbuf(kEventQueueKInt);
					}
					else
					{
							if (eventkcal_getEventCountCircbuf(kEventQueueU2K) > 0)
							{
									eventkcal_processEventCircbuf(kEventQueueU2K);
							}
					}
					break;
				case osErrorResource:
					DEBUG_LVL_ERROR_TRACE("kernel event osErrorResource!\n");
					break;
				case osErrorParameter:
					DEBUG_LVL_ERROR_TRACE("kernel event osErrorParameter!\n");
					break;
				case osErrorTimeout:
					DEBUG_LVL_ERROR_TRACE("kernel event timeout!\n");
					break;
				default:
					DEBUG_LVL_ERROR_TRACE("%s() Semaphore wait unknown error! \n",
                                      __func__);
					break;
			}
    }

    DEBUG_LVL_EVENTK_TRACE("Kernel event thread is exiting!\n");

}

edrv-rawsock_stm32.c文件移植：

这个很重要，网格底层通信相关的都在这个文件里。使用w5500模块提供的api,操作原始MAC报文帧的方式实现。pthread_mutex_lock和sem_post这些linux系统的互斥量和信号量等，都用RTX提供的相关接口替换。

//------------------------------------------------------------------------------
/**
\brief  Send Tx buffer

This function sends the Tx buffer.

\param[in,out]  pBuffer_p           Tx buffer descriptor

\return The function returns a tOplkError error code.

\ingroup module_edrv
*/
//------------------------------------------------------------------------------
tOplkError edrv_sendTxBuffer(tEdrvTxBuffer* pBuffer_p)
{
    int    sockRet;

    // Check parameter validity
    ASSERT(pBuffer_p != NULL);

    FTRACE_MARKER("%s", __func__);

    if (pBuffer_p->txBufferNumber.pArg != NULL)
        return kErrorInvalidOperation;

    if (getLinkStatus(edrvInstance_l.initParam.pDevName) == FALSE)
    {
        /* If there is no link, we pretend that the packet is sent and immediately call
         * tx handler. Otherwise the stack would hang! */
        if (pBuffer_p->pfnTxHandler != NULL)
        {
            pBuffer_p->pfnTxHandler(pBuffer_p);
        }
    }
    else
    {
        //pthread_mutex_lock(&edrvInstance_l.mutex);
			  osMutexAcquire(edrvInstance_l.mutex,osWaitForever);
        if (edrvInstance_l.pTransmittedTxBufferLastEntry == NULL)
        {
            edrvInstance_l.pTransmittedTxBufferLastEntry = pBuffer_p;
            edrvInstance_l.pTransmittedTxBufferFirstEntry = pBuffer_p;
        }
        else
        {
            edrvInstance_l.pTransmittedTxBufferLastEntry->txBufferNumber.pArg = pBuffer_p;
            edrvInstance_l.pTransmittedTxBufferLastEntry = pBuffer_p;
        }
        //pthread_mutex_unlock(&edrvInstance_l.mutex);
				osMutexRelease(edrvInstance_l.mutex);

        sockRet = send(edrvInstance_l.sock, (u_char*)pBuffer_p->pBuffer, (int)pBuffer_p->txFrameSize);
        if (sockRet < 0)
        {
            DEBUG_LVL_EDRV_TRACE("%s() send() returned %d\n", __func__, sockRet);
            return kErrorInvalidOperation;
        }
        else
        {
            packetHandler((u_char*)&edrvInstance_l, sockRet, pBuffer_p->pBuffer);
        }
    }

    return kErrorOk;
}
//------------------------------------------------------------------------------
/**
\brief  Edrv worker thread

This function implements the edrv worker thread. It is responsible to receive frames

\param[in,out]  pArgument_p         User specific pointer pointing to the instance structure

\return The function returns a thread error code.
*/
//------------------------------------------------------------------------------
static void workerThread(void* pArgument_p)
{
    tEdrvInstance*  pInstance = (tEdrvInstance*)pArgument_p;
    int             rawSockRet;
    u_char          aBuffer[EDRV_MAX_FRAME_SIZE];

    DEBUG_LVL_EDRV_TRACE("%s(): ThreadId:%ld\n", __func__, syscall(SYS_gettid));

    // signal that thread is successfully started
    //sem_post(&pInstance->syncSem);
	 osSemaphoreRelease(pInstance->syncSem);

    while (edrvInstance_l.fStartCommunication)
    {
        rawSockRet = recvfrom(edrvInstance_l.sock, aBuffer, EDRV_MAX_FRAME_SIZE, 0, 0);
        if (rawSockRet > 0)
        {
            packetHandler(pInstance, rawSockRet, aBuffer);
        }
    }
    edrvInstance_l.fThreadIsExited = TRUE;

}

从站demo移植

移植从站的demo, demo_cn_console文件夹里的从站demo，在上述协议栈成功移植的基础上，这部分从站demo移植很简单。

/*
** main function
**
**  Arguments:
**      none
**   
*/ 
int main (int argc, char* argv[]) 
{
  tOplkError  ret = kErrorOk;
	tOptions    opts;

	// System Initialization
  SystemCoreClockUpdate();
	
  if (getOptions(argc, argv, &opts) < 0)
     return 0;
	
  LED_Initialize();
	uart_init();
	//stdout_init();
	printf("hello test\r\n");
	LED_On(2);
	spi_init();
	
	reset_w5500();
	set_w5500_mac();
	set_w5500_ip();
	
	eventlog_init(opts.logFormat,
                  opts.logLevel,
                  opts.logCategory,
                  (tEventlogOutputCb)console_printlogadd);

	initEvents(&fGsOff_l);

	printf("----------------------------------------------------\n");
	printf("openPOWERLINK console CN DEMO application\n");
	printf("Using openPOWERLINK stack: %s\n", oplk_getVersionString());
	printf("----------------------------------------------------\n");

	eventlog_printMessage(kEventlogLevelInfo,
												kEventlogCategoryGeneric,
												"demo_cn_console: Stack version:%s Stack configuration:0x%08X",
												oplk_getVersionString(),
												oplk_getStackConfiguration());

	ret = initPowerlink(CYCLE_LEN,
											opts.devName,
											aMacAddr_l,
											opts.nodeId);
	if (ret != kErrorOk)
			goto Exit;

	ret = initApp();
	if (ret != kErrorOk)
			goto Exit;
 
  osKernelInitialize();                       // Initialize CMSIS-RTOS
  osThreadNew(Main_Loop_Thread, NULL, NULL);   // Create application main thread
  osThreadNew(LED_Blink_PortE, NULL, NULL);   // Create application test thread
  osKernelStart();                            // Start thread execution
  for (;;) 
  {
    //Dummy infinite for loop.
  }
Exit:	
	 printf("openPOWERLINK console Exit\n");
	 shutdownApp();
   shutdownPowerlink();
	 return 0;
}

如何使用

完成上述移植过程后，需要下载到板子上运行。需要配置好串口管脚，方便串口输出日志调试看。spi的管脚也需要根据板子上的实际资源配置好。然后接上网线，先运行起来主站，然后运行从站，结合串口打印日志调试。

猜你喜欢

转载自blog.csdn.net/qq8864/article/details/130918508
今日推荐
《美国对全球网络空间安全与发展的威胁和破坏》报告发布
火速冲上 GitHub 热榜 —— 开源编程语言、框架哪有这么可爱？
北京人形机器人创新中心发布全球首个纯电驱拟人奔跑的全尺寸人形机器人“天工”
LFOSSA 源来如此公开课 | 掌握云原生未来：CNCF 认证全面攻略与备考秘籍
周排行
循环神经网络（rnn）讲解
Tigao教程四：单独的关节运动
金蝶K3WISE15.0-注册套打教程
如何在Mac上配置Kubernetes
Android应用结束自身进程的方法
SpringMVC学习 十三 拦截器栈
中国驻洛杉矶总领馆举行新春招待会
HttpClient get post 发送
11 - three.js 笔记 - 绘制三维字体模型
Mysql递归获取某个父节点下面的所有子节点和子节点上的所有父节点
每日归档
更多
2024-05-01(4)
2024-04-30(1)
2024-04-29(40)
2024-04-28(0)
2024-04-27(56)
2024-04-26(39)
2024-04-25(22)
2024-04-24(36)
2024-04-23(26)
2024-04-22(39)

代码天地 © 2018 codetd.com

境外服务器   最新电视剧2022