EPL（Ethernet Powerlink）源码

(c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 www.systec-electronic.com openPOWERLINK.sourceforge.net openPOWERLINK - Quick Start Guide ================================== 1. Documentation ----------------- * The documentation of the openPOWERLINK protocol stack can be found in the subdirectory "Documenation". * Further documentation can be downloaded from http://www.systec-electronic.com/html/index.pl/en_download_OpenPOWERLINK It contains an introduction and a reference manual. A free registration is required for downloading. * The openPOWERLINK LiveCD with a ready-to-run Managing Node reference application is available as pre-configured ISO image from http://www.systec-electronic.com/openpowerlink_livecd * Update Guide for necessary changes to your application project, if you update from a previous version of openPOWERLINK, can be found in file update.txt. * License: Please refer to the file "license.txt" for information about the license of the source code. 2. Generic Requirements for all demo applications -------------------------------------------------- - POWERLINK network: * one or more POWERLINK I/O devices according device profile CiA-401 (i.e. Controlled Nodes) with the following PDO mapping: RPDO (PollRequest from MN): length = 1 or 2 Bytes containing the values for the digital outputs PDO version = 0 TPDO (PollResponse): length = min. 1 Byte containing the values from the digital inputs PDO version = 0 * Node-IDs of the Controlled Nodes (CN): 1, 32 or 110 * CAT5 cables to connect the POWERLINK devices with the demo application - openPOWERLINK demo application with node-ID 240/0xF0. When the demo application runs as MN (node-ID 240/0xF0) it drives a running light on the CNs. Otherwise it just behaves as CiA-401 I/O device. 3. Available demo applications ------------------------------- X86 PC and Linux operating system There are several demo applications available for Linux. Detailed documentation is located in Documentation/linux-x86.txt X86 PC with Microsoft Windows operating system (2000, XP or newer) and WinPcap driver installed: * simple MN demo for Microsoft Visual C 2005: = Examples\X86\Windows\VC8\demo_pcap * simple MN demo for Microsoft Visual C 2008: = Examples\X86\Windows\VC9\demo_pcap * MN demo with Configuration Manager (CFM) for Microsoft Visual C 2005: = Examples\X86\Windows\VC8\demo_cfm_pcap Freescale ColdFire MCF5484 (SYSTEC Development Board for ECUcore-5484) with Linux operating system (see section 3.2 for requirements) * simple CN demo which controls the LEDs and reads the pushbuttons on the devboard: = Examples\PLCcore-CF54\Linux\gnu\demo_cn_kernel * simple CN and MN demo which controls the LEDs and reads the pushbuttons on the devboard and drives a running light on other CNs if running as MN (node-ID 240/0xF0): = Examples\PLCcore-CF54\Linux\gnu\demo_mn_kernel Hilscher netX-500 (Evaluation board Hilscher NXEB 500-HMI) = GPL-Addon Package: Examples\netx500\Linux\gnu\demo_mn_kernel Atmel AT91RM9200 with Davicom DM9003 under Linux = Examples\at91rm9200\Linux\gnu\demo_mn_dm9003_kernel Altera Cyclone III on EBV DBC3C40 Development Board or SYS TEC ECUcore-EP3C Development Board with Nios II Soft-CPU and openMAC * CN demo which controls the LEDs and reads the pushbuttons on the devboard: = Examples\altera_nios2\no_os\gnu\demo_cn_3r1tpdo 3.3. Requirements for X86 Linux demos ------------------------------------- Detailed documentation is located in Documentation/linux-x86.txt 3.3. Requirements for ColdFire MCF5484 demo -------------------------------------------- - Linux-BSP and toolchain for ColdFire MCF5484 - SYSTEC Developmentboard for ECUcore-5484 - Host PC with Linux 3.4. Steps to build and execute the demo application for the MCF5484 -------------------------------------------------------------------- 1. Setup build environment on the host computer (e.g. install Linux-BSP and toolchain for ColdFire MCF5484) 2. Compile the sample application, e.g. for ColdFire MCF5484 with Linux execute the following commands $ cd Examples/PLCcore-CF54/Linux/gnu/demo_mn_kernel $ make 3. Copy the built sample application (i.e. the Linux kernel object epl.ko) to the target (e.g. via FTP or NFS) and run it. $ insmod epl.ko With an additional parameter 'nodeid' the node-ID can be set manually. It overwrites any hardware settings. $ insmod epl.ko nodeid=240 4. Now you may modify the sources to your needs and restart from 2. (e.g. change the cycle length and the network configuration in demo_main.c) 4. It does not work -------------------- 1. Check the kernel log $ dmesg 2. Make a trace with Wireshark on another PC that is connected to the POWERLINK network (www.wireshark.org) 3. Study the output of $ cat /proc/epl 4. Try to reset the NMT state machine with $ echo > /proc/epl (Hint: /proc/epl executes the NMT events defined in enum tEplNmtEvent in file Include/EplNmt.h like $ echo 0x13 > /proc/epl for NMT Reset Configuration) 5. If TCP/IP communication over the POWERLINK network does not work check the configuration of the virtual network interface and the routing $ ifconfig epl $ netstat -r