CN112667532B - EtherCAT slave controller and method based on DSP processor - Google Patents
EtherCAT slave controller and method based on DSP processor Download PDFInfo
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Abstract
本发明公开了一种基于DSP处理器的EtherCAT从站控制器及通信方法。该从站控制器包括：DSP处理器包括：与所述从站控制器连接的第一接口；以及至少三个与EtherCAT从站控制器连接的中断接口；所述EtherCAT从站控制器包括：与所述第一接口连接的第二接口；其中，DSP处理器配置为通过所述中断接口接收所述EtherCAT从站控制器获取的来自外部设备的请求信号，并根据所述请求信号通过所述第一接口与所述EtherCAT从站控制器进行数据交互。本发明实施例利用DSP处理器的第一接口与EtherCAT从站控制器进行连接，能够高效地进行DSP处理器与EtherCAT从站控制器之间的数据传输，EtherCAT从站控制器通过多个中断接口与DSP处理器进行同步信号的传输，有效提高信号传输效率，实现低成本、通用性强以及可配置性高的从站控制器。
The present invention discloses an EtherCAT slave controller and communication method based on a DSP processor. The slave controller comprises: the DSP processor comprises: a first interface connected to the slave controller; and at least three interrupt interfaces connected to the EtherCAT slave controller; the EtherCAT slave controller comprises: a second interface connected to the first interface; wherein the DSP processor is configured to receive a request signal from an external device obtained by the EtherCAT slave controller through the interrupt interface, and to perform data interaction with the EtherCAT slave controller through the first interface according to the request signal. The embodiment of the present invention utilizes the first interface of the DSP processor to connect with the EtherCAT slave controller, and can efficiently perform data transmission between the DSP processor and the EtherCAT slave controller. The EtherCAT slave controller transmits synchronization signals with the DSP processor through multiple interrupt interfaces, effectively improving the signal transmission efficiency, and realizing a low-cost, highly versatile and highly configurable slave controller.
Description
Technical Field
The present invention relates to the field of drive controllers. And more particularly, to an EtherCAT slave station controller based on a DSP processor and a communication method.
Background
On the interfaces of modern servo drive controllers, most of the external interfaces of the controllers comprise EtherCAT interfaces. However, there are problems in that the price in the market is relatively high and the implementation is diverse. One is an architecture using a controller plus an EtherCAT slave station controller, and the other is implemented by using a special type slave station controller. The cost of the first mode is relatively low, mainly depends on the cost price of the adopted controller and the EtherCAT slave station controller, but the model of the slave station controller adopted by manufacturers is different, so that great difficulty is brought to the design of the universal driving controller. The second approach is very costly and difficult to implement. Therefore, in either way, it is very difficult to design a generalized drive controller.
Therefore, a new EtherCAT slave station controller and communication method based on DSP processor are needed.
Disclosure of Invention
In order to achieve the above purpose, the invention adopts the following technical scheme:
The first aspect of the present invention provides an EtherCAT slave station controller based on a DSP processor, wherein the DSP processor comprises: a first interface connected to the slave station controller; and
At least three interrupt interfaces connected with the EtherCAT slave station controller; the EtherCAT slave station controller includes: a second interface connected to the first interface;
The DSP processor is configured to receive a request signal from the external equipment, which is acquired by the EtherCAT slave station controller, through the interrupt interface, and perform data interaction with the EtherCAT slave station controller through the first interface according to the request signal.
Further, the DSP processor is further configured to:
and configuring the EtherCAT slave station controller through the first interface to perform initialization setting.
Further, the DSP processor is further configured to obtain data to be read of the EtherCAT slave station controller corresponding to the request signal according to the request signal, and output the data to be read to the EtherCAT slave station controller.
Further, the EtherCAT slave station controller is further configured to acquire a synchronization signal from an external device, and output the synchronization signal to the DSP processor through the interrupt interface;
The DSP is further configured to latch the data to be read according to the synchronous signal, and output the latched data to be read in response to a next request signal acquired by the EtherCAT slave station controller.
Further, the DSP processor is a DSP28335 processor.
Further, the first interface is XINTF interfaces.
Further, the EtherCAT slave station controller is a LAN9252 slave station controller.
Further, the EtherCAT slave station controller further includes: a power interface connected with a power supply, an i2c interface connected with a memory and an external network interface connected with external equipment.
A second aspect of the present invention provides a method of communicating using the above-described secondary station controller, comprising:
Receiving a request signal of an external device to output a synchronization signal;
and carrying out data interaction with the EtherCAT slave station controller according to the synchronous signal.
Further, before receiving the request signal of the external device through the interrupt interface, the method further includes: and configuring the EtherCAT slave station controller through the first interface to perform initialization setting.
The beneficial effects of the invention are as follows:
Aiming at the existing problems, the invention provides an EtherCAT slave station controller based on a DSP processor, the first interface of the DSP processor is utilized to be connected with the EtherCAT slave station controller, the data transmission between the DSP processor and the EtherCAT slave station controller can be efficiently carried out, the EtherCAT slave station controller carries out synchronous signal transmission with the DSP processor through a plurality of interrupt interfaces, the signal transmission efficiency is effectively improved, and the slave station controller with low cost, strong universality and high configurability is realized. The EtherCAT slave station controller based on the DSP has the characteristics of high universality and low cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic diagram of an EtherCAT slave station controller based on a DSP processor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a framework of an interrupt interface of a LAN9252 slave controller according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a framework of XINTF interfaces of a DSP28335 processor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an external network interface of a DSP28335 processor according to an embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the present invention, the present invention will be further described with reference to preferred embodiments and the accompanying drawings. Like parts in the drawings are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and that this invention is not limited to the details given herein.
As shown in fig. 1, one embodiment of the present invention discloses an EtherCAT slave station controller based on a DSP processor, the DSP processor comprising: a first interface connected to the slave station controller; and
At least three interrupt interfaces connected with the EtherCAT slave station controller;
the EtherCAT slave station controller includes: a second interface connected to the first interface;
The DSP processor is configured to receive a request signal from the external equipment, which is acquired by the EtherCAT slave station controller, through the interrupt interface, and perform data interaction with the EtherCAT slave station controller through the first interface according to the request signal.
In this embodiment, the first interface of the DSP processor is connected to the EtherCAT slave station controller, so that data transmission between the DSP processor and the EtherCAT slave station controller can be efficiently performed, and the EtherCAT slave station controller performs synchronous signal transmission with the DSP processor through a plurality of interrupt interfaces, so that signal transmission efficiency is effectively improved, and a slave station controller with low cost, strong universality and high configurability is realized.
In some optional implementations of this embodiment, the DSP processor is further configured to obtain, from the request signal, data to be read by the EtherCAT slave station controller corresponding to the request signal, and output the data to be read to the EtherCAT slave station controller.
In this embodiment, the EtherCAT slave station controller acquires the data to be read corresponding to the request signal, and has fast data transmission speed and high efficiency.
In some optional implementations of this embodiment, the EtherCAT slave station controller is further configured to obtain a synchronization signal from an external device, and output the synchronization signal to the DSP processor through the interrupt interface;
The DSP is further configured to latch the data to be read according to the synchronous signal, and output the latched data to be read in response to a next request signal acquired by the EtherCAT slave station controller.
In the embodiment, the synchronous signal is rapidly output from the EtherCAT slave station controller to the DSP processor through three interrupt interfaces, so that the cost is low and the configurability is high.
In one specific example, fig. 2 shows a schematic diagram of the framework of the interrupt interface of the LAN9252 slave controller, through which pins 18 and 34 acquire SYNC0 synchronization signals from the DSP28335 processor for transmission of data to be read.
In a specific example, fig. 4 is a schematic diagram of an interrupt interface of the DSP28335 processor, through which a synchronization signal and a request signal are transmitted.
In some alternative implementations of the present embodiment, the DSP processor is a DSP28335 processor.
In some optional implementations of this embodiment, the first interface is a XINTF interface. In one specific example, the XINTF interface of the DSP28335 processor is shown in fig. 3.
In some alternative implementations of this embodiment, the EtherCAT slave station controller is a LAN9252 slave station controller.
In this embodiment, the DSP288335 processor is a general control processor in the market, which has the advantages of low cost and abundant peripheral resources, and the LAN9252 slave station controller can adapt to the EtherCAT communication interface in the market. Therefore, the present embodiment connects to the LAN9252 slave station controller through the XINTF interface (custom peripheral parallel interface) of the DSP28335 processor, which realizes efficient data transmission and has extremely high configurability and versatility.
In some optional implementations of this embodiment, the EtherCAT slave station controller further includes: a power interface connected with a power supply, an i2c interface connected with a memory and an external network interface connected with external equipment.
In one specific example, as shown in FIG. 1, the power interface is connected to the power supply of the EtherCAT slave controller, and the i2c interface interfaces with EEPROM memory. The EEPROM memory is used to store configuration information of the EtherCAT slave station controller, for example: device ID, interrupt time, device number, etc.
The process of communication by the slave station controller of this embodiment is as follows:
S10, the DSP processor configures the LAN9252 slave station controller through XINTF interface to perform initialization setting. The initialization includes configuring the device ID, device identification, communication period, mailbox identification, etc. of the EtherCAT slave station controller. In one specific example, configuration information for the initialization settings is stored in EEPROM memory that interfaces with LAN9252 slave station controller i2 c.
S20, waiting for an IRQ request signal after the initialization configuration is completed, and obtaining the IRQ request signal of external equipment by the LAN9252 from the station controller through an external network port interface and outputting the IRQ request signal to the DSP processor through an interrupt interface;
The DSP28335 processor reads the data to be read in the LAN9252 slave station controller corresponding to the IRQ request signal through the XINTF interface according to the request signal, and outputs the data to be read to the LAN9252 slave station controller.
S40, the LAN9252 slave station controller obtains SYNC0 synchronous signals of external equipment through an external network port interface, and outputs the SYNC0 synchronous signals to the DSP28335 processor through an interrupt interface;
and S50, the DSP28335 processor latches the data to be read according to the SYNC0 synchronizing signal and outputs the latched data to be read according to a next IRQ request signal acquired by the LAN9252 from the station controller, so that the whole communication process is realized.
The first interface of the DSP processor is connected with the EtherCAT slave station controller, so that data transmission between the DSP processor and the EtherCAT slave station controller can be efficiently performed, the DSP processor performs signal transmission with external equipment through a plurality of interrupt interfaces, the signal transmission efficiency is effectively improved, and the slave station controller with low cost, strong universality and high configurability is realized. The EtherCAT slave station controller based on the DSP has the characteristics of high universality and low cost.
Corresponding to the EtherCAT slave station controller based on the DSP processor provided in the present embodiment, a second embodiment of the present invention further provides a method for performing communication by using the EtherCAT slave station controller based on the DSP processor, where the method includes:
configuring the EtherCAT slave station controller through the first interface to perform initialization setting;
And receiving a request signal of external equipment through the interrupt interface, and carrying out data interaction with the EtherCAT slave station controller through the first interface according to the request signal.
In the communication process, the first interface of the DSP processor is connected with the EtherCAT slave station controller, so that data transmission between the DSP processor and the EtherCAT slave station controller can be efficiently carried out, the EtherCAT slave station controller carries out synchronous signal transmission with the DSP processor through a plurality of interrupt interfaces, the signal transmission efficiency is effectively improved, and the slave station controller with low cost, strong universality and high configurability is realized. The EtherCAT slave station controller based on the DSP has the characteristics of high universality and low cost.
It should be understood that the foregoing examples of the present invention are provided merely for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention, and that various other changes and modifications may be made therein by one skilled in the art without departing from the spirit and scope of the present invention as defined by the appended claims.
Claims (8)
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202282789U (en) * | 2011-08-24 | 2012-06-20 | 上海三一精机有限公司 | SOE (SERCOS OVER EtherCAT) communication conversion card for servo driver |
| CN103095537A (en) * | 2012-12-28 | 2013-05-08 | 武汉华中数控股份有限公司 | Numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1561491A (en) * | 2001-09-27 | 2005-01-05 | 皇家飞利浦电子股份有限公司 | Bus system and bus interface |
| KR102805364B1 (en) * | 2017-01-13 | 2025-05-12 | 삼성전자주식회사 | Application Processor and Integrated Circuit Including Interrupt Controller |
| CN110568806B (en) * | 2019-10-25 | 2022-05-06 | 上海电气集团股份有限公司 | Servo driver and servo driving system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202282789U (en) * | 2011-08-24 | 2012-06-20 | 上海三一精机有限公司 | SOE (SERCOS OVER EtherCAT) communication conversion card for servo driver |
| CN103095537A (en) * | 2012-12-28 | 2013-05-08 | 武汉华中数控股份有限公司 | Numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment |
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