Research And Implementation Of An Embedded EtherCAT Master Based On STM32

The rapid advancement of network communication technology has become a new power source for the development of industrial control.Industrial Ethernet has emerged.It has gradually made network and digitization become industrial control automation with its advantages such as high speed,high precision,large data volume,low cost and wide application.The new development direction of the field.Ether CAT technology,as the one with the best real-time performance and the most flexible topology among many real-time industrial Ethernets,has become the most popular research and application direction in the field of industrial control.However,due to the late start in China,the share of the Ether CAT master station has been occupied by foreign software for a long time.The not-low licensing and procurement costs have discouraged many small and medium-sized production companies,weakening the motivation for the transformation and upgrading of the mid-and downstream industries.In this project,in cooperation with Yinchuan Hoyee Technology Co.,Ltd.,in response to the high cost and low flexibility of the commonly used master station solutions,we developed a low-cost,flexible and reliable Ether CAT master station for their small and medium-sized enterprises,and bus-type drivers.Form a set of advanced industrial control system.To this end,this article mainly does the following work:First of all,a general master station design plan was formulated in accordance with the needs of the design object,and it was proposed to use the ARM core STM32F407 processor with PHY as the hardware platform of the Ether CAT master station;Around the ARM main control chip,the hardware circuit of each module of the main station is designed,including serial port debugging module,power supply module and Ethernet peripheral module.Next,we analyze the principle and structure of SOEM open source protocol stack in detail,modify and cut it and port it to the hardware platform;discard the operating system of multi-threaded processing,write intermediate modules to provide the driver interface of Ethernet peripherals for the upper protocols,so that the master protocol stack can run directly on the bare metal,further improving the real-time performance and stability;design and write applications such as the startup-running cycle of the master,the slave state machine control,etc.,and design and implement the two highlight functions of the master network port redundancy and hot plugging.The design and writing of applications,such as the master's start-up cycle,slave state machine control,etc.,and the design and implementation of the master's network port redundancy and hot-swapping are two highlights,which greatly improve the reliability of the system;study the common T-and Scurve acceleration and deceleration algorithms and the master interpolation algorithm to optimize the system control effect,and complete the simulation verification on MATLAB.Finally,the bus-type stepper driver is selected as the slave controller to drive the stepper motor,and a set of test platform is built with the master station;the configuration program is written to complete the configuration of various parameters from the master station to the slave station,and a series of tests are conducted on the functions and performance of the master station designed in this topic.The test results show that the embedded master designed in this paper can correctly complete the basic functions of communication control,showing good stability and reliability,and obtaining better realtime performance compared with other non-real-time platform masters.