阅读说明：本技术 基于DSP处理器的EtherCAT从站控制器及方法 (EtherCAT slave station controller and method based on DSP processor ) 是由 张寒冰 于 2020-12-11 设计创作，主要内容包括：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 invention discloses an EtherCAT slave station controller based on a DSP processor and a communication method. The slave station controller includes: the DSP processor includes: a first interface connected with the slave station controller; and at least three interrupt interfaces connected with the EtherCAT slave station controller; the EtherCAT slave station controller comprises: a second interface connected with the first interface; the DSP processor is configured to receive a request signal from external equipment 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. The embodiment of the invention utilizes the first interface of the DSP processor to be connected with the EtherCAT slave station controller, can efficiently transmit data between the DSP processor and the EtherCAT slave station controller, and the EtherCAT slave station controller transmits synchronous signals with the DSP processor through a plurality of interrupt interfaces, thereby effectively improving the signal transmission efficiency and realizing the slave station controller with low cost, strong universality and high configurability.)

1. An EtherCAT slave station controller based on a DSP processor is characterized in that,

the DSP processor includes: a first interface connected with the slave station controller; and

at least three interrupt interfaces connected with the EtherCAT slave station controller; the EtherCAT slave station controller comprises: a second interface connected with the first interface;

the DSP processor is configured to receive a request signal from external equipment 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.

2. The slave station controller of claim 1, wherein the DSP processor is further configured to:

and configuring the EtherCAT slave station controller through the first interface to carry out initialization setting.

3. The slave station controller of claim 2,

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.

4. The slave station controller of claim 3,

the EtherCAT slave station controller is also configured to acquire a synchronous signal from external equipment and output the synchronous signal to the DSP processor through the interrupt interface;

the DSP processor is also configured to latch the data to be read according to the synchronization signal and output the latched data to be read in response to a next request signal acquired by the EtherCAT from a station controller.

5. The slave station controller of claim 1, wherein the DSP processor is a DSP28335 processor.

6. The slave station controller of claim 1, wherein the first interface is an XINTF interface.

7. The slave station controller of claim 1, wherein the EtherCAT slave station controller is a LAN9252 slave station controller.

8. The slave station controller of claim 4, wherein the EtherCAT slave station controller further comprises: a power interface to connect with a power source, an i2c interface to connect with a memory, and an external portal interface to connect with an external device.

9. A method of communicating using a slave station controller according to any of claims 1 to 8, comprising:

receiving a request signal of an external device to output a synchronization signal;

and performing data interaction with the EtherCAT slave station controller according to the synchronous signal.

10. The method of claim 9, wherein receiving a request signal of an external device via the interrupt interface is preceded by: and configuring the EtherCAT slave station controller through the first interface to carry out initialization setting.

Technical Field

The present invention relates to the field of drive controllers. And more particularly, to an EtherCAT slave station controller and a communication method based on a DSP processor.

Background

On the interface of the modern servo drive controller, most of the external interfaces of the controller comprise an EtherCAT interface. However, the price on the market is high, and the realization modes are various. One is the architecture of the controller + EtherCAT slave station controller, and the other is the architecture of the special type slave station controller. The cost of the first mode is low, and is mainly determined by the cost price of the adopted controllers and the EtherCAT slave station controllers, but the design of the universal driving controller is greatly difficult due to different models of the slave station controllers adopted by manufacturers. The second approach is very costly and difficult to implement. Therefore, in either case, the design of a universal drive controller presents great difficulties.

Therefore, a new EtherCAT slave station controller and communication method based on a DSP processor is needed.

Disclosure of Invention

In order to achieve the purpose, the invention adopts the following technical scheme:

the invention provides an EtherCAT slave station controller based on a DSP processor in a first aspect, wherein the DSP processor comprises: a first interface connected with the slave station controller; and

at least three interrupt interfaces connected with the EtherCAT slave station controller; the EtherCAT slave station controller comprises: a second interface connected with the first interface;

the DSP processor is configured to receive a request signal from external equipment 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 carry out 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 also 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 processor is also configured to latch the data to be read according to the synchronization signal and output the latched data to be read in response to a next request signal acquired by the EtherCAT from a station controller.

Further, the DSP processor is a DSP28335 processor.

Further, the first interface is an XINTF interface.

Further, the EtherCAT slave station controller is a LAN9252 slave station controller.

Further, the EtherCAT slave station controller further includes: a power interface to connect with a power source, an i2c interface to connect with a memory, and an external portal interface to connect with an external device.

The second aspect of the present invention provides a method for communication using the slave station controller, including:

receiving a request signal of an external device to output a synchronization signal;

and performing data interaction with the EtherCAT slave station controller according to the synchronous signal.

Further, before receiving a request signal of an external device through the interrupt interface, the method further includes: and configuring the EtherCAT slave station controller through the first interface to carry out initialization setting.

The invention has the following beneficial effects:

the EtherCAT slave station controller based on the DSP processor is provided for solving the existing problems, the first interface of the DSP processor is connected with the EtherCAT slave station controller, 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 processor has the characteristics of high universality and low cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 shows a schematic diagram of a frame of an EtherCAT slave station controller based on a DSP processor according to an embodiment of the present invention;

FIG. 2 is a block diagram of an interrupt interface of a LAN9252 slave station controller according to an embodiment of the present invention;

FIG. 3 is a block diagram of the XINTF interface of the DSP28335 processor according to the embodiment of the present invention;

fig. 4 is a block diagram of an external portal interface of a DSP28335 processor according to an embodiment of the present invention.

Detailed Description

In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures 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 is not to be taken as limiting the scope of the invention.

As shown in fig. 1, an embodiment of the present invention discloses an EtherCAT slave station controller based on a DSP processor, where the DSP processor includes: a first interface connected with the slave station controller; and

at least three interrupt interfaces connected with the EtherCAT slave station controller;

the EtherCAT slave station controller comprises: a second interface connected with the first interface;

the DSP processor is configured to receive a request signal from external equipment 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 transmission of synchronization signals with the DSP processor through a plurality of interrupt interfaces, thereby effectively improving signal transmission efficiency, and realizing a slave station controller with low cost, high versatility, and high configurability.

In some optional implementation manners of this embodiment, 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.

In this embodiment, the EtherCAT acquires the data to be read corresponding to the request signal from the station controller, and the data transmission speed is high and the efficiency is high.

In some optional implementations of this embodiment, 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 processor is also configured to latch the data to be read according to the synchronization signal and output the latched data to be read in response to a next request signal acquired by the EtherCAT from a station controller.

In the embodiment, the synchronous signals are quickly 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 block diagram of the interrupt interface of the LAN9252 from the station controller, through which pins 18 and 34 obtain SYNC0 synchronization signals from the DSP28335 processor for data transmission to be read.

In a specific example, fig. 4 is a schematic diagram of a framework of an interrupt interface of the DSP28335 processor, and the transmission of the synchronization signal and the request signal is performed through the interrupt interface.

In some optional implementations of this embodiment, the DSP processor is a DSP28335 processor.

In some optional implementations of this embodiment, the first interface is an XINTF interface. In one specific example, the XINTF interface of the DSP28335 processor is shown in FIG. 3.

In some optional 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 on the market, and has the advantages of low cost, rich peripheral resources, and the like, and the LAN9252 slave station controller can adapt to the EtherCAT communication interface on the market. Therefore, in this embodiment, the XINTF interface (custom peripheral parallel interface) of the DSP28335 processor is connected to the slave station controller of the LAN9252, so that efficient data transmission is realized, and at the same time, the configurability and the versatility are extremely high.

In some optional implementations of this embodiment, the EtherCAT slave station controller further includes: a power interface to connect with a power source, an i2c interface to connect with a memory, and an external portal interface to connect with an external device.

In one specific example, as shown in fig. 1, the power interface is connected to the power supply of the EtherCAT slave station controller, and the i2c interface is connected to the EEPROM memory. The EEPROM memory is used for storing configuration information of the EtherCAT slave station controller, for example: device ID, interrupt time, and device number, etc.

The procedure of communication using the slave station controller of the present embodiment is as follows:

s10, the DSP processor configures the LAN9252 slave station controller via the XINTF interface to perform initialization settings. The initialization comprises the steps of configuring equipment ID, equipment identification, communication period, mailbox identification, mailbox label and the like of the EtherCAT slave station controller. In one specific example, the configuration information for the initialization settings is stored in an EEPROM memory that interfaces with the LAN9252 slave station controller i2 c.

S20, after the initialization configuration is completed, waiting for an IRQ request signal, the LAN9252 obtaining the IRQ request signal of the external device from the station controller through the external network interface, and outputting the IRQ request signal to the DSP processor through the interrupt interface;

the S30 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, LAN9252 obtains SYNC0 synchronizing signal of external device from station controller through external network interface, and outputs SYNC0 synchronizing signal to DSP28335 processor through interrupt interface;

the S50 and DSP28335 processors latch the data to be read according to the SYNC0 synchronization signal and output the latched data to be read according to the next IRQ request signal obtained from the station controller by the LAN9252, thereby realizing the whole communication process.

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 DSP processor performs signal transmission with an external device through a plurality of interrupt interfaces, thereby effectively improving signal transmission efficiency, and realizing a slave station controller with low cost, high versatility, and high configurability. The EtherCAT slave station controller based on the DSP processor has the characteristics of high universality and low cost.

Corresponding to the EtherCAT slave station controller based on the DSP processor provided in this embodiment, a second embodiment of the present invention further provides a method for performing communication 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 carry out initialization setting;

and receiving a request signal of external equipment through the interrupt interface, and performing 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, data transmission between the DSP processor and the EtherCAT slave station controller can be efficiently carried out, the EtherCAT slave station controller carries out transmission of synchronous signals 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 processor has the characteristics of high universality and low cost.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.