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资源说明：openPOWERLINK develop repo of SYS TEC
(c) SYSTEC electronic GmbH, D-08468 Heinsdorfergrund, Am Windrad 2
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 with Linux or Windows operating system
* MN demo application using a console based interface
= Examples\X86\Generic\demo_mn_console
* MN demo application using a Qt based interface
= Examples\X86\Generic\demo_mn_qt
These demo applications can be built for both Linux and Windows.
CMake is used as a cross-platform build system.
On Linux, these demo applications can be configured to use either
a pcap based stack that is located in user space, or to use a
stack that is located in kernel space.
Detailed documentation for Linux can be found in Documentation/linux-x86.txt
Supported Versions: 2.6.23 or later
Supported build environments: GCC
Requirements: libpcap http://www.tcpdump.org
CMake http://www.cmake.org
Qt http://qt.nokia.com/
On Windows, these demo applications only support a pcap based stack in
use space.
Supported Versions: Windows 2000, Xp, Vista, 7
Supported build environments: Microsoft Visual Studio 2005, 2008, 2010
Requirements: WinPcap http://www.winpcap.org
CMake http://www.cmake.org
Qt http://qt.nokia.com/
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, SYS TEC ECUcore-EP3C or TERASIC DE2-115
Development Board with Nios II Soft-CPU and POWERLINK IP-Core.
* CN demo which controls the LEDs and reads the pushbuttons on the devboard:
= Examples\altera_nios2\no_os\gnu\demo_directIO
Xilinx Spartan 6 on Industrial Ethernet Kit (IEK, LX150t) or MicroBoard (micro, LX9)
with Microblaze Soft-CPU and POWERLINK IP-Core.
* CN demo which controls the LEDs and reads the pushbuttons on the devboard:
= Examples\xilinx_microblaze\no_os\gnu\demo_directIO
3.1. Requirements for X86 Linux demos
-------------------------------------
Detailed documentation is located in Documentation/linux-x86.txt
3.2. Requirements for VxWorks demos
-------------------------------------
Detailed documentation is located in Documentation/vxworks.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. Requirements for Altera demos
-------------------------------------
Detailed documentation is located in Documentation/altera.txt
3.5. Requirements for Xilinx demos
-------------------------------------
Detailed documentation is located in Documentation/xilinx.txt
3.6. 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
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