文件名称：如何选择软件代码？-en50159(iec62280_gbt24339)轨道交通_通信、信号和处理系统_传输系统中的安全相关通信
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更新时间：2024-06-29 06:22:43
EtherCAT
第三节 如何选择软件代码？ 从站程序应确保支持如下重要功能： 1.COE fully supported ,including EMCY 2.Support dynamic PDO mapping 3.SDO fully supported,especially for SDO Expedited Transfer,SDO Normal Transfer,SDO Segment Transfer,SDO Information, Complete Access 4.ESI generation via XML-Editor and EtherCAT Studio 5.OD creation from OD.XML 6.Have full distributed clocks functions s 7.Provide adaption to STM 32- the adaptation is proven by test on real hardware- the delivery is in source code. 应用程序的设计可以参考免费的 ET9300 或者商业版代码（要求源代码提供，买断式），可选常见平台的 demo。具体对比如下： 下面这个表格是从更加细节的角度做的对比： Feature KPA EtherCAT从站代码 免费样本代码 Number of supported input/output SMs Not limited in the stack Only one input and one output SM are supported in the samples Process Images processing API functions for data exchange between Process Images and objects (usually call of one function is enough) The Process Images processing must be implemented in the application Object Dictionary creation Creation in application code or loading from an xml-file (standard format) Creation in application code Binding objects with variables Each object’s entry can be bound with individual variable (by its pointer) An object can’t consist of some different variables - only one pointer can be bound to the whole of the object (e.g. a structure with all variables for the object’s entries) CoE object parameters All parameters are supported, the processing is implemented in the stack MIN, MAX, DEFAUL values for objects are not supported Mapping flexibility No difference for user between fixing and not fixing mapping Only fixing mapping is implemented in the sample applications, implementations are applications-specific CoE SDO processing Full support in the stack Mailbox fragmentation is not supported for objects and entries description Slave stack usage simplicity For general slave application it is enough to call a little number of Some slave functionality must be implemented in the