连续折腾了多个晚上，又趁周末又花了一天时间，终于把powerlink协议移植成功到单片机上啦。本想放弃，但想了下不管我能不能用上，结个尾吧，分享给有需要的人。放弃并不难，但坚持一定很酷。为了移植测试这个协议花了不少血本。stm32开发板就买了两套，其中第一套板子在移植过程中发现内存不够用，型号买小啦，最后买了stm32F407ZGT6的开发板。

前言

STM32F407ZGT6芯片资源1M的falsh,192k的内存够用了。买的第一套Alientek的miniSTM32开发板芯片型号stm32F103RCT6，芯片资源256k的flash，48k的ram不够用（主要是ram不够用）。因为移植过程中发现这powerlink协议栈挺占内存的，rom倒是占的不大。

汇总下资源占用情况，分享给有需要的人参考。(资源包含嵌入式系统RTX内核源码和从站demo功能源码在内)

Program Size: Code=94008 RO-data=15352 RW-data=4204 ZI-data=62212

RW-data+ZI-data 内存占用 4204+62212 = 66416，超过60K了，主要是字典文件占用内存大。Rom占用：94k。

项目开源，欢迎测试评测。开源地址：powerlink-stm32: powerlink-stm32

GitHub - yangyongzhen/powerlink-stm32: openPOWERLINK stack on stm32 mcu transplant

我使用的开发板如下图所示长这样：

移植工程结构：

从工程结构上看，我把涉及改动的文件都单独放到port文件夹了。里面涉及的文件挺多的，不过好在代码量不太大。使用Keil自带的RTX嵌入式内核系统的相关特性，移植不算难。

移植过程

协议栈移植

移植过程参考之前分享的一篇文章《POWERLINK协议源码(最新)在stm32单片机上的移植指南》POWERLINK协议源码(最新)在stm32单片机上的移植指南，把涉及的相关文件摘出来。

屏蔽掉跟系统或驱动相关的接口和编译错误，建立工程目录结构。

netif-stm32.c和target-stm32.c代码量不大，很好移植。

target-stm32.c中主要涉及target_msleep，target_enableGlobalInterrupt，target_getTickCount等的实现。使用RTX系统的相关api实现即可。target_setIpAdrs接口不需要，留空即可。

target-mutex.c文件移植：

/**
\brief  Create MutexThe function creates a mutex.\param[in]      mutexName_p         The name of the mutex to create.
\param[out]     pMutex_p            Pointer to store the created mutex.\return The function returns a tOplkError error code.
\retval kErrorOk                    Mutex was successfully created.
\retval kErrorNoFreeInstance        An error occurred while creating the mutex.\ingroup module_target
*/
//------------------------------------------------------------------------------
tOplkError target_createMutex(const char* mutexName_p,OPLK_MUTEX_T* pMutex_p)
{UNUSED_PARAMETER(mutexName_p);pMutex_p =  osMutexNew(NULL);return kErrorOk;
}//------------------------------------------------------------------------------
/**
\brief  Destroy MutexThe function destroys a mutex.\param[in]      mutexId_p           The ID of the mutex to destroy.\ingroup module_target
*/
//------------------------------------------------------------------------------
void target_destroyMutex(OPLK_MUTEX_T mutexId_p)
{
//CloseHandle(mutexId_p);if(mutexId_p != NULL){osMutexDelete(mutexId_p);}
}//------------------------------------------------------------------------------
/**
\brief  Lock MutexThe function locks a mutex.\param[in]      mutexId_p           The ID of the mutex to lock.\return The function returns a tOplkError error code.
\retval kErrorOk                    Mutex was successfully locked.
\retval kErrorNoFreeInstance        An error occurred while locking the mutex.\ingroup module_target
*/
//------------------------------------------------------------------------------
tOplkError target_lockMutex(OPLK_MUTEX_T mutexId_p)
{tOplkError  ret;osStatus_t status;ret = kErrorOk;if (mutexId_p != NULL) {status = osMutexAcquire(mutexId_p, osWaitForever);if (status != osOK)  {// handle failure code}}    return ret;
}//------------------------------------------------------------------------------
/**
\brief  Unlock MutexThe function unlocks a mutex.\param[in]      mutexId_p           The ID of the mutex to unlock.\ingroup module_target
*/
//------------------------------------------------------------------------------
void target_unlockMutex(OPLK_MUTEX_T mutexId_p)
{//ReleaseMutex(mutexId_p);osStatus_t status;if (mutexId_p != NULL)  {status = osMutexRelease(mutexId_p);if (status != osOK)  {// handle failure code}}
}int target_lock(void)
{target_enableGlobalInterrupt(FALSE);return 0;
}
int target_unlock(void)
{target_enableGlobalInterrupt(TRUE);return 0;
}

使用RTX的Mutex互斥量api接口，这部分很容易移植。

circbuf-stm32.c文件中，主要涉及加锁和解锁，也好移植。

//------------------------------------------------------------------------------
/**
\brief  Lock circular bufferThe function enters a locked section of the circular buffer.\param[in]      pInstance_p         Pointer to circular buffer instance.\ingroup module_lib_circbuf
*/
//------------------------------------------------------------------------------
void circbuf_lock(tCircBufInstance* pInstance_p)
{osStatus_t              waitResult;tCircBufArchInstance*   pArchInstance;// Check parameter validityASSERT(pInstance_p != NULL);pArchInstance = (tCircBufArchInstance*)pInstance_p->pCircBufArchInstance;waitResult = osMutexAcquire(pArchInstance->lockMutex, osWaitForever);switch (waitResult) {case osOK:break;default:DEBUG_LVL_ERROR_TRACE("%s() Mutex wait unknown error! Error:%ld\n",__func__);break;}
}//------------------------------------------------------------------------------
/**
\brief  Unlock circular bufferThe function leaves a locked section of the circular buffer.\param[in]      pInstance_p         Pointer to circular buffer instance.\ingroup module_lib_circbuf
*/
//------------------------------------------------------------------------------
void circbuf_unlock(tCircBufInstance* pInstance_p)
{tCircBufArchInstance* pArchInstance;// Check parameter validityASSERT(pInstance_p != NULL);pArchInstance = (tCircBufArchInstance*)pInstance_p->pCircBufArchInstance;osMutexRelease(pArchInstance->lockMutex);
}

eventkcal-stm32.c文件移植：

这个参考了eventkcal-win32.c的实现，比 eventkcal-linux.c的简单些。使用RTX的信号量机制，实现替代也不难。

//------------------------------------------------------------------------------
/**
\brief  Ethernet driver initializationThis function initializes the Ethernet driver.\param[in]      pEdrvInitParam_p    Edrv initialization parameters\return The function returns a tOplkError error code.\ingroup module_edrv
*/
//------------------------------------------------------------------------------
tOplkError edrv_init(const tEdrvInitParam* pEdrvInitParam_p)
{// Check parameter validityASSERT(pEdrvInitParam_p != NULL);// Clear instance structureOPLK_MEMSET(&edrvInstance_l, 0, sizeof(edrvInstance_l));if (pEdrvInitParam_p->pDevName == NULL)return kErrorEdrvInit;// Save the init dataedrvInstance_l.initParam = *pEdrvInitParam_p;edrvInstance_l.fStartCommunication = TRUE;edrvInstance_l.fThreadIsExited = FALSE;// If no MAC address was specified read MAC address of used// Ethernet interfaceif ((edrvInstance_l.initParam.aMacAddr[0] == 0) &&(edrvInstance_l.initParam.aMacAddr[1] == 0) &&(edrvInstance_l.initParam.aMacAddr[2] == 0) &&(edrvInstance_l.initParam.aMacAddr[3] == 0) &&(edrvInstance_l.initParam.aMacAddr[4] == 0) &&(edrvInstance_l.initParam.aMacAddr[5] == 0)){   // read MAC address from controllergetMacAdrs(edrvInstance_l.initParam.pDevName,edrvInstance_l.initParam.aMacAddr);}edrvInstance_l.sock = socket(0, Sn_MR_MACRAW, 0,0);if (edrvInstance_l.sock < 0){DEBUG_LVL_ERROR_TRACE("%s() cannot open socket\n", __func__);return kErrorEdrvInit;}edrvInstance_l.hThread = osThreadNew(workerThread,&edrvInstance_l,NULL);
//    // wait until thread is started
//    sem_wait(&edrvInstance_l.syncSem);return kErrorOk;
}

//------------------------------------------------------------------------------
/**
\brief  Event handler thread functionThis function contains the main function for the event handler thread.\param[in]      arg                 Thread parameter. Used to get the instance structure.\return The function returns the thread exit code.
*/
//------------------------------------------------------------------------------
static void eventThread(void* arg)
{const tEventkCalInstance*   pInstance = (const tEventkCalInstance*)arg;osStatus_t waitResult;DEBUG_LVL_EVENTK_TRACE("Kernel event thread %d waiting for events...\n", GetCurrentThreadId());while (!pInstance->fStopThread){waitResult = osSemaphoreAcquire(pInstance->semKernelData, 100UL);       // wait for max. 10 ticks for semaphore token to get availableswitch (waitResult) {case osOK:if (eventkcal_getEventCountCircbuf(kEventQueueKInt) > 0){eventkcal_processEventCircbuf(kEventQueueKInt);}else{if (eventkcal_getEventCountCircbuf(kEventQueueU2K) > 0){eventkcal_processEventCircbuf(kEventQueueU2K);}}break;case osErrorResource:DEBUG_LVL_ERROR_TRACE("kernel event osErrorResource!\n");break;case osErrorParameter:DEBUG_LVL_ERROR_TRACE("kernel event osErrorParameter!\n");break;case osErrorTimeout:DEBUG_LVL_ERROR_TRACE("kernel event timeout!\n");break;default:DEBUG_LVL_ERROR_TRACE("%s() Semaphore wait unknown error! \n",__func__);break;}}DEBUG_LVL_EVENTK_TRACE("Kernel event thread is exiting!\n");}

edrv-rawsock_stm32.c文件移植：

这个很重要，网格底层通信相关的都在这个文件里。使用w5500模块提供的api,操作原始MAC报文帧的方式实现。pthread_mutex_lock和sem_post这些linux系统的互斥量和信号量等，都用RTX提供的相关接口替换。

//------------------------------------------------------------------------------
/**
\brief  Send Tx bufferThis function sends the Tx buffer.\param[in,out]  pBuffer_p           Tx buffer descriptor\return The function returns a tOplkError error code.\ingroup module_edrv
*/
//------------------------------------------------------------------------------
tOplkError edrv_sendTxBuffer(tEdrvTxBuffer* pBuffer_p)
{int    sockRet;// Check parameter validityASSERT(pBuffer_p != NULL);FTRACE_MARKER("%s", __func__);if (pBuffer_p->txBufferNumber.pArg != NULL)return kErrorInvalidOperation;if (getLinkStatus(edrvInstance_l.initParam.pDevName) == FALSE){/* If there is no link, we pretend that the packet is sent and immediately call* tx handler. Otherwise the stack would hang! */if (pBuffer_p->pfnTxHandler != NULL){pBuffer_p->pfnTxHandler(pBuffer_p);}}else{//pthread_mutex_lock(&edrvInstance_l.mutex);osMutexAcquire(edrvInstance_l.mutex,osWaitForever);if (edrvInstance_l.pTransmittedTxBufferLastEntry == NULL){edrvInstance_l.pTransmittedTxBufferLastEntry = pBuffer_p;edrvInstance_l.pTransmittedTxBufferFirstEntry = pBuffer_p;}else{edrvInstance_l.pTransmittedTxBufferLastEntry->txBufferNumber.pArg = pBuffer_p;edrvInstance_l.pTransmittedTxBufferLastEntry = pBuffer_p;}//pthread_mutex_unlock(&edrvInstance_l.mutex);osMutexRelease(edrvInstance_l.mutex);sockRet = send(edrvInstance_l.sock, (u_char*)pBuffer_p->pBuffer, (int)pBuffer_p->txFrameSize);if (sockRet < 0){DEBUG_LVL_EDRV_TRACE("%s() send() returned %d\n", __func__, sockRet);return kErrorInvalidOperation;}else{packetHandler((u_char*)&edrvInstance_l, sockRet, pBuffer_p->pBuffer);}}return kErrorOk;
}

//------------------------------------------------------------------------------
/**
\brief  Edrv worker threadThis function implements the edrv worker thread. It is responsible to receive frames\param[in,out]  pArgument_p         User specific pointer pointing to the instance structure\return The function returns a thread error code.
*/
//------------------------------------------------------------------------------
static void workerThread(void* pArgument_p)
{tEdrvInstance*  pInstance = (tEdrvInstance*)pArgument_p;int             rawSockRet;u_char          aBuffer[EDRV_MAX_FRAME_SIZE];DEBUG_LVL_EDRV_TRACE("%s(): ThreadId:%ld\n", __func__, syscall(SYS_gettid));// signal that thread is successfully started//sem_post(&pInstance->syncSem);osSemaphoreRelease(pInstance->syncSem);while (edrvInstance_l.fStartCommunication){rawSockRet = recvfrom(edrvInstance_l.sock, aBuffer, EDRV_MAX_FRAME_SIZE, 0, 0);if (rawSockRet > 0){packetHandler(pInstance, rawSockRet, aBuffer);}}edrvInstance_l.fThreadIsExited = TRUE;}

从站demo移植

移植从站的demo, demo_cn_console文件夹里的从站demo，在上述协议栈成功移植的基础上，这部分从站demo移植很简单。

/*
** main function
**
**  Arguments:
**      none
**
*/
int main (int argc, char* argv[])
{tOplkError  ret = kErrorOk;tOptions    opts;// System InitializationSystemCoreClockUpdate();if (getOptions(argc, argv, &opts) < 0)return 0;LED_Initialize();uart_init();//stdout_init();printf("hello test\r\n");LED_On(2);spi_init();reset_w5500();set_w5500_mac();set_w5500_ip();eventlog_init(opts.logFormat,opts.logLevel,opts.logCategory,(tEventlogOutputCb)console_printlogadd);initEvents(&fGsOff_l);printf("----------------------------------------------------\n");printf("openPOWERLINK console CN DEMO application\n");printf("Using openPOWERLINK stack: %s\n", oplk_getVersionString());printf("----------------------------------------------------\n");eventlog_printMessage(kEventlogLevelInfo,kEventlogCategoryGeneric,"demo_cn_console: Stack version:%s Stack configuration:0x%08X",oplk_getVersionString(),oplk_getStackConfiguration());ret = initPowerlink(CYCLE_LEN,opts.devName,aMacAddr_l,opts.nodeId);if (ret != kErrorOk)goto Exit;ret = initApp();if (ret != kErrorOk)goto Exit;osKernelInitialize();                       // Initialize CMSIS-RTOSosThreadNew(Main_Loop_Thread, NULL, NULL);   // Create application main threadosThreadNew(LED_Blink_PortE, NULL, NULL);   // Create application test threadosKernelStart();                            // Start thread executionfor (;;) {//Dummy infinite for loop.}
Exit:   printf("openPOWERLINK console Exit\n");shutdownApp();shutdownPowerlink();return 0;
}

如何使用

完成上述移植过程后，需要下载到板子上运行。需要配置好串口管脚，方便串口输出日志调试看。spi的管脚也需要根据板子上的实际资源配置好。然后接上网线，先运行起来主站，然后运行从站，结合串口打印日志调试。

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POWERLINK协议在stm32单片机+w5500移植成功经验分享

前言

移植过程

协议栈移植

从站demo移植

如何使用

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