最近着了powerlink的道，连续几晚十二点前没睡过觉。不得不说兴趣这东西劲太大了，让人睡不着。喜欢上研究POWERLINK，最新版的源码结构挺清晰的，移植并测试了嵌入式linux作为从站和电脑主站之间的通信，挺有趣的。接下来想尝试下在单片机上的移植，降低POWERLINK协议的使用门槛，让POWERLINK协议可以用的更广泛，算是件有意义的事。
以下分享下openPOWERLINK最新源码v2.7.2在单片机上的移植思路。
使用倒推法（由编译结果去推导需要依赖的代码文件），能够直观的看到平台差异性相关的文件。因此移植也很简单，照着以下指南来，肯定没问题。
openPOWERLINK最新源码地址：openPOWERLINK :: openPOWERLINK
powerlink不错的协议，但国人大都去卷ethercat了。我想powerlink这么好的协议真没啥难的，了解后会觉得比485总线还好用。之前就难资料太少，没人去研究推动和分享，我想趁我兴致正浓就多输出几篇分享给大家。
前提条件
openPOWERLINK源码要想成功运行在单片机上，需要一定的前提条件。最起码单片机板子上得有以太网功能吧。至于是否得有tcp/ip协议栈才能运行powerlink? 这个是非必要的，也就是说即便单片机板子上只有MCU+MAC+PHY芯片，没有移植lwip协议栈也是可以的。
如果是单片机mcu内核涵盖MAC链路层功能，则直接外接一颗PHY芯片即可。这需要单片机具备mac接口，一般像stm32F4系列以上的稍微高端点的单片机才具有mac功能。
媒体访问控制(MAC，Media Access Control)，又称作介质访问控制，简称MAC，是局域网中数据链路层的下层部分，提供地址及媒体访问的控制方式，使得不同设备或网络上的节点可以在多点的网络上通信，而不会互相冲突，上述的特性在局域网中格外重要。早期网络发展时以MAC判别各个网络接口的位置，但后来互联网发展后，才有IP的制定与使用。若只是两台设备之间全双工的通信，因为两台设备可以同时发送及接收数据，不会冲突，因此不需要用到MAC协议。
媒体访问控制MAC子层负责解决与媒体接入有关的问题，在物理层的基础上进行无差错的通信。
MAC子层是网络与设备的接口，它从网络层接收数据帧，然后通过媒体访问规则和物理层将数据帧发送到物理链路上。它也从物理层接收数据帧，再送到网络层。总的来说，MAC有三大功能：
1.决定节点何时发送数据包。
2.将数据帧发送到物理层，然后发送到物理链路。
3.从物理层接收数据帧，然后送给网络层处理。
其中最重要的是第一点：决定节点何时发送数据包。对于每一种媒体访问控制技术，用来控制节点发送时机的规则叫做媒体访问规则。局域网上的节点不能想要发送数据就发送，节点只能在轮到它的时候才发送。
仅有STM32自带的MAC还不能做网络通信，还需要外接以太网PHY芯片才可以，如同RS485通信一样，仅有一个串口是不行的，还需要外接RS485的PHY芯片。
PHY（Port Physical Layer），可称之为端口物理层，是一个对OSI模型物理层的简称。现在常用于STM32的有DP83848，LAN8270，DM9161/9162等。这些PHY芯片都大同小异，基本寄存器都是一样的，只有扩展寄存和厂商专门设置的寄存器不同。如果用户将其中一个PHY驱动成功了，驱动另一个也是非常方便的。
如果低端点儿单片机没MAC功能呢？如何外接以太网芯片？办法也是有的，现在有的厂商提供集成的模块儿，自带MAC和PHY芯片的功能，对外通过SPI接口操作访问。如常用的芯片w5500芯片，就是一颗集成了MAC和PHY功能的芯片，通过SPI接口可以访问和使用。SPI接口几乎高低端的单片机都有的常见接口。W5500 芯片是一款集成全硬件 TCP/IP 协议栈的嵌入式以太网控制器，同时也是一颗工业级以太网控制芯片。是韩国WIZnet（微知纳特）发布全硬件TCP/IP协议栈以太网接口芯片。W5500 支持高速标准4线SPI接口与主机进行通信，该 SPI 速率理论上可以达到 80MHz。
综上所述，POWERLINK协议栈源码对单片机的要求并不高，一般的单片机都能满足，无论单片机mcu上是否具备MAC接口。协议栈源码也不是很大，不过当然mcu性能越高越好了。
还有需要注意的是，如果单片机是使用的三方库提供的接口操作以太网模块，需要确认下接口是否具备直接操作发送mac报文帧的能力。因为powerlink的链路层可没有走tcp/ip协议栈，直接操作的mac报文帧。
此外对单片机的要求，最好具备嵌入式操作系统如Rtx，rtthread,freeRTOS或ucosII等多任务系统，这样才能更方便移植和使用。嵌入式系统最好具备软件定时器功能，方便实现用户层的定时器功能。
移植指南
以下先给出一个编译过程日志，是POWERLINK协议栈嵌入式linux环境下的编译过程。通过整个编译过程可以看出有哪些文件源码参与了liboplkcn.a协议栈库的生成。（注，从站和主站用的是不同的协议栈库，从站的协议栈库叫liboplkcn.a，主站的是liboplkmn.a）
用倒推法，以结果为导向倒过来推导，就能很清晰的看明白，如果要移植到单片机上，有哪些接口是必须要实现的。
linux下的编译日志
从站协议栈库编译日志
以下为嵌入式linux平台上的编译日志，从站协议栈库liboplkcn.a：
-- CMAKE_SYSTEM_NAME is Linux
-- CMAKE_SYSTEM_PROCESSOR is arm
-- Adding CMAKE configuration options for Linux
-- Configuring oplkcn
-- Configuring done
-- Generating done
-- Build files have been written to: /root/test/powerlink/stack/build/arm-linux
root@hecs-287347:~/test/powerlink/stack/build/arm-linux# make
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编译日志分析
从日志过程看，源码也不多嘛，因此到此处应该增加对移植成功的信心。
接下来分析，跟linux平台相关的源码有哪些？
重要的文件，src/kernel/edrv/edrv-rawsock_linux.c.o
这个是跟底层网络通信相关的核心驱动所在。
接下来的跟linux平台相关的还有：
src/kernel/veth/veth-linuxuser.c.o
src/arch/linux/target-linux.c.o
src/arch/linux/target-mutex.c.o
src/arch/linux/netif-linux.c.o
src/arch/linux/ftracedebug.c.o
src/kernel/event/eventkcal-linux.c.o
src/kernel/timer/hrestimer-posix.c.o
src/user/timer/timer-linuxuser.c.o
src/user/event/eventucal-linux.c.o
src/user/sdo/sdoudp-linux.c.o
就这些啦，看着像是很多？但是这里面其实有几个是不需要的，如sdoudp-linux.c,veth-linuxuser.c，
为何这两个文件不需要移植？先看下openPOWERLINK的代码架构框图：
图中标注的sdo接口部分似乎走了UDP协议，非得依赖tcp/ip协议栈？如果是使用了UDP那协议栈肯定是少不了了。
单片机上还得移植lwip协议栈？其实不用的，很简单。因为通过查看分析源码可以知道，虽然openPOWERLINK的sdo实现走了udp协议，但是这sdo发送接口是可配置的，它可以不使用udp发送，虽然看到的编译过程日志里有src/user/sdo/sdoudp-linux.c和src/user/sdo/sdoudp.c,但是CONFIG_INCLUDE_SDO_UDP这个配置并未启用。
sdoasnd.c，SDO over ASnd protocol，未配置CONFIG_INCLUDE_SDO_UDP，这样不走udp协议，则不需要非得有tcp/ip协议栈（当然单片机有tcp/ip协议栈也行，不影响） 。
src/kernel/veth/veth-linuxuser.c这个文件虽然编译日志里有它，但是实际也未用到。因为未启用CONFIG_INCLUDE_VETH这个宏定义。因此src/kernel/veth这个文件夹下的也可以略过。
最后剩下的涉及改动的文件，只有：
src/kernel/edrv/edrv-rawsock_linux.c.o
src/arch/linux/target-linux.c.o
src/arch/linux/target-mutex.c.o
src/arch/linux/netif-linux.c.o
src/arch/linux/ftracedebug.c.o
src/kernel/event/eventkcal-linux.c.o
src/kernel/timer/hrestimer-posix.c
src/user/timer/timer-linuxuser.c.o
src/user/event/eventucal-linux.c.o
再检查下看看还有没涉及到，发现还有个文件src/common/circbuf/circbuf-posixshm.c
它是个关于环形缓冲区的实现，这个好像依赖了posix规范。如果单片机环境中不具备的话，这个也好办，到src/common/circbuf下看看，有没有其他的实现，直接找一个拿来用就行啦。
其他的类似，如果不知道如何移植，可参照对应文件夹下的其他平台的实现照猫画虎，依葫芦画瓢，相信肯定都能搞定。
最后的最后，把以上涉及到的文件，单独摘出来到单片机里用吧，有了从站库，至于应用开发，就是调用接口而已，就这么简单。
重要移植文件分析
主要的需要移植的文件有：
src/kernel/edrv/edrv-rawsock_linux.c //链路层网络帧通信
src/kernel/timer/hrestimer-posix.c // 高精度定时器的实现
src/user/timer/timer-linuxuser.c
src/user/event/eventucal-linux.c //事件机制的实现
附：
主站协议栈库编译日志
主站协议栈库（liboplkmn.a）的编译日志，如果需要移植主站协议栈库可以参考。
-- CMAKE_SYSTEM_NAME is Linux
-- CMAKE_SYSTEM_PROCESSOR is arm
-- Adding CMAKE configuration options for Linux
-- Configuring oplkmn
-- Configuring done
-- Generating done
-- Build files have been written to: /root/test/powerlink/stack/build/arm-linux
root@hecs-287347:~/test/powerlink/stack/build/arm-linux# make
[ 1%] Building C object proj/linux/liboplkmn/CMakeFiles/oplkmn.dir/__/__/__/src/user/api/generic.c.o
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Windows下的编译日志
顺便也给出windows下的从站和主站协议栈库的编译日志，可以相互对比下差异。
Windows下的从站库日志：
====================[ Build | oplkcn | Debug ]==================================
"D:\Program Files\JetBrains\CLion 2021.3.3\bin\cmake\win\bin\cmake.exe" --build E:\test\cpp\openPOWERLINK_V2.7.2\stack\cmake-build-debug --target oplkcn
[1/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\api\processimage.c.obj
[2/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\nmt\nmtu.c.obj
[3/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\api\sdotest.c.obj
[4/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\api\service.c.obj
[5/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\obd\obdal.c.obj
[6/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\api\generic.c.obj
[7/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\nmt\identu.c.obj
[8/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\obd\obdu.c.obj
[9/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\nmt\nmtmnu.c.obj
[10/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\event\eventu.c.obj
[11/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\nmt\nmtcnu.c.obj
[12/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\nmt\statusu.c.obj
[13/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\dll\dllucal.c.obj
[14/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdotest-com.c.obj
[15/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdotest-seq.c.obj
[16/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\pdo\pdoucal-triplebufshm.c.obj
[17/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdocom-dummy.c.obj
[18/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdocom.c.obj
[19/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\nmt\syncu.c.obj
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[21/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\pdo\pdoucal.c.obj
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[23/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdocomclt.c.obj
[24/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdocomsrv.c.obj
[25/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\obd\obdconfcrc-generic.c.obj
[26/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\pdo\pdou.c.obj
[27/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\sdo\sdoseq.c.obj
[28/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\ctrl\ctrlu.c.obj
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[32/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\event\eventucalintf-circbuf.c.obj
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[38/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\user\event\eventucal-win32.c.obj
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[45/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\event\eventk.c.obj
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[53/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\pdo\pdok.c.obj
[54/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\pdo\pdokcal.c.obj
[55/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\dll\dllkframe.c.obj
[56/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\errhnd\errhndk.c.obj
[57/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\led\ledk.c.obj
[58/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\errhnd\errhndkcal.c.obj
[59/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\ctrl\ctrlkcal-direct.c.obj
[60/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\ctrl\ctrlk.c.obj
[61/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\dll\dllkcal-circbuf.c.obj
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[63/80] Building C object proj\windows\liboplkcn\CMakeFiles\oplkcn.dir\__\__\__\src\kernel\pdo\pdokcalmem-local.c.obj
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移植完成，欢迎交流。
其他资源
openPOWERLINK: openPOWERLINK
openPOWERLINK: openPOWERLINK Porting Guide
