Abstract: In order to match the EtherCAT protocol in the use of robot control system, this paper introduces a solution of robot servo controller based on COMX and STM32. Firstly COMX module's functions and structure are described, then the interface circuit based on the FSMC to control COMX is designed, while COMX drive and servo controller application software based on the hardware are realized. Lastly, a experimental platform is built to test communication function and analyze the forwarding delay, and the experiment shows the feasibility of this design.
STM32采用FSMC机制控制COMX，将COMX映射到STM32的内存空间中，对COMX的读写方式和读写SRAM相同。FSMC是集成在STM32F系列芯片上的外部存储器控制接口，FSMC能控制两种存储器： NOR Flash/SRAM控制器、 NAND Flash/PC卡控制器。嵌入式模块COMX通过一个50PIN插槽来连接主控芯片，插槽包含了与主机通信必备的控制线总线、16位数据总线和14位地址总线等；COMX与STM32的硬件电路图如图3所示，由电路图可知COMX内存映射到FSMC的第一个存储块的第四个分区中，起始地址为0x6C000000，并且采用8位数据宽度来读写DPM存储区。
M. Konyev, F. Palis, Y. Zavgorodniy, A. Melnikov. Walking robot ANTON: Design, simulation, experiments[C]. In Proceedings of CLAWAR 2008, 11th International Conference on Climbing and Walking Robots.