《2025 DigiKey AI应用创意挑战赛》基于RT1176与LAN9253的EtherCAT从站控制器
本帖最后由 eefocus_4191458 于 2026-2-3 00:56 编辑## 一， 项目简介
** **本项目旨在构建一个高性能的**EtherCAT分布式多轴运动控制与状态监测系统**。系统以**NXP i.MX RT1176**跨界MCU作为核心处理器，搭配**Microchip LAN9253** EtherCAT从站控制器（ESC），实现数字输入输出可以用于限位开关、急停等安全功能。
## 二，硬件部分
### (1) RT1176
* **电源部分**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/002944r0hmid0cb52zt19d.png)
* **晶振**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/002953in2482nt8v2tzujj.png)
* **主控**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003003ps7bk5b1bhdfakuh.png)
* **BOOT\_CONFIG**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003014gdqt0ooziqdiwjej.png)
* **ETHERNET**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003026zgpphivjpbnknzrb.png)!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003035b53gg5gh2awqgnxw.png)!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003049a94zbu60xzbfewuu.png)
* **flash**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003234unzamnhjjssx7dd7.png)
### (2) LAN9253
* **主控部分**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003101ebrbrpsf1gr1d1pg.png)
* **ECAT\_IN**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003108ntjpyrtwy8rvuytp.png)
* **ECAT\_OUT**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003114ciisuem15uqx1sbn.png)
* **电源及滤波**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003135c3cjm3vvd0vm3izm.png)
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003144gz97a2ov743faq2v.png)
* **EEPROM**
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/003150jrgn6xb6gbjkrerj.png)
## 三，软件部分
**修改XML文件，通过SSCTool 生成ethaecat从站代码。**
**将代码的SPI，IRQ，SYNC0，SYNC1，和心跳定时器接口进行修改。需要注意的是，IRQ，SYNC0，SYNC1，和心跳定时器的中断需要由ethercat协议栈统一调度，所以在此之前需要保障这些中断是关闭的。**
## 四，实物演示
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/005535ul28vevflv0n16dv.png)
!(https://www.eefocus.com/forum/data/attachment/forum/202602/03/004813eddcc43b4055tdl0.gif)
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