AB&T / Mbed OS EasyCAT_LAB

EasyCAT LAB - EtherCAT master legacy example

Dependencies:   SOEM SPI_STMPE610 SPI_TFT_ILI9341 TFT_fonts

The EasyCAT LAB is a complete educational and experimental EtherCAT® system, composed of one master and two slaves .

/media/uploads/EasyCAT/easycat_lab.jpg

/media/uploads/EasyCAT/components.jpg

config.h@0:7077d8f28b3e, 2019-06-11 (annotated)

Committer:
sulymarco
Date:
Tue Jun 11 10:19:08 2019 +0000
Revision:
0:7077d8f28b3e
Child:
2:7d4fd6354015
Added SPI speed parameter

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sulymarco 0:7077d8f28b3e 1 #ifndef config_H
sulymarco 0:7077d8f28b3e 2 #define config_H
sulymarco 0:7077d8f28b3e 3
sulymarco 0:7077d8f28b3e 4 #include "ethercat.h"
sulymarco 0:7077d8f28b3e 5
sulymarco 0:7077d8f28b3e 6
sulymarco 0:7077d8f28b3e 7 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 8
sulymarco 0:7077d8f28b3e 9 #define LAB_1 1
sulymarco 0:7077d8f28b3e 10 #define LAB_2 2
sulymarco 0:7077d8f28b3e 11
sulymarco 0:7077d8f28b3e 12 /*
sulymarco 0:7077d8f28b3e 13 #define EK1100 3
sulymarco 0:7077d8f28b3e 14 #define EL2004 4
sulymarco 0:7077d8f28b3e 15 #define EL1014 5
sulymarco 0:7077d8f28b3e 16 */
sulymarco 0:7077d8f28b3e 17
sulymarco 0:7077d8f28b3e 18 #define SLAVE_NUM 2
sulymarco 0:7077d8f28b3e 19 //#define SLAVE_NUM 5
sulymarco 0:7077d8f28b3e 20
sulymarco 0:7077d8f28b3e 21 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 22
sulymarco 0:7077d8f28b3e 23
sulymarco 0:7077d8f28b3e 24 #define IO_MAP_SIZE 256
sulymarco 0:7077d8f28b3e 25
sulymarco 0:7077d8f28b3e 26
sulymarco 0:7077d8f28b3e 27
sulymarco 0:7077d8f28b3e 28 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 29
sulymarco 0:7077d8f28b3e 30 typedef struct __attribute__((__packed__))
sulymarco 0:7077d8f28b3e 31 {
sulymarco 0:7077d8f28b3e 32 uint8_t Alarm;
sulymarco 0:7077d8f28b3e 33 }out_LAB_1t;
sulymarco 0:7077d8f28b3e 34
sulymarco 0:7077d8f28b3e 35 typedef struct __attribute__((__packed__))
sulymarco 0:7077d8f28b3e 36 {
sulymarco 0:7077d8f28b3e 37 float Temperature;
sulymarco 0:7077d8f28b3e 38 }in_LAB_1t;
sulymarco 0:7077d8f28b3e 39
sulymarco 0:7077d8f28b3e 40 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 41
sulymarco 0:7077d8f28b3e 42 typedef struct __attribute__((__packed__))
sulymarco 0:7077d8f28b3e 43 {
sulymarco 0:7077d8f28b3e 44 uint8_t Segments;
sulymarco 0:7077d8f28b3e 45 }out_LAB_2t;
sulymarco 0:7077d8f28b3e 46
sulymarco 0:7077d8f28b3e 47 typedef struct __attribute__((__packed__))
sulymarco 0:7077d8f28b3e 48 {
sulymarco 0:7077d8f28b3e 49 uint16_t Potentiometer;
sulymarco 0:7077d8f28b3e 50 uint8_t Buttons;
sulymarco 0:7077d8f28b3e 51 }in_LAB_2t;
sulymarco 0:7077d8f28b3e 52
sulymarco 0:7077d8f28b3e 53 /*
sulymarco 0:7077d8f28b3e 54 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 55
sulymarco 0:7077d8f28b3e 56 typedef struct __attribute__((__packed__))
sulymarco 0:7077d8f28b3e 57 {
sulymarco 0:7077d8f28b3e 58 uint8_t Out_0:1;
sulymarco 0:7077d8f28b3e 59 uint8_t Out_1:1;
sulymarco 0:7077d8f28b3e 60 uint8_t Out_2:1;
sulymarco 0:7077d8f28b3e 61 uint8_t Out_3:1;
sulymarco 0:7077d8f28b3e 62 uint8_t PAD:4;
sulymarco 0:7077d8f28b3e 63 }out_EL2004t;
sulymarco 0:7077d8f28b3e 64
sulymarco 0:7077d8f28b3e 65 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 66
sulymarco 0:7077d8f28b3e 67 typedef struct __attribute__((__packed__))
sulymarco 0:7077d8f28b3e 68 {
sulymarco 0:7077d8f28b3e 69 uint8_t In_0:1;
sulymarco 0:7077d8f28b3e 70 uint8_t In_1:1;
sulymarco 0:7077d8f28b3e 71 uint8_t In_2:1;
sulymarco 0:7077d8f28b3e 72 uint8_t In_3:1;
sulymarco 0:7077d8f28b3e 73 uint8_t PAD:4;
sulymarco 0:7077d8f28b3e 74 }in_EL1014t;
sulymarco 0:7077d8f28b3e 75
sulymarco 0:7077d8f28b3e 76
sulymarco 0:7077d8f28b3e 77 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 78 */
sulymarco 0:7077d8f28b3e 79
sulymarco 0:7077d8f28b3e 80 out_LAB_1t *out_LAB_1;
sulymarco 0:7077d8f28b3e 81 in_LAB_1t *in_LAB_1;
sulymarco 0:7077d8f28b3e 82
sulymarco 0:7077d8f28b3e 83 out_LAB_2t *out_LAB_2;
sulymarco 0:7077d8f28b3e 84 in_LAB_2t *in_LAB_2;
sulymarco 0:7077d8f28b3e 85
sulymarco 0:7077d8f28b3e 86 /*
sulymarco 0:7077d8f28b3e 87 out_EL2004t *out_EL2004;
sulymarco 0:7077d8f28b3e 88
sulymarco 0:7077d8f28b3e 89 in_EL1014t *in_EL1014;
sulymarco 0:7077d8f28b3e 90 */
sulymarco 0:7077d8f28b3e 91
sulymarco 0:7077d8f28b3e 92 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 93
sulymarco 0:7077d8f28b3e 94 char IOmap[IO_MAP_SIZE];
sulymarco 0:7077d8f28b3e 95 char IOmapSafe[IO_MAP_SIZE];
sulymarco 0:7077d8f28b3e 96
sulymarco 0:7077d8f28b3e 97
sulymarco 0:7077d8f28b3e 98 void MapLocalStructures (void)
sulymarco 0:7077d8f28b3e 99 {
sulymarco 0:7077d8f28b3e 100 out_LAB_1 = (out_LAB_1t*)((char *)ec_slave[LAB_1].outputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:7077d8f28b3e 101 in_LAB_1 = (in_LAB_1t*)((char *)ec_slave[LAB_1].inputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:7077d8f28b3e 102
sulymarco 0:7077d8f28b3e 103 out_LAB_2 = (out_LAB_2t*)((char *)ec_slave[LAB_2].outputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:7077d8f28b3e 104 in_LAB_2 = (in_LAB_2t*)((char *)ec_slave[LAB_2].inputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:7077d8f28b3e 105
sulymarco 0:7077d8f28b3e 106 /*
sulymarco 0:7077d8f28b3e 107 out_EL2004 = (out_EL2004t*)((char *)ec_slave[EL2004].outputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:7077d8f28b3e 108
sulymarco 0:7077d8f28b3e 109 in_EL1014 = (in_EL1014t*)((char *)ec_slave[EL1014].inputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:7077d8f28b3e 110 */
sulymarco 0:7077d8f28b3e 111 }
sulymarco 0:7077d8f28b3e 112
sulymarco 0:7077d8f28b3e 113
sulymarco 0:7077d8f28b3e 114
sulymarco 0:7077d8f28b3e 115 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 116
sulymarco 0:7077d8f28b3e 117 uint32_t network_configuration(void)
sulymarco 0:7077d8f28b3e 118 {
sulymarco 0:7077d8f28b3e 119
sulymarco 0:7077d8f28b3e 120 if (ec_slavecount != SLAVE_NUM) // check if the number of slaves matches what we expect
sulymarco 0:7077d8f28b3e 121 return 0;
sulymarco 0:7077d8f28b3e 122
sulymarco 0:7077d8f28b3e 123 if (strcmp(ec_slave[LAB_1].name,"LAB_1")) // verify slave by slave that the slave names are correct
sulymarco 0:7077d8f28b3e 124 return 0;
sulymarco 0:7077d8f28b3e 125
sulymarco 0:7077d8f28b3e 126 else if (strcmp(ec_slave[LAB_2].name,"LAB_2"))
sulymarco 0:7077d8f28b3e 127 return 0;
sulymarco 0:7077d8f28b3e 128
sulymarco 0:7077d8f28b3e 129 /*
sulymarco 0:7077d8f28b3e 130 else if (strcmp(ec_slave[EK1100].name,"EK1100"))
sulymarco 0:7077d8f28b3e 131 return 0;
sulymarco 0:7077d8f28b3e 132
sulymarco 0:7077d8f28b3e 133 else if (strcmp(ec_slave[EL2004].name,"EL2004"))
sulymarco 0:7077d8f28b3e 134 return 0;
sulymarco 0:7077d8f28b3e 135
sulymarco 0:7077d8f28b3e 136 else if (strcmp(ec_slave[EL1014].name,"EL1014"))
sulymarco 0:7077d8f28b3e 137 return 0;
sulymarco 0:7077d8f28b3e 138 */
sulymarco 0:7077d8f28b3e 139
sulymarco 0:7077d8f28b3e 140 return 1;
sulymarco 0:7077d8f28b3e 141 }
sulymarco 0:7077d8f28b3e 142
sulymarco 0:7077d8f28b3e 143
sulymarco 0:7077d8f28b3e 144 #endif