AB&T / Mbed OS EasyCAT_LAB_simple

EasyCAT LAB - EtherCAT master simple example

Dependencies:   SOEM SPI_TFT_ILI9341 TFT_fonts

  • This repository contains a simple example for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves.

Note

  • This example uses two LAB 2 slaves.

Note

  • In this example only two bytes of data are exchanged between the slaves and are also visualized on the TFT display.

main.cpp@0:13be39911caf, 2019-07-08 (annotated)

Committer:
sulymarco
Date:
Mon Jul 08 17:44:47 2019 +0000
Revision:
0:13be39911caf
Child:
1:385bdd2b4cd6
first release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sulymarco 0:13be39911caf 1 //********************************************************************************************
sulymarco 0:13be39911caf 2 // *
sulymarco 0:13be39911caf 3 // This software is distributed as an example, "AS IS", in the hope that it could *
sulymarco 0:13be39911caf 4 // be useful, WITHOUT ANY WARRANTY of any kind, express or implied, included, but *
sulymarco 0:13be39911caf 5 // not limited, to the warranties of merchantability, fitness for a particular *
sulymarco 0:13be39911caf 6 // purpose, and non infringiment. In no event shall the authors be liable for any *
sulymarco 0:13be39911caf 7 // claim, damages or other liability, arising from, or in connection with this software. *
sulymarco 0:13be39911caf 8 // *
sulymarco 0:13be39911caf 9 //********************************************************************************************
sulymarco 0:13be39911caf 10
sulymarco 0:13be39911caf 11
sulymarco 0:13be39911caf 12 // The AB&T EasyCAT LAB is a complete experimental EtherCAT® system, composed by
sulymarco 0:13be39911caf 13 // one master and two slaves.
sulymarco 0:13be39911caf 14 // The EasyCAT LAB software is provided free of charge and its pourpose is to allow
sulymarco 0:13be39911caf 15 // makers and educational institutes to experiment with the EtherCAT® protocol.
sulymarco 0:13be39911caf 16 //
sulymarco 0:13be39911caf 17 // The EasyCAT LAB is developed by "AB&T Tecnologie Informatiche" Via dell'About 2A Ivrea Italy.
sulymarco 0:13be39911caf 18 // www.bausano.net
sulymarco 0:13be39911caf 19 // www.easycatshield.com
sulymarco 0:13be39911caf 20 //
sulymarco 0:13be39911caf 21 // The EasyCAT LAB uses the SOEM library by rt:labs
sulymarco 0:13be39911caf 22 // https://rt-labs.com/products/soem-ethercat-master-stack/
sulymarco 0:13be39911caf 23 //
sulymarco 0:13be39911caf 24 // EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH.
sulymarco 0:13be39911caf 25 // www.beckhoff.com
sulymarco 0:13be39911caf 26 // www.ethercat.org
sulymarco 0:13be39911caf 27
sulymarco 0:13be39911caf 28
sulymarco 0:13be39911caf 29 #define ETH_TXBUFNB 16
sulymarco 0:13be39911caf 30 #define ETH_RXBUFNB 16
sulymarco 0:13be39911caf 31
sulymarco 0:13be39911caf 32 #include "mbed.h"
sulymarco 0:13be39911caf 33
sulymarco 0:13be39911caf 34 #ifndef __align
sulymarco 0:13be39911caf 35 #define __align MBED_ALIGN
sulymarco 0:13be39911caf 36 #endif
sulymarco 0:13be39911caf 37
sulymarco 0:13be39911caf 38 #include "config.h"
sulymarco 0:13be39911caf 39 #include "SPI_TFT_ILI9341.h"
sulymarco 0:13be39911caf 40 #include "Arial12x12.h"
sulymarco 0:13be39911caf 41 #include "Arial24x23.h"
sulymarco 0:13be39911caf 42 #include "Arial28x28.h"
sulymarco 0:13be39911caf 43 #include "font_big.h"
sulymarco 0:13be39911caf 44 #include "soem_start.h"
sulymarco 0:13be39911caf 45
sulymarco 0:13be39911caf 46 #define CYCLE_TIME 1000 // master cycle time in uS
sulymarco 0:13be39911caf 47 // 1000 = 1mS
sulymarco 0:13be39911caf 48
sulymarco 0:13be39911caf 49
sulymarco 0:13be39911caf 50 #define SysMilliS() (uint32_t)Kernel::get_ms_count()
sulymarco 0:13be39911caf 51
sulymarco 0:13be39911caf 52 Serial pc(USBTX,USBRX,115200); // set the debug serial line speed to 115200
sulymarco 0:13be39911caf 53
sulymarco 0:13be39911caf 54
sulymarco 0:13be39911caf 55 //---- TFT with resistive touchscreen pins -------------------------------------
sulymarco 0:13be39911caf 56
sulymarco 0:13be39911caf 57 // the display used is the SeeedStudio 2.8 inch TFT v2.0
sulymarco 0:13be39911caf 58 // http://wiki.seeedstudio.com/2.8inch_TFT_Touch_Shield_v2.0/
sulymarco 0:13be39911caf 59
sulymarco 0:13be39911caf 60 #define PIN_YP A3 // resistive touchscreen
sulymarco 0:13be39911caf 61 #define PIN_YM A1 //
sulymarco 0:13be39911caf 62 #define PIN_XM A2 //
sulymarco 0:13be39911caf 63 #define PIN_XP A0 //
sulymarco 0:13be39911caf 64
sulymarco 0:13be39911caf 65 #define PIN_MOSI D11 // TFT display SPI
sulymarco 0:13be39911caf 66 #define PIN_MISO D12 //
sulymarco 0:13be39911caf 67 #define PIN_SCLK D13 //
sulymarco 0:13be39911caf 68 #define PIN_CS_TFT D5 //
sulymarco 0:13be39911caf 69 #define PIN_DC_TFT D6 //
sulymarco 0:13be39911caf 70
sulymarco 0:13be39911caf 71
sulymarco 0:13be39911caf 72
sulymarco 0:13be39911caf 73 //---- visualization parameters ------------------------------------------------
sulymarco 0:13be39911caf 74
sulymarco 0:13be39911caf 75 #define BUTTONS_1_X 80
sulymarco 0:13be39911caf 76 #define BUTTONS_1_Y 60
sulymarco 0:13be39911caf 77
sulymarco 0:13be39911caf 78 #define BUTTONS_2_X 80
sulymarco 0:13be39911caf 79 #define BUTTONS_2_Y 180
sulymarco 0:13be39911caf 80
sulymarco 0:13be39911caf 81
sulymarco 0:13be39911caf 82 #define BUTTONS_1_WIDTH 26
sulymarco 0:13be39911caf 83 #define BUTTONS_1_R 3
sulymarco 0:13be39911caf 84 #define BUTTONS_1_STEP 60
sulymarco 0:13be39911caf 85
sulymarco 0:13be39911caf 86 #define BUTTONS_2_WIDTH BUTTONS_1_WIDTH
sulymarco 0:13be39911caf 87 #define BUTTONS_2_R BUTTONS_1_R
sulymarco 0:13be39911caf 88 #define BUTTONS_2_STEP BUTTONS_1_STEP
sulymarco 0:13be39911caf 89
sulymarco 0:13be39911caf 90
sulymarco 0:13be39911caf 91 //---- local functions ---------------------------------------------------------
sulymarco 0:13be39911caf 92
sulymarco 0:13be39911caf 93 void DrawBanner();
sulymarco 0:13be39911caf 94 void DrawSlaveFixedParts();
sulymarco 0:13be39911caf 95 void DrawButtons_1_Value(uint8_t Value);
sulymarco 0:13be39911caf 96 void DrawButtons_2_Value(uint8_t Value);
sulymarco 0:13be39911caf 97
sulymarco 0:13be39911caf 98 void Application();
sulymarco 0:13be39911caf 99
sulymarco 0:13be39911caf 100
sulymarco 0:13be39911caf 101 //---- global variables --------------------------------------------------------
sulymarco 0:13be39911caf 102
sulymarco 0:13be39911caf 103
sulymarco 0:13be39911caf 104 bool FirstRound;
sulymarco 0:13be39911caf 105
sulymarco 0:13be39911caf 106 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 107
sulymarco 0:13be39911caf 108 SPI_TFT_ILI9341 TFT(PIN_MOSI, PIN_MISO, PIN_SCLK, PIN_CS_TFT, NC, PIN_DC_TFT);
sulymarco 0:13be39911caf 109
sulymarco 0:13be39911caf 110 Ticker SampleTicker;
sulymarco 0:13be39911caf 111 Thread thread;
sulymarco 0:13be39911caf 112
sulymarco 0:13be39911caf 113 DigitalOut Test_1(D1); // debug test points
sulymarco 0:13be39911caf 114 DigitalOut Test_2(D2); //
sulymarco 0:13be39911caf 115 DigitalOut Test_3(D3); //
sulymarco 0:13be39911caf 116 DigitalOut Test_4(D4); //
sulymarco 0:13be39911caf 117
sulymarco 0:13be39911caf 118
sulymarco 0:13be39911caf 119 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 120
sulymarco 0:13be39911caf 121 uint8_t Buttons_1;
sulymarco 0:13be39911caf 122 uint8_t PrevButtons_1;
sulymarco 0:13be39911caf 123 uint8_t Segments_1;
sulymarco 0:13be39911caf 124 uint8_t PrevSegments_1;
sulymarco 0:13be39911caf 125
sulymarco 0:13be39911caf 126 uint8_t Buttons_2;
sulymarco 0:13be39911caf 127 uint8_t PrevButtons_2;
sulymarco 0:13be39911caf 128 uint8_t Segments_2;
sulymarco 0:13be39911caf 129 uint8_t PrevSegments_2;
sulymarco 0:13be39911caf 130
sulymarco 0:13be39911caf 131
sulymarco 0:13be39911caf 132 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 133
sulymarco 0:13be39911caf 134 int ExpectWorkCounter;
sulymarco 0:13be39911caf 135 int WorkCounter;
sulymarco 0:13be39911caf 136 int WorkCounterSafe;
sulymarco 0:13be39911caf 137 bool NetworkError;
sulymarco 0:13be39911caf 138 bool NetworkErrorSafe;
sulymarco 0:13be39911caf 139
sulymarco 0:13be39911caf 140 #define DATA_EXCHANGE_FLAG (1UL << 0)
sulymarco 0:13be39911caf 141 #define APPLICATION_FLAG (1UL << 1)
sulymarco 0:13be39911caf 142
sulymarco 0:13be39911caf 143 EventFlags event_flags;
sulymarco 0:13be39911caf 144
sulymarco 0:13be39911caf 145 Mutex IO_data;
sulymarco 0:13be39911caf 146
sulymarco 0:13be39911caf 147
sulymarco 0:13be39911caf 148 //---- data exchange thread ----------------------------------------------------
sulymarco 0:13be39911caf 149
sulymarco 0:13be39911caf 150 void ExchangeMaster()
sulymarco 0:13be39911caf 151 {
sulymarco 0:13be39911caf 152 while (true)
sulymarco 0:13be39911caf 153 {
sulymarco 0:13be39911caf 154 event_flags.wait_any(DATA_EXCHANGE_FLAG); // the thread waits for the synchronization flag
sulymarco 0:13be39911caf 155
sulymarco 0:13be39911caf 156 //Test_1 = 1;
sulymarco 0:13be39911caf 157
sulymarco 0:13be39911caf 158 IO_data.lock(); // Ethercat data exchange
sulymarco 0:13be39911caf 159 ec_send_processdata(); //
sulymarco 0:13be39911caf 160 WorkCounter = ec_receive_processdata(EC_TIMEOUTRET);
sulymarco 0:13be39911caf 161
sulymarco 0:13be39911caf 162 if (WorkCounter != ExpectWorkCounter)
sulymarco 0:13be39911caf 163 NetworkError = true;
sulymarco 0:13be39911caf 164 else
sulymarco 0:13be39911caf 165 NetworkError = false;
sulymarco 0:13be39911caf 166
sulymarco 0:13be39911caf 167 IO_data.unlock(); //
sulymarco 0:13be39911caf 168 event_flags.set(APPLICATION_FLAG); // synchronize the application
sulymarco 0:13be39911caf 169
sulymarco 0:13be39911caf 170 //Test_1 = 0;
sulymarco 0:13be39911caf 171 }
sulymarco 0:13be39911caf 172 }
sulymarco 0:13be39911caf 173
sulymarco 0:13be39911caf 174
sulymarco 0:13be39911caf 175 //----- thicker generated sample time ------------------------------------------
sulymarco 0:13be39911caf 176
sulymarco 0:13be39911caf 177 void SampleIsr() // set the event that starts
sulymarco 0:13be39911caf 178 { // the data exchange
sulymarco 0:13be39911caf 179 event_flags.set(DATA_EXCHANGE_FLAG); //
sulymarco 0:13be39911caf 180 } //
sulymarco 0:13be39911caf 181
sulymarco 0:13be39911caf 182
sulymarco 0:13be39911caf 183 //****** initialization ********************************************************
sulymarco 0:13be39911caf 184
sulymarco 0:13be39911caf 185 int main()
sulymarco 0:13be39911caf 186 {
sulymarco 0:13be39911caf 187 int i;
sulymarco 0:13be39911caf 188
sulymarco 0:13be39911caf 189 printf("Start \n");
sulymarco 0:13be39911caf 190
sulymarco 0:13be39911caf 191 Test_1 = 0;
sulymarco 0:13be39911caf 192 Test_2 = 0;
sulymarco 0:13be39911caf 193 Test_3 = 0;
sulymarco 0:13be39911caf 194 Test_4 = 0;
sulymarco 0:13be39911caf 195
sulymarco 0:13be39911caf 196 TFT.background(Black); // init TFT
sulymarco 0:13be39911caf 197 TFT.cls(); //
sulymarco 0:13be39911caf 198 TFT.set_orientation(3); //
sulymarco 0:13be39911caf 199
sulymarco 0:13be39911caf 200 DrawBanner();
sulymarco 0:13be39911caf 201
sulymarco 0:13be39911caf 202 NetworkError = false;
sulymarco 0:13be39911caf 203
sulymarco 0:13be39911caf 204 if (ec_init(NULL)) // init SOEM
sulymarco 0:13be39911caf 205 {
sulymarco 0:13be39911caf 206 printf("ec_init succeeded.\n");
sulymarco 0:13be39911caf 207 printf("Scanning the network\n");
sulymarco 0:13be39911caf 208
sulymarco 0:13be39911caf 209 TFT.cls();
sulymarco 0:13be39911caf 210
sulymarco 0:13be39911caf 211 TFT.set_font((unsigned char*) Arial12x12);
sulymarco 0:13be39911caf 212 TFT.foreground(Green);
sulymarco 0:13be39911caf 213 TFT.locate(0, 0);
sulymarco 0:13be39911caf 214
sulymarco 0:13be39911caf 215 TFT.printf("Scanning the network\n");
sulymarco 0:13be39911caf 216
sulymarco 0:13be39911caf 217 if (network_scanning())
sulymarco 0:13be39911caf 218 {
sulymarco 0:13be39911caf 219 if (network_configuration()) // check network configuration
sulymarco 0:13be39911caf 220 {
sulymarco 0:13be39911caf 221 ec_config_map(&IOmap); // map the I/O
sulymarco 0:13be39911caf 222 MapLocalStructures();
sulymarco 0:13be39911caf 223
sulymarco 0:13be39911caf 224 printf("\nSlaves mapped, state to SAFE_OP.\n");
sulymarco 0:13be39911caf 225 // wait for all slaves to reach SAFE_OP state
sulymarco 0:13be39911caf 226 ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
sulymarco 0:13be39911caf 227
sulymarco 0:13be39911caf 228 printf("Request operational state for all slaves\n");
sulymarco 0:13be39911caf 229 ec_slave[0].state = EC_STATE_OPERATIONAL;
sulymarco 0:13be39911caf 230
sulymarco 0:13be39911caf 231 ec_send_processdata(); // send one valid process data to make outputs in slaves happy
sulymarco 0:13be39911caf 232 ExpectWorkCounter = ec_receive_processdata(EC_TIMEOUTRET);
sulymarco 0:13be39911caf 233
sulymarco 0:13be39911caf 234 ec_writestate(0); // request OP state for all slaves
sulymarco 0:13be39911caf 235
sulymarco 0:13be39911caf 236 // wait for all slaves to reach OP state
sulymarco 0:13be39911caf 237 ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
sulymarco 0:13be39911caf 238 if (ec_slave[0].state == EC_STATE_OPERATIONAL )
sulymarco 0:13be39911caf 239 {
sulymarco 0:13be39911caf 240 printf("Operational state reached for all slaves.\n");
sulymarco 0:13be39911caf 241 }
sulymarco 0:13be39911caf 242 else
sulymarco 0:13be39911caf 243 {
sulymarco 0:13be39911caf 244 printf("Not all slaves reached operational state.\n");
sulymarco 0:13be39911caf 245 ec_readstate();
sulymarco 0:13be39911caf 246 for(i = 1; i<=ec_slavecount ; i++)
sulymarco 0:13be39911caf 247 {
sulymarco 0:13be39911caf 248 if(ec_slave[i].state != EC_STATE_OPERATIONAL)
sulymarco 0:13be39911caf 249 {
sulymarco 0:13be39911caf 250 printf("Slave %d State=0x%04x StatusCode=0x%04x\n",
sulymarco 0:13be39911caf 251 i, ec_slave[i].state, ec_slave[i].ALstatuscode);
sulymarco 0:13be39911caf 252 }
sulymarco 0:13be39911caf 253 }
sulymarco 0:13be39911caf 254
sulymarco 0:13be39911caf 255 TFT.foreground(Red);
sulymarco 0:13be39911caf 256 TFT.locate(0, 0);
sulymarco 0:13be39911caf 257 TFT.printf("Not all slaves reached operational state!");
sulymarco 0:13be39911caf 258 while(1){}
sulymarco 0:13be39911caf 259 }
sulymarco 0:13be39911caf 260
sulymarco 0:13be39911caf 261 DrawSlaveFixedParts();
sulymarco 0:13be39911caf 262
sulymarco 0:13be39911caf 263 thread.start(ExchangeMaster);
sulymarco 0:13be39911caf 264 thread.set_priority(osPriorityRealtime);
sulymarco 0:13be39911caf 265
sulymarco 0:13be39911caf 266 SampleTicker.attach_us(&SampleIsr, CYCLE_TIME);
sulymarco 0:13be39911caf 267
sulymarco 0:13be39911caf 268 Application();
sulymarco 0:13be39911caf 269 }
sulymarco 0:13be39911caf 270
sulymarco 0:13be39911caf 271 else
sulymarco 0:13be39911caf 272 {
sulymarco 0:13be39911caf 273 printf("Mismatch of network units!\n");
sulymarco 0:13be39911caf 274 TFT.foreground(Red);
sulymarco 0:13be39911caf 275 TFT.locate(0, 0);
sulymarco 0:13be39911caf 276 TFT.printf("Mismatch of network units!");
sulymarco 0:13be39911caf 277
sulymarco 0:13be39911caf 278 while(1){}
sulymarco 0:13be39911caf 279 }
sulymarco 0:13be39911caf 280 }
sulymarco 0:13be39911caf 281
sulymarco 0:13be39911caf 282 else
sulymarco 0:13be39911caf 283 {
sulymarco 0:13be39911caf 284 printf("No slaves found!\n");
sulymarco 0:13be39911caf 285 TFT.foreground(Red);
sulymarco 0:13be39911caf 286 TFT.printf("No slaves found!");
sulymarco 0:13be39911caf 287
sulymarco 0:13be39911caf 288 while(1){}
sulymarco 0:13be39911caf 289 }
sulymarco 0:13be39911caf 290 }
sulymarco 0:13be39911caf 291 else
sulymarco 0:13be39911caf 292 {
sulymarco 0:13be39911caf 293 printf("Ethernet interface init failed!");
sulymarco 0:13be39911caf 294 TFT.foreground(Red);
sulymarco 0:13be39911caf 295 TFT.locate(0, 0);
sulymarco 0:13be39911caf 296 TFT.printf("Ethernet interface init failed!");
sulymarco 0:13be39911caf 297 while(1){}
sulymarco 0:13be39911caf 298 }
sulymarco 0:13be39911caf 299 }
sulymarco 0:13be39911caf 300
sulymarco 0:13be39911caf 301
sulymarco 0:13be39911caf 302 //****** user master application **********************************************
sulymarco 0:13be39911caf 303
sulymarco 0:13be39911caf 304 void Application()
sulymarco 0:13be39911caf 305 {
sulymarco 0:13be39911caf 306
sulymarco 0:13be39911caf 307 while(1)
sulymarco 0:13be39911caf 308 {
sulymarco 0:13be39911caf 309 event_flags.wait_any(APPLICATION_FLAG); // the application waits for the synchronization flag
sulymarco 0:13be39911caf 310
sulymarco 0:13be39911caf 311 //Test_2 = 1;
sulymarco 0:13be39911caf 312
sulymarco 0:13be39911caf 313 IO_data.lock(); // copy the Ethercat data to a safe buffer
sulymarco 0:13be39911caf 314 memcpy(&IOmapSafe[0], &IOmap[0], IO_MAP_SIZE); //
sulymarco 0:13be39911caf 315 //
sulymarco 0:13be39911caf 316 if (NetworkError) //
sulymarco 0:13be39911caf 317 { //
sulymarco 0:13be39911caf 318 NetworkErrorSafe = NetworkError; //
sulymarco 0:13be39911caf 319 WorkCounterSafe = WorkCounter; //
sulymarco 0:13be39911caf 320 } //
sulymarco 0:13be39911caf 321 IO_data.unlock(); //
sulymarco 0:13be39911caf 322
sulymarco 0:13be39911caf 323 if (NetworkErrorSafe)
sulymarco 0:13be39911caf 324 {
sulymarco 0:13be39911caf 325 TFT.rect(35,50, 285, 182, Red);
sulymarco 0:13be39911caf 326 TFT.fillrect(36,51, 284, 181, Black);
sulymarco 0:13be39911caf 327 TFT.foreground(Red);
sulymarco 0:13be39911caf 328 TFT.set_font((unsigned char*) Arial28x28);
sulymarco 0:13be39911caf 329 TFT.locate(58, 65);
sulymarco 0:13be39911caf 330 TFT.printf("Network error!");
sulymarco 0:13be39911caf 331 printf("Network error!\n");
sulymarco 0:13be39911caf 332 TFT.foreground(Magenta);
sulymarco 0:13be39911caf 333 TFT.set_font((unsigned char*) Arial12x12);
sulymarco 0:13be39911caf 334 TFT.locate(58, 106);
sulymarco 0:13be39911caf 335
sulymarco 0:13be39911caf 336 if(WorkCounterSafe >= 0)
sulymarco 0:13be39911caf 337 {
sulymarco 0:13be39911caf 338 TFT.printf("Expected working counter %d", ExpectWorkCounter);
sulymarco 0:13be39911caf 339 TFT.locate(58, 118);
sulymarco 0:13be39911caf 340 TFT.printf("Actual working counter %d", WorkCounterSafe);
sulymarco 0:13be39911caf 341 printf("Expected working counter %d\n", ExpectWorkCounter);
sulymarco 0:13be39911caf 342 printf("Actual working counter %d\n", WorkCounterSafe);
sulymarco 0:13be39911caf 343 }
sulymarco 0:13be39911caf 344 else
sulymarco 0:13be39911caf 345 {
sulymarco 0:13be39911caf 346 TFT.printf("Timeout");
sulymarco 0:13be39911caf 347 printf("Timeout\n");
sulymarco 0:13be39911caf 348 }
sulymarco 0:13be39911caf 349
sulymarco 0:13be39911caf 350 TFT.foreground(Green);
sulymarco 0:13be39911caf 351 TFT.locate(58, 142);
sulymarco 0:13be39911caf 352 TFT.printf("Please fix the error and");
sulymarco 0:13be39911caf 353 TFT.locate(58, 154);
sulymarco 0:13be39911caf 354 TFT.printf("press the reset button");
sulymarco 0:13be39911caf 355 printf("Please fix the error and press the reset button \n");
sulymarco 0:13be39911caf 356
sulymarco 0:13be39911caf 357 SampleTicker.detach(); // stop the sample interrupt
sulymarco 0:13be39911caf 358 while(1){} // and loop for ever
sulymarco 0:13be39911caf 359 }
sulymarco 0:13be39911caf 360
sulymarco 0:13be39911caf 361
sulymarco 0:13be39911caf 362 //----- slave LAB_2_1 data management ------
sulymarco 0:13be39911caf 363 //
sulymarco 0:13be39911caf 364 Buttons_1 = in_LAB_2_1->Buttons; // read the buttons status from the slave
sulymarco 0:13be39911caf 365 //
sulymarco 0:13be39911caf 366 if (Buttons_1 != PrevButtons_1) // check if the buttons value has changed
sulymarco 0:13be39911caf 367 { //
sulymarco 0:13be39911caf 368 PrevButtons_1 = Buttons_1; // remember the current buttons value
sulymarco 0:13be39911caf 369 DrawButtons_1_Value(Buttons_1); // draw the current buttons value on the TFT
sulymarco 0:13be39911caf 370 } //
sulymarco 0:13be39911caf 371 //
sulymarco 0:13be39911caf 372 out_LAB_2_1->Segments = Buttons_2; // send to the slave the buttons status
sulymarco 0:13be39911caf 373 // from the slave LAB_2_2
sulymarco 0:13be39911caf 374
sulymarco 0:13be39911caf 375
sulymarco 0:13be39911caf 376
sulymarco 0:13be39911caf 377 //----- slave 2_2 data management ----------
sulymarco 0:13be39911caf 378 //
sulymarco 0:13be39911caf 379 Buttons_2 = in_LAB_2_2->Buttons; // read the buttons status from the slave
sulymarco 0:13be39911caf 380 //
sulymarco 0:13be39911caf 381 if (Buttons_2 != PrevButtons_2) // check if the buttons value has changed
sulymarco 0:13be39911caf 382 { //
sulymarco 0:13be39911caf 383 PrevButtons_2 = Buttons_2; // remember the current buttons value
sulymarco 0:13be39911caf 384 DrawButtons_2_Value(Buttons_2); // draw the current buttons value on the TFT
sulymarco 0:13be39911caf 385 } //
sulymarco 0:13be39911caf 386 //
sulymarco 0:13be39911caf 387 out_LAB_2_2->Segments = Buttons_1; // send to the slave the buttons status
sulymarco 0:13be39911caf 388 // from the slave LAB_2_1
sulymarco 0:13be39911caf 389
sulymarco 0:13be39911caf 390
sulymarco 0:13be39911caf 391
sulymarco 0:13be39911caf 392 IO_data.lock(); // copy the IO data from the safe area
sulymarco 0:13be39911caf 393 memcpy(&IOmap[0], &IOmapSafe[0], IO_MAP_SIZE); // to the EtherCAT buffer
sulymarco 0:13be39911caf 394 IO_data.unlock(); //
sulymarco 0:13be39911caf 395
sulymarco 0:13be39911caf 396 //Test_2 = 0;
sulymarco 0:13be39911caf 397 }
sulymarco 0:13be39911caf 398 }
sulymarco 0:13be39911caf 399
sulymarco 0:13be39911caf 400
sulymarco 0:13be39911caf 401 //******************************************************************************
sulymarco 0:13be39911caf 402
sulymarco 0:13be39911caf 403
sulymarco 0:13be39911caf 404
sulymarco 0:13be39911caf 405 //******* general functions ****************************************************
sulymarco 0:13be39911caf 406
sulymarco 0:13be39911caf 407
sulymarco 0:13be39911caf 408
sulymarco 0:13be39911caf 409 //----- draw the fixed part of the slaves visualization ------------------------
sulymarco 0:13be39911caf 410
sulymarco 0:13be39911caf 411 void DrawSlaveFixedParts()
sulymarco 0:13be39911caf 412 {
sulymarco 0:13be39911caf 413 int i;
sulymarco 0:13be39911caf 414
sulymarco 0:13be39911caf 415 TFT.cls(); // clear screen
sulymarco 0:13be39911caf 416 TFT.line(0, 120, 340, 120, Green); // draw the separation line
sulymarco 0:13be39911caf 417
sulymarco 0:13be39911caf 418 for (i=0; i<3; i++) // draw the buttons fixed parts
sulymarco 0:13be39911caf 419 { // for the LAB_2_1 slave
sulymarco 0:13be39911caf 420 TFT.circle(BUTTONS_1_X+(i*BUTTONS_1_STEP), BUTTONS_1_Y, BUTTONS_1_R, Red);
sulymarco 0:13be39911caf 421 TFT.circle(BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP), BUTTONS_1_Y, BUTTONS_1_R, Red);
sulymarco 0:13be39911caf 422 //
sulymarco 0:13be39911caf 423 TFT.line(BUTTONS_1_X+(i*BUTTONS_1_STEP)-BUTTONS_1_R, BUTTONS_1_Y, BUTTONS_1_X+(i*BUTTONS_1_STEP)-BUTTONS_1_R-4, BUTTONS_1_Y, Red);
sulymarco 0:13be39911caf 424 TFT.line(BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP)+BUTTONS_1_R, BUTTONS_1_Y, BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP)+BUTTONS_1_R+4 , BUTTONS_1_Y, Red);
sulymarco 0:13be39911caf 425 } //
sulymarco 0:13be39911caf 426 //
sulymarco 0:13be39911caf 427 TFT.set_font((unsigned char*) Arial12x12); //
sulymarco 0:13be39911caf 428 TFT.locate(BUTTONS_1_X+12, BUTTONS_1_Y+20); //
sulymarco 0:13be39911caf 429 TFT.printf("LAB_2_1 Buttons"); //
sulymarco 0:13be39911caf 430
sulymarco 0:13be39911caf 431 for (i=0; i<3; i++) // draw the buttons fixed parts
sulymarco 0:13be39911caf 432 { // for the LAB_2_2 slave
sulymarco 0:13be39911caf 433 TFT.circle(BUTTONS_2_X+(i*BUTTONS_2_STEP), BUTTONS_2_Y, BUTTONS_2_R, Red);
sulymarco 0:13be39911caf 434 TFT.circle(BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP), BUTTONS_2_Y, BUTTONS_2_R, Red);
sulymarco 0:13be39911caf 435 //
sulymarco 0:13be39911caf 436 TFT.line(BUTTONS_2_X+(i*BUTTONS_2_STEP)-BUTTONS_2_R, BUTTONS_2_Y, BUTTONS_2_X+(i*BUTTONS_2_STEP)-BUTTONS_2_R-4, BUTTONS_2_Y, Red);
sulymarco 0:13be39911caf 437 TFT.line(BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP)+BUTTONS_2_R, BUTTONS_2_Y, BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP)+BUTTONS_2_R+4 , BUTTONS_2_Y, Red);
sulymarco 0:13be39911caf 438 } //
sulymarco 0:13be39911caf 439 //
sulymarco 0:13be39911caf 440 TFT.set_font((unsigned char*) Arial12x12); //
sulymarco 0:13be39911caf 441 TFT.locate(BUTTONS_2_X+12, BUTTONS_2_Y+20); //
sulymarco 0:13be39911caf 442 TFT.printf("LAB_2_2 Buttons"); //
sulymarco 0:13be39911caf 443
sulymarco 0:13be39911caf 444 DrawButtons_1_Value (Buttons_1); // draw the buttons status
sulymarco 0:13be39911caf 445 DrawButtons_2_Value (Buttons_2); //
sulymarco 0:13be39911caf 446
sulymarco 0:13be39911caf 447 FirstRound = true;
sulymarco 0:13be39911caf 448 }
sulymarco 0:13be39911caf 449
sulymarco 0:13be39911caf 450
sulymarco 0:13be39911caf 451 //---- draw the starting banner ------------------------------------------------
sulymarco 0:13be39911caf 452
sulymarco 0:13be39911caf 453 void DrawBanner()
sulymarco 0:13be39911caf 454 {
sulymarco 0:13be39911caf 455 TFT.set_font((unsigned char*) Arial24x23);
sulymarco 0:13be39911caf 456 TFT.foreground(Red);
sulymarco 0:13be39911caf 457 TFT.locate(30, 30);
sulymarco 0:13be39911caf 458 TFT.printf("EasyCAT");
sulymarco 0:13be39911caf 459 TFT.locate(30, 60);
sulymarco 0:13be39911caf 460 TFT.printf("SOEM MASTER");
sulymarco 0:13be39911caf 461
sulymarco 0:13be39911caf 462 TFT.foreground(Magenta);
sulymarco 0:13be39911caf 463 TFT.locate(30, 100);
sulymarco 0:13be39911caf 464 TFT.printf("simple example");
sulymarco 0:13be39911caf 465
sulymarco 0:13be39911caf 466 TFT.set_font((unsigned char*) Arial12x12);
sulymarco 0:13be39911caf 467 TFT.foreground(Green);
sulymarco 0:13be39911caf 468 TFT.locate(30, 150);
sulymarco 0:13be39911caf 469 TFT.printf("www.bausano.net");
sulymarco 0:13be39911caf 470
sulymarco 0:13be39911caf 471 TFT.foreground(Green);
sulymarco 0:13be39911caf 472 TFT.locate(30, 170);
sulymarco 0:13be39911caf 473 TFT.printf("www.easycatshield.com");
sulymarco 0:13be39911caf 474
sulymarco 0:13be39911caf 475 TFT.locate(30, 190);
sulymarco 0:13be39911caf 476 TFT.printf("https://openethercatsociety.github.io/");
sulymarco 0:13be39911caf 477 }
sulymarco 0:13be39911caf 478
sulymarco 0:13be39911caf 479
sulymarco 0:13be39911caf 480 //---- slaves data visualization functions -------------------------------------
sulymarco 0:13be39911caf 481
sulymarco 0:13be39911caf 482 void DrawButtons_1_Value (uint8_t Value) // visualize on the TFT the
sulymarco 0:13be39911caf 483 { // slave LAB_2_1 buttons status
sulymarco 0:13be39911caf 484 uint8_t Slope;
sulymarco 0:13be39911caf 485 int i;
sulymarco 0:13be39911caf 486
sulymarco 0:13be39911caf 487 for (i=0; i<3; i++)
sulymarco 0:13be39911caf 488 {
sulymarco 0:13be39911caf 489 if ((Value & 0x04) == 0x04)
sulymarco 0:13be39911caf 490 Slope = BUTTONS_1_R;
sulymarco 0:13be39911caf 491 else
sulymarco 0:13be39911caf 492 Slope = 16;
sulymarco 0:13be39911caf 493
sulymarco 0:13be39911caf 494 TFT.fillrect(BUTTONS_1_X+(i*BUTTONS_1_STEP), BUTTONS_1_Y-16-1, BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP), BUTTONS_1_Y-BUTTONS_1_R-1, Black);
sulymarco 0:13be39911caf 495
sulymarco 0:13be39911caf 496 TFT.line(BUTTONS_1_X+(i*BUTTONS_1_STEP), BUTTONS_1_Y-BUTTONS_1_R-1, BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP), BUTTONS_1_Y-Slope-1, Red);
sulymarco 0:13be39911caf 497
sulymarco 0:13be39911caf 498 Value = Value << 1;
sulymarco 0:13be39911caf 499 }
sulymarco 0:13be39911caf 500 }
sulymarco 0:13be39911caf 501
sulymarco 0:13be39911caf 502
sulymarco 0:13be39911caf 503 void DrawButtons_2_Value (uint8_t Value) // visualize on the TFT the
sulymarco 0:13be39911caf 504 { // slave LAB_2_2 buttons status
sulymarco 0:13be39911caf 505 uint8_t Slope;
sulymarco 0:13be39911caf 506 int i;
sulymarco 0:13be39911caf 507
sulymarco 0:13be39911caf 508 for (i=0; i<3; i++)
sulymarco 0:13be39911caf 509 {
sulymarco 0:13be39911caf 510 if ((Value & 0x04) == 0x04)
sulymarco 0:13be39911caf 511 Slope = BUTTONS_1_R;
sulymarco 0:13be39911caf 512 else
sulymarco 0:13be39911caf 513 Slope = 16;
sulymarco 0:13be39911caf 514
sulymarco 0:13be39911caf 515 TFT.fillrect(BUTTONS_2_X+(i*BUTTONS_2_STEP), BUTTONS_2_Y-16-1, BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP), BUTTONS_2_Y-BUTTONS_2_R-1, Black);
sulymarco 0:13be39911caf 516
sulymarco 0:13be39911caf 517 TFT.line(BUTTONS_2_X+(i*BUTTONS_2_STEP), BUTTONS_2_Y-BUTTONS_2_R-1, BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP), BUTTONS_2_Y-Slope-1, Red);
sulymarco 0:13be39911caf 518
sulymarco 0:13be39911caf 519 Value = Value << 1;
sulymarco 0:13be39911caf 520 }
sulymarco 0:13be39911caf 521 }
sulymarco 0:13be39911caf 522