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@2:a0e017115fc5, 2021-05-28 (annotated)

Committer:
sulymarco
Date:
Fri May 28 09:37:01 2021 +0000
Revision:
2:a0e017115fc5
Parent:
1:385bdd2b4cd6
Child:
3:9c8c179d1f8a
Added compatibility with the Adafruit TFT

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 2:a0e017115fc5 26 // www.ethercat.org
sulymarco 2:a0e017115fc5 27
sulymarco 2:a0e017115fc5 28
sulymarco 2:a0e017115fc5 29 //******************************************************************************
sulymarco 2:a0e017115fc5 30
sulymarco 2:a0e017115fc5 31 //#define ADA_TFT // IMPORTANT!!!
sulymarco 2:a0e017115fc5 32
sulymarco 2:a0e017115fc5 33 // If your EasyCAT LAB uses the Adafruit TFT
sulymarco 2:a0e017115fc5 34 // you must uncomment this define
sulymarco 2:a0e017115fc5 35
sulymarco 2:a0e017115fc5 36 // If your EasyCAT LAB uses the Seeed Studio TFT
sulymarco 2:a0e017115fc5 37 // you must comment this define
sulymarco 2:a0e017115fc5 38
sulymarco 2:a0e017115fc5 39 //******************************************************************************
sulymarco 0:13be39911caf 40
sulymarco 0:13be39911caf 41
sulymarco 0:13be39911caf 42 #define ETH_TXBUFNB 16
sulymarco 0:13be39911caf 43 #define ETH_RXBUFNB 16
sulymarco 0:13be39911caf 44
sulymarco 0:13be39911caf 45 #include "mbed.h"
sulymarco 0:13be39911caf 46
sulymarco 0:13be39911caf 47 #ifndef __align
sulymarco 0:13be39911caf 48 #define __align MBED_ALIGN
sulymarco 0:13be39911caf 49 #endif
sulymarco 0:13be39911caf 50
sulymarco 0:13be39911caf 51 #include "config.h"
sulymarco 0:13be39911caf 52 #include "SPI_TFT_ILI9341.h"
sulymarco 0:13be39911caf 53 #include "Arial12x12.h"
sulymarco 0:13be39911caf 54 #include "Arial24x23.h"
sulymarco 0:13be39911caf 55 #include "Arial28x28.h"
sulymarco 0:13be39911caf 56 #include "font_big.h"
sulymarco 0:13be39911caf 57 #include "soem_start.h"
sulymarco 0:13be39911caf 58
sulymarco 0:13be39911caf 59 #define CYCLE_TIME 1000 // master cycle time in uS
sulymarco 0:13be39911caf 60 // 1000 = 1mS
sulymarco 0:13be39911caf 61
sulymarco 0:13be39911caf 62
sulymarco 0:13be39911caf 63 #define SysMilliS() (uint32_t)Kernel::get_ms_count()
sulymarco 0:13be39911caf 64
EasyCAT 1:385bdd2b4cd6 65 UnbufferedSerial pc(USBTX,USBRX,115200); // set the debug serial line speed to 115200
sulymarco 0:13be39911caf 66
sulymarco 0:13be39911caf 67
sulymarco 0:13be39911caf 68 //---- TFT with resistive touchscreen pins -------------------------------------
sulymarco 0:13be39911caf 69
sulymarco 0:13be39911caf 70 // the display used is the SeeedStudio 2.8 inch TFT v2.0
sulymarco 0:13be39911caf 71 // http://wiki.seeedstudio.com/2.8inch_TFT_Touch_Shield_v2.0/
sulymarco 2:a0e017115fc5 72 //
sulymarco 2:a0e017115fc5 73 // or the Adafruit 2.8" with resistive touchscreen
sulymarco 2:a0e017115fc5 74 // https://www.adafruit.com/product/1651
sulymarco 2:a0e017115fc5 75
sulymarco 2:a0e017115fc5 76 // the touchscreen is not used in this example
sulymarco 0:13be39911caf 77
sulymarco 0:13be39911caf 78 #define PIN_YP A3 // resistive touchscreen
sulymarco 0:13be39911caf 79 #define PIN_YM A1 //
sulymarco 0:13be39911caf 80 #define PIN_XM A2 //
sulymarco 0:13be39911caf 81 #define PIN_XP A0 //
sulymarco 0:13be39911caf 82
sulymarco 0:13be39911caf 83 #define PIN_MOSI D11 // TFT display SPI
sulymarco 0:13be39911caf 84 #define PIN_MISO D12 //
sulymarco 0:13be39911caf 85 #define PIN_SCLK D13 //
sulymarco 2:a0e017115fc5 86
sulymarco 2:a0e017115fc5 87 #if defined ADA_TFT // pins for the Adafruit TFT
sulymarco 2:a0e017115fc5 88 #define PIN_CS_TFT D10 //
sulymarco 2:a0e017115fc5 89 #define PIN_DC_TFT D9 //
sulymarco 2:a0e017115fc5 90 #define PIN_CS_TSC D8 //
sulymarco 2:a0e017115fc5 91
sulymarco 2:a0e017115fc5 92 #else // pins for the SeeedStudio TFT
sulymarco 2:a0e017115fc5 93 #define PIN_CS_TFT D5 //
sulymarco 2:a0e017115fc5 94 #define PIN_DC_TFT D6 //
sulymarco 2:a0e017115fc5 95 #endif //
sulymarco 0:13be39911caf 96
sulymarco 0:13be39911caf 97
sulymarco 0:13be39911caf 98
sulymarco 0:13be39911caf 99 //---- visualization parameters ------------------------------------------------
sulymarco 0:13be39911caf 100
sulymarco 0:13be39911caf 101 #define BUTTONS_1_X 80
sulymarco 0:13be39911caf 102 #define BUTTONS_1_Y 60
sulymarco 0:13be39911caf 103
sulymarco 0:13be39911caf 104 #define BUTTONS_2_X 80
sulymarco 0:13be39911caf 105 #define BUTTONS_2_Y 180
sulymarco 0:13be39911caf 106
sulymarco 0:13be39911caf 107
sulymarco 0:13be39911caf 108 #define BUTTONS_1_WIDTH 26
sulymarco 0:13be39911caf 109 #define BUTTONS_1_R 3
sulymarco 0:13be39911caf 110 #define BUTTONS_1_STEP 60
sulymarco 0:13be39911caf 111
sulymarco 0:13be39911caf 112 #define BUTTONS_2_WIDTH BUTTONS_1_WIDTH
sulymarco 0:13be39911caf 113 #define BUTTONS_2_R BUTTONS_1_R
sulymarco 0:13be39911caf 114 #define BUTTONS_2_STEP BUTTONS_1_STEP
sulymarco 0:13be39911caf 115
sulymarco 0:13be39911caf 116
sulymarco 0:13be39911caf 117 //---- local functions ---------------------------------------------------------
sulymarco 0:13be39911caf 118
sulymarco 0:13be39911caf 119 void DrawBanner();
sulymarco 0:13be39911caf 120 void DrawSlaveFixedParts();
sulymarco 0:13be39911caf 121 void DrawButtons_1_Value(uint8_t Value);
sulymarco 0:13be39911caf 122 void DrawButtons_2_Value(uint8_t Value);
sulymarco 0:13be39911caf 123
sulymarco 0:13be39911caf 124 void Application();
sulymarco 0:13be39911caf 125
sulymarco 0:13be39911caf 126
sulymarco 0:13be39911caf 127 //---- global variables --------------------------------------------------------
sulymarco 0:13be39911caf 128
sulymarco 0:13be39911caf 129
sulymarco 0:13be39911caf 130 bool FirstRound;
sulymarco 0:13be39911caf 131
sulymarco 0:13be39911caf 132 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 133
sulymarco 0:13be39911caf 134 SPI_TFT_ILI9341 TFT(PIN_MOSI, PIN_MISO, PIN_SCLK, PIN_CS_TFT, NC, PIN_DC_TFT);
sulymarco 0:13be39911caf 135
sulymarco 0:13be39911caf 136 Ticker SampleTicker;
sulymarco 0:13be39911caf 137 Thread thread;
sulymarco 0:13be39911caf 138
sulymarco 0:13be39911caf 139 DigitalOut Test_1(D1); // debug test points
sulymarco 0:13be39911caf 140 DigitalOut Test_2(D2); //
sulymarco 0:13be39911caf 141 DigitalOut Test_3(D3); //
sulymarco 0:13be39911caf 142 DigitalOut Test_4(D4); //
sulymarco 0:13be39911caf 143
sulymarco 0:13be39911caf 144
sulymarco 0:13be39911caf 145 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 146
sulymarco 0:13be39911caf 147 uint8_t Buttons_1;
sulymarco 0:13be39911caf 148 uint8_t PrevButtons_1;
sulymarco 0:13be39911caf 149 uint8_t Segments_1;
sulymarco 0:13be39911caf 150 uint8_t PrevSegments_1;
sulymarco 0:13be39911caf 151
sulymarco 0:13be39911caf 152 uint8_t Buttons_2;
sulymarco 0:13be39911caf 153 uint8_t PrevButtons_2;
sulymarco 0:13be39911caf 154 uint8_t Segments_2;
sulymarco 0:13be39911caf 155 uint8_t PrevSegments_2;
sulymarco 0:13be39911caf 156
sulymarco 0:13be39911caf 157
sulymarco 0:13be39911caf 158 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 159
sulymarco 0:13be39911caf 160 int ExpectWorkCounter;
sulymarco 0:13be39911caf 161 int WorkCounter;
sulymarco 0:13be39911caf 162 int WorkCounterSafe;
sulymarco 0:13be39911caf 163 bool NetworkError;
sulymarco 0:13be39911caf 164 bool NetworkErrorSafe;
sulymarco 0:13be39911caf 165
sulymarco 0:13be39911caf 166 #define DATA_EXCHANGE_FLAG (1UL << 0)
sulymarco 0:13be39911caf 167 #define APPLICATION_FLAG (1UL << 1)
sulymarco 0:13be39911caf 168
sulymarco 0:13be39911caf 169 EventFlags event_flags;
sulymarco 0:13be39911caf 170
sulymarco 0:13be39911caf 171 Mutex IO_data;
sulymarco 0:13be39911caf 172
sulymarco 0:13be39911caf 173
sulymarco 0:13be39911caf 174 //---- data exchange thread ----------------------------------------------------
sulymarco 0:13be39911caf 175
sulymarco 0:13be39911caf 176 void ExchangeMaster()
sulymarco 0:13be39911caf 177 {
sulymarco 0:13be39911caf 178 while (true)
sulymarco 0:13be39911caf 179 {
sulymarco 0:13be39911caf 180 event_flags.wait_any(DATA_EXCHANGE_FLAG); // the thread waits for the synchronization flag
sulymarco 0:13be39911caf 181
sulymarco 0:13be39911caf 182 //Test_1 = 1;
sulymarco 0:13be39911caf 183
sulymarco 0:13be39911caf 184 IO_data.lock(); // Ethercat data exchange
sulymarco 0:13be39911caf 185 ec_send_processdata(); //
sulymarco 0:13be39911caf 186 WorkCounter = ec_receive_processdata(EC_TIMEOUTRET);
sulymarco 0:13be39911caf 187
sulymarco 0:13be39911caf 188 if (WorkCounter != ExpectWorkCounter)
sulymarco 0:13be39911caf 189 NetworkError = true;
sulymarco 0:13be39911caf 190 else
sulymarco 0:13be39911caf 191 NetworkError = false;
sulymarco 0:13be39911caf 192
sulymarco 0:13be39911caf 193 IO_data.unlock(); //
sulymarco 0:13be39911caf 194 event_flags.set(APPLICATION_FLAG); // synchronize the application
sulymarco 0:13be39911caf 195
sulymarco 0:13be39911caf 196 //Test_1 = 0;
sulymarco 0:13be39911caf 197 }
sulymarco 0:13be39911caf 198 }
sulymarco 0:13be39911caf 199
sulymarco 0:13be39911caf 200
sulymarco 0:13be39911caf 201 //----- thicker generated sample time ------------------------------------------
sulymarco 0:13be39911caf 202
sulymarco 0:13be39911caf 203 void SampleIsr() // set the event that starts
sulymarco 0:13be39911caf 204 { // the data exchange
sulymarco 0:13be39911caf 205 event_flags.set(DATA_EXCHANGE_FLAG); //
sulymarco 0:13be39911caf 206 } //
sulymarco 0:13be39911caf 207
sulymarco 0:13be39911caf 208
sulymarco 0:13be39911caf 209 //****** initialization ********************************************************
sulymarco 0:13be39911caf 210
sulymarco 0:13be39911caf 211 int main()
sulymarco 0:13be39911caf 212 {
sulymarco 0:13be39911caf 213 int i;
sulymarco 0:13be39911caf 214
sulymarco 0:13be39911caf 215 printf("Start \n");
sulymarco 0:13be39911caf 216
sulymarco 0:13be39911caf 217 Test_1 = 0;
sulymarco 0:13be39911caf 218 Test_2 = 0;
sulymarco 0:13be39911caf 219 Test_3 = 0;
sulymarco 0:13be39911caf 220 Test_4 = 0;
sulymarco 0:13be39911caf 221
sulymarco 0:13be39911caf 222 TFT.background(Black); // init TFT
sulymarco 0:13be39911caf 223 TFT.cls(); //
sulymarco 2:a0e017115fc5 224
sulymarco 2:a0e017115fc5 225 #if defined ADA_TFT
sulymarco 2:a0e017115fc5 226 TFT.set_orientation(1);
sulymarco 2:a0e017115fc5 227 #else
sulymarco 2:a0e017115fc5 228 TFT.set_orientation(3);
sulymarco 2:a0e017115fc5 229 #endif
sulymarco 0:13be39911caf 230
sulymarco 0:13be39911caf 231 DrawBanner();
sulymarco 0:13be39911caf 232
sulymarco 0:13be39911caf 233 NetworkError = false;
sulymarco 0:13be39911caf 234
sulymarco 0:13be39911caf 235 if (ec_init(NULL)) // init SOEM
sulymarco 0:13be39911caf 236 {
sulymarco 0:13be39911caf 237 printf("ec_init succeeded.\n");
sulymarco 0:13be39911caf 238 printf("Scanning the network\n");
sulymarco 0:13be39911caf 239
sulymarco 0:13be39911caf 240 TFT.cls();
sulymarco 0:13be39911caf 241
sulymarco 0:13be39911caf 242 TFT.set_font((unsigned char*) Arial12x12);
sulymarco 0:13be39911caf 243 TFT.foreground(Green);
sulymarco 0:13be39911caf 244 TFT.locate(0, 0);
sulymarco 0:13be39911caf 245
sulymarco 0:13be39911caf 246 TFT.printf("Scanning the network\n");
sulymarco 0:13be39911caf 247
sulymarco 0:13be39911caf 248 if (network_scanning())
sulymarco 0:13be39911caf 249 {
sulymarco 0:13be39911caf 250 if (network_configuration()) // check network configuration
sulymarco 0:13be39911caf 251 {
sulymarco 0:13be39911caf 252 ec_config_map(&IOmap); // map the I/O
sulymarco 0:13be39911caf 253 MapLocalStructures();
sulymarco 0:13be39911caf 254
sulymarco 0:13be39911caf 255 printf("\nSlaves mapped, state to SAFE_OP.\n");
sulymarco 0:13be39911caf 256 // wait for all slaves to reach SAFE_OP state
sulymarco 0:13be39911caf 257 ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
sulymarco 0:13be39911caf 258
sulymarco 0:13be39911caf 259 printf("Request operational state for all slaves\n");
sulymarco 0:13be39911caf 260 ec_slave[0].state = EC_STATE_OPERATIONAL;
sulymarco 0:13be39911caf 261
sulymarco 0:13be39911caf 262 ec_send_processdata(); // send one valid process data to make outputs in slaves happy
sulymarco 0:13be39911caf 263 ExpectWorkCounter = ec_receive_processdata(EC_TIMEOUTRET);
sulymarco 0:13be39911caf 264
sulymarco 0:13be39911caf 265 ec_writestate(0); // request OP state for all slaves
sulymarco 0:13be39911caf 266
sulymarco 0:13be39911caf 267 // wait for all slaves to reach OP state
sulymarco 0:13be39911caf 268 ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
sulymarco 0:13be39911caf 269 if (ec_slave[0].state == EC_STATE_OPERATIONAL )
sulymarco 0:13be39911caf 270 {
sulymarco 0:13be39911caf 271 printf("Operational state reached for all slaves.\n");
sulymarco 0:13be39911caf 272 }
sulymarco 0:13be39911caf 273 else
sulymarco 0:13be39911caf 274 {
sulymarco 0:13be39911caf 275 printf("Not all slaves reached operational state.\n");
sulymarco 0:13be39911caf 276 ec_readstate();
sulymarco 0:13be39911caf 277 for(i = 1; i<=ec_slavecount ; i++)
sulymarco 0:13be39911caf 278 {
sulymarco 0:13be39911caf 279 if(ec_slave[i].state != EC_STATE_OPERATIONAL)
sulymarco 0:13be39911caf 280 {
sulymarco 0:13be39911caf 281 printf("Slave %d State=0x%04x StatusCode=0x%04x\n",
sulymarco 0:13be39911caf 282 i, ec_slave[i].state, ec_slave[i].ALstatuscode);
sulymarco 0:13be39911caf 283 }
sulymarco 0:13be39911caf 284 }
sulymarco 0:13be39911caf 285
sulymarco 0:13be39911caf 286 TFT.foreground(Red);
sulymarco 0:13be39911caf 287 TFT.locate(0, 0);
sulymarco 0:13be39911caf 288 TFT.printf("Not all slaves reached operational state!");
sulymarco 0:13be39911caf 289 while(1){}
sulymarco 0:13be39911caf 290 }
sulymarco 0:13be39911caf 291
sulymarco 0:13be39911caf 292 DrawSlaveFixedParts();
sulymarco 0:13be39911caf 293
sulymarco 0:13be39911caf 294 thread.start(ExchangeMaster);
sulymarco 0:13be39911caf 295 thread.set_priority(osPriorityRealtime);
sulymarco 0:13be39911caf 296
sulymarco 0:13be39911caf 297 SampleTicker.attach_us(&SampleIsr, CYCLE_TIME);
sulymarco 0:13be39911caf 298
sulymarco 0:13be39911caf 299 Application();
sulymarco 0:13be39911caf 300 }
sulymarco 0:13be39911caf 301
sulymarco 0:13be39911caf 302 else
sulymarco 0:13be39911caf 303 {
sulymarco 0:13be39911caf 304 printf("Mismatch of network units!\n");
sulymarco 0:13be39911caf 305 TFT.foreground(Red);
sulymarco 0:13be39911caf 306 TFT.locate(0, 0);
sulymarco 0:13be39911caf 307 TFT.printf("Mismatch of network units!");
sulymarco 0:13be39911caf 308
sulymarco 0:13be39911caf 309 while(1){}
sulymarco 0:13be39911caf 310 }
sulymarco 0:13be39911caf 311 }
sulymarco 0:13be39911caf 312
sulymarco 0:13be39911caf 313 else
sulymarco 0:13be39911caf 314 {
sulymarco 0:13be39911caf 315 printf("No slaves found!\n");
sulymarco 0:13be39911caf 316 TFT.foreground(Red);
sulymarco 0:13be39911caf 317 TFT.printf("No slaves found!");
sulymarco 0:13be39911caf 318
sulymarco 0:13be39911caf 319 while(1){}
sulymarco 0:13be39911caf 320 }
sulymarco 0:13be39911caf 321 }
sulymarco 0:13be39911caf 322 else
sulymarco 0:13be39911caf 323 {
sulymarco 0:13be39911caf 324 printf("Ethernet interface init failed!");
sulymarco 0:13be39911caf 325 TFT.foreground(Red);
sulymarco 0:13be39911caf 326 TFT.locate(0, 0);
sulymarco 0:13be39911caf 327 TFT.printf("Ethernet interface init failed!");
sulymarco 0:13be39911caf 328 while(1){}
sulymarco 0:13be39911caf 329 }
sulymarco 0:13be39911caf 330 }
sulymarco 0:13be39911caf 331
sulymarco 0:13be39911caf 332
sulymarco 0:13be39911caf 333 //****** user master application **********************************************
sulymarco 0:13be39911caf 334
sulymarco 0:13be39911caf 335 void Application()
sulymarco 0:13be39911caf 336 {
sulymarco 0:13be39911caf 337
sulymarco 0:13be39911caf 338 while(1)
sulymarco 0:13be39911caf 339 {
sulymarco 0:13be39911caf 340 event_flags.wait_any(APPLICATION_FLAG); // the application waits for the synchronization flag
sulymarco 0:13be39911caf 341
sulymarco 0:13be39911caf 342 //Test_2 = 1;
sulymarco 0:13be39911caf 343
sulymarco 0:13be39911caf 344 IO_data.lock(); // copy the Ethercat data to a safe buffer
sulymarco 0:13be39911caf 345 memcpy(&IOmapSafe[0], &IOmap[0], IO_MAP_SIZE); //
sulymarco 0:13be39911caf 346 //
sulymarco 0:13be39911caf 347 if (NetworkError) //
sulymarco 0:13be39911caf 348 { //
sulymarco 0:13be39911caf 349 NetworkErrorSafe = NetworkError; //
sulymarco 0:13be39911caf 350 WorkCounterSafe = WorkCounter; //
sulymarco 0:13be39911caf 351 } //
sulymarco 0:13be39911caf 352 IO_data.unlock(); //
sulymarco 0:13be39911caf 353
sulymarco 0:13be39911caf 354 if (NetworkErrorSafe)
sulymarco 0:13be39911caf 355 {
sulymarco 0:13be39911caf 356 TFT.rect(35,50, 285, 182, Red);
sulymarco 0:13be39911caf 357 TFT.fillrect(36,51, 284, 181, Black);
sulymarco 0:13be39911caf 358 TFT.foreground(Red);
sulymarco 0:13be39911caf 359 TFT.set_font((unsigned char*) Arial28x28);
sulymarco 0:13be39911caf 360 TFT.locate(58, 65);
sulymarco 0:13be39911caf 361 TFT.printf("Network error!");
sulymarco 0:13be39911caf 362 printf("Network error!\n");
sulymarco 0:13be39911caf 363 TFT.foreground(Magenta);
sulymarco 0:13be39911caf 364 TFT.set_font((unsigned char*) Arial12x12);
sulymarco 0:13be39911caf 365 TFT.locate(58, 106);
sulymarco 0:13be39911caf 366
sulymarco 0:13be39911caf 367 if(WorkCounterSafe >= 0)
sulymarco 0:13be39911caf 368 {
sulymarco 0:13be39911caf 369 TFT.printf("Expected working counter %d", ExpectWorkCounter);
sulymarco 0:13be39911caf 370 TFT.locate(58, 118);
sulymarco 0:13be39911caf 371 TFT.printf("Actual working counter %d", WorkCounterSafe);
sulymarco 0:13be39911caf 372 printf("Expected working counter %d\n", ExpectWorkCounter);
sulymarco 0:13be39911caf 373 printf("Actual working counter %d\n", WorkCounterSafe);
sulymarco 0:13be39911caf 374 }
sulymarco 0:13be39911caf 375 else
sulymarco 0:13be39911caf 376 {
sulymarco 0:13be39911caf 377 TFT.printf("Timeout");
sulymarco 0:13be39911caf 378 printf("Timeout\n");
sulymarco 0:13be39911caf 379 }
sulymarco 0:13be39911caf 380
sulymarco 0:13be39911caf 381 TFT.foreground(Green);
sulymarco 0:13be39911caf 382 TFT.locate(58, 142);
sulymarco 0:13be39911caf 383 TFT.printf("Please fix the error and");
sulymarco 0:13be39911caf 384 TFT.locate(58, 154);
sulymarco 0:13be39911caf 385 TFT.printf("press the reset button");
sulymarco 0:13be39911caf 386 printf("Please fix the error and press the reset button \n");
sulymarco 0:13be39911caf 387
sulymarco 0:13be39911caf 388 SampleTicker.detach(); // stop the sample interrupt
sulymarco 0:13be39911caf 389 while(1){} // and loop for ever
sulymarco 0:13be39911caf 390 }
sulymarco 0:13be39911caf 391
sulymarco 0:13be39911caf 392
sulymarco 0:13be39911caf 393 //----- slave LAB_2_1 data management ------
sulymarco 0:13be39911caf 394 //
sulymarco 0:13be39911caf 395 Buttons_1 = in_LAB_2_1->Buttons; // read the buttons status from the slave
sulymarco 0:13be39911caf 396 //
sulymarco 0:13be39911caf 397 if (Buttons_1 != PrevButtons_1) // check if the buttons value has changed
sulymarco 0:13be39911caf 398 { //
sulymarco 0:13be39911caf 399 PrevButtons_1 = Buttons_1; // remember the current buttons value
sulymarco 0:13be39911caf 400 DrawButtons_1_Value(Buttons_1); // draw the current buttons value on the TFT
sulymarco 0:13be39911caf 401 } //
sulymarco 0:13be39911caf 402 //
sulymarco 0:13be39911caf 403 out_LAB_2_1->Segments = Buttons_2; // send to the slave the buttons status
sulymarco 0:13be39911caf 404 // from the slave LAB_2_2
sulymarco 0:13be39911caf 405
sulymarco 0:13be39911caf 406
sulymarco 0:13be39911caf 407
sulymarco 0:13be39911caf 408 //----- slave 2_2 data management ----------
sulymarco 0:13be39911caf 409 //
sulymarco 0:13be39911caf 410 Buttons_2 = in_LAB_2_2->Buttons; // read the buttons status from the slave
sulymarco 0:13be39911caf 411 //
sulymarco 0:13be39911caf 412 if (Buttons_2 != PrevButtons_2) // check if the buttons value has changed
sulymarco 0:13be39911caf 413 { //
sulymarco 0:13be39911caf 414 PrevButtons_2 = Buttons_2; // remember the current buttons value
sulymarco 0:13be39911caf 415 DrawButtons_2_Value(Buttons_2); // draw the current buttons value on the TFT
sulymarco 0:13be39911caf 416 } //
sulymarco 0:13be39911caf 417 //
sulymarco 0:13be39911caf 418 out_LAB_2_2->Segments = Buttons_1; // send to the slave the buttons status
sulymarco 0:13be39911caf 419 // from the slave LAB_2_1
sulymarco 0:13be39911caf 420
sulymarco 0:13be39911caf 421
sulymarco 0:13be39911caf 422
sulymarco 0:13be39911caf 423 IO_data.lock(); // copy the IO data from the safe area
sulymarco 0:13be39911caf 424 memcpy(&IOmap[0], &IOmapSafe[0], IO_MAP_SIZE); // to the EtherCAT buffer
sulymarco 0:13be39911caf 425 IO_data.unlock(); //
sulymarco 0:13be39911caf 426
sulymarco 0:13be39911caf 427 //Test_2 = 0;
sulymarco 0:13be39911caf 428 }
sulymarco 0:13be39911caf 429 }
sulymarco 0:13be39911caf 430
sulymarco 0:13be39911caf 431
sulymarco 0:13be39911caf 432 //******************************************************************************
sulymarco 0:13be39911caf 433
sulymarco 0:13be39911caf 434
sulymarco 0:13be39911caf 435
sulymarco 0:13be39911caf 436 //******* general functions ****************************************************
sulymarco 0:13be39911caf 437
sulymarco 0:13be39911caf 438
sulymarco 0:13be39911caf 439
sulymarco 0:13be39911caf 440 //----- draw the fixed part of the slaves visualization ------------------------
sulymarco 0:13be39911caf 441
sulymarco 0:13be39911caf 442 void DrawSlaveFixedParts()
sulymarco 0:13be39911caf 443 {
sulymarco 0:13be39911caf 444 int i;
sulymarco 0:13be39911caf 445
sulymarco 0:13be39911caf 446 TFT.cls(); // clear screen
sulymarco 0:13be39911caf 447 TFT.line(0, 120, 340, 120, Green); // draw the separation line
sulymarco 0:13be39911caf 448
sulymarco 0:13be39911caf 449 for (i=0; i<3; i++) // draw the buttons fixed parts
sulymarco 0:13be39911caf 450 { // for the LAB_2_1 slave
sulymarco 0:13be39911caf 451 TFT.circle(BUTTONS_1_X+(i*BUTTONS_1_STEP), BUTTONS_1_Y, BUTTONS_1_R, Red);
sulymarco 0:13be39911caf 452 TFT.circle(BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP), BUTTONS_1_Y, BUTTONS_1_R, Red);
sulymarco 0:13be39911caf 453 //
sulymarco 0:13be39911caf 454 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 455 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 456 } //
sulymarco 0:13be39911caf 457 //
sulymarco 0:13be39911caf 458 TFT.set_font((unsigned char*) Arial12x12); //
sulymarco 0:13be39911caf 459 TFT.locate(BUTTONS_1_X+12, BUTTONS_1_Y+20); //
sulymarco 0:13be39911caf 460 TFT.printf("LAB_2_1 Buttons"); //
sulymarco 0:13be39911caf 461
sulymarco 0:13be39911caf 462 for (i=0; i<3; i++) // draw the buttons fixed parts
sulymarco 0:13be39911caf 463 { // for the LAB_2_2 slave
sulymarco 0:13be39911caf 464 TFT.circle(BUTTONS_2_X+(i*BUTTONS_2_STEP), BUTTONS_2_Y, BUTTONS_2_R, Red);
sulymarco 0:13be39911caf 465 TFT.circle(BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP), BUTTONS_2_Y, BUTTONS_2_R, Red);
sulymarco 0:13be39911caf 466 //
sulymarco 0:13be39911caf 467 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 468 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 469 } //
sulymarco 0:13be39911caf 470 //
sulymarco 0:13be39911caf 471 TFT.set_font((unsigned char*) Arial12x12); //
sulymarco 0:13be39911caf 472 TFT.locate(BUTTONS_2_X+12, BUTTONS_2_Y+20); //
sulymarco 0:13be39911caf 473 TFT.printf("LAB_2_2 Buttons"); //
sulymarco 0:13be39911caf 474
sulymarco 0:13be39911caf 475 DrawButtons_1_Value (Buttons_1); // draw the buttons status
sulymarco 0:13be39911caf 476 DrawButtons_2_Value (Buttons_2); //
sulymarco 0:13be39911caf 477
sulymarco 0:13be39911caf 478 FirstRound = true;
sulymarco 0:13be39911caf 479 }
sulymarco 0:13be39911caf 480
sulymarco 0:13be39911caf 481
sulymarco 0:13be39911caf 482 //---- draw the starting banner ------------------------------------------------
sulymarco 0:13be39911caf 483
sulymarco 0:13be39911caf 484 void DrawBanner()
sulymarco 0:13be39911caf 485 {
sulymarco 0:13be39911caf 486 TFT.set_font((unsigned char*) Arial24x23);
sulymarco 0:13be39911caf 487 TFT.foreground(Red);
sulymarco 0:13be39911caf 488 TFT.locate(30, 30);
sulymarco 0:13be39911caf 489 TFT.printf("EasyCAT");
sulymarco 0:13be39911caf 490 TFT.locate(30, 60);
sulymarco 0:13be39911caf 491 TFT.printf("SOEM MASTER");
sulymarco 0:13be39911caf 492
sulymarco 0:13be39911caf 493 TFT.foreground(Magenta);
sulymarco 0:13be39911caf 494 TFT.locate(30, 100);
sulymarco 0:13be39911caf 495 TFT.printf("simple example");
sulymarco 0:13be39911caf 496
sulymarco 0:13be39911caf 497 TFT.set_font((unsigned char*) Arial12x12);
sulymarco 0:13be39911caf 498 TFT.foreground(Green);
sulymarco 0:13be39911caf 499 TFT.locate(30, 150);
sulymarco 0:13be39911caf 500 TFT.printf("www.bausano.net");
sulymarco 0:13be39911caf 501
sulymarco 0:13be39911caf 502 TFT.foreground(Green);
sulymarco 0:13be39911caf 503 TFT.locate(30, 170);
sulymarco 0:13be39911caf 504 TFT.printf("www.easycatshield.com");
sulymarco 0:13be39911caf 505
sulymarco 0:13be39911caf 506 TFT.locate(30, 190);
sulymarco 2:a0e017115fc5 507 TFT.printf("https://openethercatsociety.github.io/");
sulymarco 2:a0e017115fc5 508
sulymarco 2:a0e017115fc5 509 TFT.foreground(Red);
sulymarco 2:a0e017115fc5 510 TFT.locate(30, 220);
sulymarco 2:a0e017115fc5 511 #if defined ADA_TFT
sulymarco 2:a0e017115fc5 512 TFT.printf("Adafruit TFT");
sulymarco 2:a0e017115fc5 513 #else
sulymarco 2:a0e017115fc5 514 TFT.printf("Seeed Studio TFT");
sulymarco 2:a0e017115fc5 515 #endif
sulymarco 0:13be39911caf 516 }
sulymarco 0:13be39911caf 517
sulymarco 0:13be39911caf 518
sulymarco 0:13be39911caf 519 //---- slaves data visualization functions -------------------------------------
sulymarco 0:13be39911caf 520
sulymarco 0:13be39911caf 521 void DrawButtons_1_Value (uint8_t Value) // visualize on the TFT the
sulymarco 0:13be39911caf 522 { // slave LAB_2_1 buttons status
sulymarco 0:13be39911caf 523 uint8_t Slope;
sulymarco 0:13be39911caf 524 int i;
sulymarco 0:13be39911caf 525
sulymarco 0:13be39911caf 526 for (i=0; i<3; i++)
sulymarco 0:13be39911caf 527 {
sulymarco 0:13be39911caf 528 if ((Value & 0x04) == 0x04)
sulymarco 0:13be39911caf 529 Slope = BUTTONS_1_R;
sulymarco 0:13be39911caf 530 else
sulymarco 0:13be39911caf 531 Slope = 16;
sulymarco 0:13be39911caf 532
sulymarco 0:13be39911caf 533 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 534
sulymarco 0:13be39911caf 535 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 536
sulymarco 0:13be39911caf 537 Value = Value << 1;
sulymarco 0:13be39911caf 538 }
sulymarco 0:13be39911caf 539 }
sulymarco 0:13be39911caf 540
sulymarco 0:13be39911caf 541
sulymarco 0:13be39911caf 542 void DrawButtons_2_Value (uint8_t Value) // visualize on the TFT the
sulymarco 0:13be39911caf 543 { // slave LAB_2_2 buttons status
sulymarco 0:13be39911caf 544 uint8_t Slope;
sulymarco 0:13be39911caf 545 int i;
sulymarco 0:13be39911caf 546
sulymarco 0:13be39911caf 547 for (i=0; i<3; i++)
sulymarco 0:13be39911caf 548 {
sulymarco 0:13be39911caf 549 if ((Value & 0x04) == 0x04)
sulymarco 0:13be39911caf 550 Slope = BUTTONS_1_R;
sulymarco 0:13be39911caf 551 else
sulymarco 0:13be39911caf 552 Slope = 16;
sulymarco 0:13be39911caf 553
sulymarco 0:13be39911caf 554 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 555
sulymarco 0:13be39911caf 556 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 557
sulymarco 0:13be39911caf 558 Value = Value << 1;
sulymarco 0:13be39911caf 559 }
sulymarco 0:13be39911caf 560 }
sulymarco 0:13be39911caf 561