AB&T
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.
- The EasyCAT LAB is provided as a kit by AB&T Tecnologie Informatiche, to allow everybody to have an educational EtherCAT® system up and running in a matter of minutes.
- It uses the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the
ecosystem by AB&T Tecnologie Informatiche.
- The slaves are based on the EasyCAT SHIELD and the Arduino UNO.
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.
Diff: main.cpp
- Revision:
- 0:13be39911caf
- Child:
- 1:385bdd2b4cd6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 08 17:44:47 2019 +0000
@@ -0,0 +1,522 @@
+//********************************************************************************************
+// *
+// This software is distributed as an example, "AS IS", in the hope that it could *
+// be useful, WITHOUT ANY WARRANTY of any kind, express or implied, included, but *
+// not limited, to the warranties of merchantability, fitness for a particular *
+// purpose, and non infringiment. In no event shall the authors be liable for any *
+// claim, damages or other liability, arising from, or in connection with this software. *
+// *
+//********************************************************************************************
+
+
+// The AB&T EasyCAT LAB is a complete experimental EtherCAT® system, composed by
+// one master and two slaves.
+// The EasyCAT LAB software is provided free of charge and its pourpose is to allow
+// makers and educational institutes to experiment with the EtherCAT® protocol.
+//
+// The EasyCAT LAB is developed by "AB&T Tecnologie Informatiche" Via dell'About 2A Ivrea Italy.
+// www.bausano.net
+// www.easycatshield.com
+//
+// The EasyCAT LAB uses the SOEM library by rt:labs
+// https://rt-labs.com/products/soem-ethercat-master-stack/
+//
+// EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH.
+// www.beckhoff.com
+// www.ethercat.org
+
+
+#define ETH_TXBUFNB 16
+#define ETH_RXBUFNB 16
+
+#include "mbed.h"
+
+#ifndef __align
+#define __align MBED_ALIGN
+#endif
+
+#include "config.h"
+#include "SPI_TFT_ILI9341.h"
+#include "Arial12x12.h"
+#include "Arial24x23.h"
+#include "Arial28x28.h"
+#include "font_big.h"
+#include "soem_start.h"
+
+#define CYCLE_TIME 1000 // master cycle time in uS
+ // 1000 = 1mS
+
+
+#define SysMilliS() (uint32_t)Kernel::get_ms_count()
+
+Serial pc(USBTX,USBRX,115200); // set the debug serial line speed to 115200
+
+
+//---- TFT with resistive touchscreen pins -------------------------------------
+
+// the display used is the SeeedStudio 2.8 inch TFT v2.0
+// http://wiki.seeedstudio.com/2.8inch_TFT_Touch_Shield_v2.0/
+
+#define PIN_YP A3 // resistive touchscreen
+#define PIN_YM A1 //
+#define PIN_XM A2 //
+#define PIN_XP A0 //
+
+#define PIN_MOSI D11 // TFT display SPI
+#define PIN_MISO D12 //
+#define PIN_SCLK D13 //
+#define PIN_CS_TFT D5 //
+#define PIN_DC_TFT D6 //
+
+
+
+//---- visualization parameters ------------------------------------------------
+
+#define BUTTONS_1_X 80
+#define BUTTONS_1_Y 60
+
+#define BUTTONS_2_X 80
+#define BUTTONS_2_Y 180
+
+
+#define BUTTONS_1_WIDTH 26
+#define BUTTONS_1_R 3
+#define BUTTONS_1_STEP 60
+
+#define BUTTONS_2_WIDTH BUTTONS_1_WIDTH
+#define BUTTONS_2_R BUTTONS_1_R
+#define BUTTONS_2_STEP BUTTONS_1_STEP
+
+
+//---- local functions ---------------------------------------------------------
+
+void DrawBanner();
+void DrawSlaveFixedParts();
+void DrawButtons_1_Value(uint8_t Value);
+void DrawButtons_2_Value(uint8_t Value);
+
+void Application();
+
+
+//---- global variables --------------------------------------------------------
+
+
+bool FirstRound;
+
+//------------------------------------------------------------------------------
+
+SPI_TFT_ILI9341 TFT(PIN_MOSI, PIN_MISO, PIN_SCLK, PIN_CS_TFT, NC, PIN_DC_TFT);
+
+Ticker SampleTicker;
+Thread thread;
+
+DigitalOut Test_1(D1); // debug test points
+DigitalOut Test_2(D2); //
+DigitalOut Test_3(D3); //
+DigitalOut Test_4(D4); //
+
+
+//------------------------------------------------------------------------------
+
+uint8_t Buttons_1;
+uint8_t PrevButtons_1;
+uint8_t Segments_1;
+uint8_t PrevSegments_1;
+
+uint8_t Buttons_2;
+uint8_t PrevButtons_2;
+uint8_t Segments_2;
+uint8_t PrevSegments_2;
+
+
+//------------------------------------------------------------------------------
+
+int ExpectWorkCounter;
+int WorkCounter;
+int WorkCounterSafe;
+bool NetworkError;
+bool NetworkErrorSafe;
+
+#define DATA_EXCHANGE_FLAG (1UL << 0)
+#define APPLICATION_FLAG (1UL << 1)
+
+EventFlags event_flags;
+
+Mutex IO_data;
+
+
+//---- data exchange thread ----------------------------------------------------
+
+void ExchangeMaster()
+{
+ while (true)
+ {
+ event_flags.wait_any(DATA_EXCHANGE_FLAG); // the thread waits for the synchronization flag
+
+ //Test_1 = 1;
+
+ IO_data.lock(); // Ethercat data exchange
+ ec_send_processdata(); //
+ WorkCounter = ec_receive_processdata(EC_TIMEOUTRET);
+
+ if (WorkCounter != ExpectWorkCounter)
+ NetworkError = true;
+ else
+ NetworkError = false;
+
+ IO_data.unlock(); //
+ event_flags.set(APPLICATION_FLAG); // synchronize the application
+
+ //Test_1 = 0;
+ }
+}
+
+
+//----- thicker generated sample time ------------------------------------------
+
+void SampleIsr() // set the event that starts
+{ // the data exchange
+ event_flags.set(DATA_EXCHANGE_FLAG); //
+} //
+
+
+//****** initialization ********************************************************
+
+int main()
+{
+ int i;
+
+ printf("Start \n");
+
+ Test_1 = 0;
+ Test_2 = 0;
+ Test_3 = 0;
+ Test_4 = 0;
+
+ TFT.background(Black); // init TFT
+ TFT.cls(); //
+ TFT.set_orientation(3); //
+
+ DrawBanner();
+
+ NetworkError = false;
+
+ if (ec_init(NULL)) // init SOEM
+ {
+ printf("ec_init succeeded.\n");
+ printf("Scanning the network\n");
+
+ TFT.cls();
+
+ TFT.set_font((unsigned char*) Arial12x12);
+ TFT.foreground(Green);
+ TFT.locate(0, 0);
+
+ TFT.printf("Scanning the network\n");
+
+ if (network_scanning())
+ {
+ if (network_configuration()) // check network configuration
+ {
+ ec_config_map(&IOmap); // map the I/O
+ MapLocalStructures();
+
+ printf("\nSlaves mapped, state to SAFE_OP.\n");
+ // wait for all slaves to reach SAFE_OP state
+ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
+
+ printf("Request operational state for all slaves\n");
+ ec_slave[0].state = EC_STATE_OPERATIONAL;
+
+ ec_send_processdata(); // send one valid process data to make outputs in slaves happy
+ ExpectWorkCounter = ec_receive_processdata(EC_TIMEOUTRET);
+
+ ec_writestate(0); // request OP state for all slaves
+
+ // wait for all slaves to reach OP state
+ ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE);
+ if (ec_slave[0].state == EC_STATE_OPERATIONAL )
+ {
+ printf("Operational state reached for all slaves.\n");
+ }
+ else
+ {
+ printf("Not all slaves reached operational state.\n");
+ ec_readstate();
+ for(i = 1; i<=ec_slavecount ; i++)
+ {
+ if(ec_slave[i].state != EC_STATE_OPERATIONAL)
+ {
+ printf("Slave %d State=0x%04x StatusCode=0x%04x\n",
+ i, ec_slave[i].state, ec_slave[i].ALstatuscode);
+ }
+ }
+
+ TFT.foreground(Red);
+ TFT.locate(0, 0);
+ TFT.printf("Not all slaves reached operational state!");
+ while(1){}
+ }
+
+ DrawSlaveFixedParts();
+
+ thread.start(ExchangeMaster);
+ thread.set_priority(osPriorityRealtime);
+
+ SampleTicker.attach_us(&SampleIsr, CYCLE_TIME);
+
+ Application();
+ }
+
+ else
+ {
+ printf("Mismatch of network units!\n");
+ TFT.foreground(Red);
+ TFT.locate(0, 0);
+ TFT.printf("Mismatch of network units!");
+
+ while(1){}
+ }
+ }
+
+ else
+ {
+ printf("No slaves found!\n");
+ TFT.foreground(Red);
+ TFT.printf("No slaves found!");
+
+ while(1){}
+ }
+ }
+ else
+ {
+ printf("Ethernet interface init failed!");
+ TFT.foreground(Red);
+ TFT.locate(0, 0);
+ TFT.printf("Ethernet interface init failed!");
+ while(1){}
+ }
+}
+
+
+//****** user master application **********************************************
+
+void Application()
+{
+
+ while(1)
+ {
+ event_flags.wait_any(APPLICATION_FLAG); // the application waits for the synchronization flag
+
+ //Test_2 = 1;
+
+ IO_data.lock(); // copy the Ethercat data to a safe buffer
+ memcpy(&IOmapSafe[0], &IOmap[0], IO_MAP_SIZE); //
+ //
+ if (NetworkError) //
+ { //
+ NetworkErrorSafe = NetworkError; //
+ WorkCounterSafe = WorkCounter; //
+ } //
+ IO_data.unlock(); //
+
+ if (NetworkErrorSafe)
+ {
+ TFT.rect(35,50, 285, 182, Red);
+ TFT.fillrect(36,51, 284, 181, Black);
+ TFT.foreground(Red);
+ TFT.set_font((unsigned char*) Arial28x28);
+ TFT.locate(58, 65);
+ TFT.printf("Network error!");
+ printf("Network error!\n");
+ TFT.foreground(Magenta);
+ TFT.set_font((unsigned char*) Arial12x12);
+ TFT.locate(58, 106);
+
+ if(WorkCounterSafe >= 0)
+ {
+ TFT.printf("Expected working counter %d", ExpectWorkCounter);
+ TFT.locate(58, 118);
+ TFT.printf("Actual working counter %d", WorkCounterSafe);
+ printf("Expected working counter %d\n", ExpectWorkCounter);
+ printf("Actual working counter %d\n", WorkCounterSafe);
+ }
+ else
+ {
+ TFT.printf("Timeout");
+ printf("Timeout\n");
+ }
+
+ TFT.foreground(Green);
+ TFT.locate(58, 142);
+ TFT.printf("Please fix the error and");
+ TFT.locate(58, 154);
+ TFT.printf("press the reset button");
+ printf("Please fix the error and press the reset button \n");
+
+ SampleTicker.detach(); // stop the sample interrupt
+ while(1){} // and loop for ever
+ }
+
+
+ //----- slave LAB_2_1 data management ------
+ //
+ Buttons_1 = in_LAB_2_1->Buttons; // read the buttons status from the slave
+ //
+ if (Buttons_1 != PrevButtons_1) // check if the buttons value has changed
+ { //
+ PrevButtons_1 = Buttons_1; // remember the current buttons value
+ DrawButtons_1_Value(Buttons_1); // draw the current buttons value on the TFT
+ } //
+ //
+ out_LAB_2_1->Segments = Buttons_2; // send to the slave the buttons status
+ // from the slave LAB_2_2
+
+
+
+ //----- slave 2_2 data management ----------
+ //
+ Buttons_2 = in_LAB_2_2->Buttons; // read the buttons status from the slave
+ //
+ if (Buttons_2 != PrevButtons_2) // check if the buttons value has changed
+ { //
+ PrevButtons_2 = Buttons_2; // remember the current buttons value
+ DrawButtons_2_Value(Buttons_2); // draw the current buttons value on the TFT
+ } //
+ //
+ out_LAB_2_2->Segments = Buttons_1; // send to the slave the buttons status
+ // from the slave LAB_2_1
+
+
+
+ IO_data.lock(); // copy the IO data from the safe area
+ memcpy(&IOmap[0], &IOmapSafe[0], IO_MAP_SIZE); // to the EtherCAT buffer
+ IO_data.unlock(); //
+
+ //Test_2 = 0;
+ }
+}
+
+
+//******************************************************************************
+
+
+
+//******* general functions ****************************************************
+
+
+
+//----- draw the fixed part of the slaves visualization ------------------------
+
+void DrawSlaveFixedParts()
+{
+ int i;
+
+ TFT.cls(); // clear screen
+ TFT.line(0, 120, 340, 120, Green); // draw the separation line
+
+ for (i=0; i<3; i++) // draw the buttons fixed parts
+ { // for the LAB_2_1 slave
+ TFT.circle(BUTTONS_1_X+(i*BUTTONS_1_STEP), BUTTONS_1_Y, BUTTONS_1_R, Red);
+ TFT.circle(BUTTONS_1_X+BUTTONS_1_WIDTH+(i*BUTTONS_1_STEP), BUTTONS_1_Y, BUTTONS_1_R, Red);
+ //
+ 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);
+ 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);
+ } //
+ //
+ TFT.set_font((unsigned char*) Arial12x12); //
+ TFT.locate(BUTTONS_1_X+12, BUTTONS_1_Y+20); //
+ TFT.printf("LAB_2_1 Buttons"); //
+
+ for (i=0; i<3; i++) // draw the buttons fixed parts
+ { // for the LAB_2_2 slave
+ TFT.circle(BUTTONS_2_X+(i*BUTTONS_2_STEP), BUTTONS_2_Y, BUTTONS_2_R, Red);
+ TFT.circle(BUTTONS_2_X+BUTTONS_2_WIDTH+(i*BUTTONS_2_STEP), BUTTONS_2_Y, BUTTONS_2_R, Red);
+ //
+ 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);
+ 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);
+ } //
+ //
+ TFT.set_font((unsigned char*) Arial12x12); //
+ TFT.locate(BUTTONS_2_X+12, BUTTONS_2_Y+20); //
+ TFT.printf("LAB_2_2 Buttons"); //
+
+ DrawButtons_1_Value (Buttons_1); // draw the buttons status
+ DrawButtons_2_Value (Buttons_2); //
+
+ FirstRound = true;
+}
+
+
+//---- draw the starting banner ------------------------------------------------
+
+void DrawBanner()
+{
+ TFT.set_font((unsigned char*) Arial24x23);
+ TFT.foreground(Red);
+ TFT.locate(30, 30);
+ TFT.printf("EasyCAT");
+ TFT.locate(30, 60);
+ TFT.printf("SOEM MASTER");
+
+ TFT.foreground(Magenta);
+ TFT.locate(30, 100);
+ TFT.printf("simple example");
+
+ TFT.set_font((unsigned char*) Arial12x12);
+ TFT.foreground(Green);
+ TFT.locate(30, 150);
+ TFT.printf("www.bausano.net");
+
+ TFT.foreground(Green);
+ TFT.locate(30, 170);
+ TFT.printf("www.easycatshield.com");
+
+ TFT.locate(30, 190);
+ TFT.printf("https://openethercatsociety.github.io/");
+}
+
+
+//---- slaves data visualization functions -------------------------------------
+
+void DrawButtons_1_Value (uint8_t Value) // visualize on the TFT the
+{ // slave LAB_2_1 buttons status
+ uint8_t Slope;
+ int i;
+
+ for (i=0; i<3; i++)
+ {
+ if ((Value & 0x04) == 0x04)
+ Slope = BUTTONS_1_R;
+ else
+ Slope = 16;
+
+ 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);
+
+ 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);
+
+ Value = Value << 1;
+ }
+}
+
+
+void DrawButtons_2_Value (uint8_t Value) // visualize on the TFT the
+{ // slave LAB_2_2 buttons status
+ uint8_t Slope;
+ int i;
+
+ for (i=0; i<3; i++)
+ {
+ if ((Value & 0x04) == 0x04)
+ Slope = BUTTONS_1_R;
+ else
+ Slope = 16;
+
+ 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);
+
+ 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);
+
+ Value = Value << 1;
+ }
+}
+
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Repository details
| Type: | Program |
|---|---|
| Mbed OS support: | Mbed OS |
| Created: | 08 Jul 2019 |
| Imports: | 59 |
| Forks: | 0 |
| Commits: | 5 |
| Dependents: | 0 |
| Dependencies: | 3 |
| Followers: | 4 |
