EasyCAT_LAB_simple - EasyCAT LAB - EtherCAT master simple example

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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.

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.

config.h

Committer:: EasyCAT
Date:: 6 months ago
Revision:: 4:cbef7fa67d5f
Parent:: 0:13be39911caf

File content as of revision 4:cbef7fa67d5f:

#ifndef config_H
#define config_H

#include "ethercat.h"


//------------------------------------------------------------------------------

#define LAB_1             1
#define LAB_2             2

#define SLAVE_NUM           2


//------------------------------------------------------------------------------

#define IO_MAP_SIZE 256


//------------------------------------------------------------------------------

typedef struct __attribute__((__packed__))
{
    uint8_t     Segments;
}out_LAB_1t;

typedef struct __attribute__((__packed__))
{
    uint16_t    Potentiometer;              // in this example we don't use the    
    uint8_t     Buttons;                    // potentiometer but we have to 
}in_LAB_1t;                                 // declare it in the data structure


//------------------------------------------------------------------------------

typedef struct __attribute__((__packed__))
{
    uint8_t     Segments;
}out_LAB_2t;

typedef struct __attribute__((__packed__))
{
    uint16_t    Potentiometer;              // in this example we don't use the 
    uint8_t     Buttons;                    // potentiometer but we have to 
}in_LAB_2t;                                 // declare it in the data structure


//------------------------------------------------------------------------------

out_LAB_1t    *out_LAB_1;
in_LAB_1t     *in_LAB_1;

out_LAB_2t    *out_LAB_2;
in_LAB_2t     *in_LAB_2;


//------------------------------------------------------------------------------

char IOmap[IO_MAP_SIZE];
char IOmapSafe[IO_MAP_SIZE];   


void MapLocalStructures (void)
{
    out_LAB_1 = (out_LAB_1t*)((char *)ec_slave[LAB_1].outputs - &IOmap[0] + &IOmapSafe[0]);
    in_LAB_1 =  (in_LAB_1t*)((char *)ec_slave[LAB_1].inputs - &IOmap[0] + &IOmapSafe[0]);                
    
    out_LAB_2 = (out_LAB_2t*)((char *)ec_slave[LAB_2].outputs - &IOmap[0] + &IOmapSafe[0]);
    in_LAB_2 =  (in_LAB_2t*)((char *)ec_slave[LAB_2].inputs - &IOmap[0] + &IOmapSafe[0]);                
}



//------------------------------------------------------------------------------

uint32_t network_configuration(void)
{

   if (ec_slavecount != SLAVE_NUM)                          // check if the number of slaves matches what we expect
      return 0;                                             
                                                            
   if (strcmp(ec_slave[LAB_1].name,"LAB_1"))              // verify slave by slave that the slave names are correct  
      return 0;
   
   else if (strcmp(ec_slave[LAB_2].name,"LAB_2"))
      return 0;
      
  return 1;
}


#endif