AB&T / Mbed OS EasyCAT_LAB_very_simple

EasyCAT LAB - EtherCAT master very simple example

Dependencies:   SOEM

  • This repository contains a very basic 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, to keep things as simple as possible, only two bytes of data are exchanged between the slaves and the TFT display is not used .

config.h@2:368e7d4d8171, 7 months ago (annotated)

Committer:
EasyCAT
Date:
Wed Oct 25 15:38:52 2023 +0000
Revision:
2:368e7d4d8171
Parent:
0:bc829777f1ea 
Bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sulymarco 0:bc829777f1ea 1 #ifndef config_H
sulymarco 0:bc829777f1ea 2 #define config_H
sulymarco 0:bc829777f1ea 3
sulymarco 0:bc829777f1ea 4 #include "ethercat.h"
sulymarco 0:bc829777f1ea 5
sulymarco 0:bc829777f1ea 6
sulymarco 0:bc829777f1ea 7 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 8
EasyCAT 2:368e7d4d8171 9 #define LAB_1 1
EasyCAT 2:368e7d4d8171 10 #define LAB_2 2
sulymarco 0:bc829777f1ea 11
sulymarco 0:bc829777f1ea 12 #define SLAVE_NUM 2
sulymarco 0:bc829777f1ea 13
sulymarco 0:bc829777f1ea 14
sulymarco 0:bc829777f1ea 15 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 16
sulymarco 0:bc829777f1ea 17 #define IO_MAP_SIZE 256
sulymarco 0:bc829777f1ea 18
sulymarco 0:bc829777f1ea 19
sulymarco 0:bc829777f1ea 20 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 21
sulymarco 0:bc829777f1ea 22 typedef struct __attribute__((__packed__))
sulymarco 0:bc829777f1ea 23 {
sulymarco 0:bc829777f1ea 24 uint8_t Segments;
EasyCAT 2:368e7d4d8171 25 }out_LAB_1t;
sulymarco 0:bc829777f1ea 26
sulymarco 0:bc829777f1ea 27 typedef struct __attribute__((__packed__))
sulymarco 0:bc829777f1ea 28 {
sulymarco 0:bc829777f1ea 29 uint16_t Potentiometer; // in this example we don't use the
sulymarco 0:bc829777f1ea 30 uint8_t Buttons; // potentiometer but we have to
EasyCAT 2:368e7d4d8171 31 }in_LAB_1t; // declare it in the data structure
sulymarco 0:bc829777f1ea 32
sulymarco 0:bc829777f1ea 33
sulymarco 0:bc829777f1ea 34 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 35
sulymarco 0:bc829777f1ea 36 typedef struct __attribute__((__packed__))
sulymarco 0:bc829777f1ea 37 {
sulymarco 0:bc829777f1ea 38 uint8_t Segments;
EasyCAT 2:368e7d4d8171 39 }out_LAB_2t;
sulymarco 0:bc829777f1ea 40
sulymarco 0:bc829777f1ea 41 typedef struct __attribute__((__packed__))
sulymarco 0:bc829777f1ea 42 {
sulymarco 0:bc829777f1ea 43 uint16_t Potentiometer; // in this example we don't use the
sulymarco 0:bc829777f1ea 44 uint8_t Buttons; // potentiometer but we have to
EasyCAT 2:368e7d4d8171 45 }in_LAB_2t; // declare it in the data structure
sulymarco 0:bc829777f1ea 46
sulymarco 0:bc829777f1ea 47
sulymarco 0:bc829777f1ea 48 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 49
EasyCAT 2:368e7d4d8171 50 out_LAB_1t *out_LAB_1;
EasyCAT 2:368e7d4d8171 51 in_LAB_1t *in_LAB_1;
sulymarco 0:bc829777f1ea 52
EasyCAT 2:368e7d4d8171 53 out_LAB_2t *out_LAB_2;
EasyCAT 2:368e7d4d8171 54 in_LAB_2t *in_LAB_2;
sulymarco 0:bc829777f1ea 55
sulymarco 0:bc829777f1ea 56
sulymarco 0:bc829777f1ea 57 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 58
sulymarco 0:bc829777f1ea 59 char IOmap[IO_MAP_SIZE];
sulymarco 0:bc829777f1ea 60 char IOmapSafe[IO_MAP_SIZE];
sulymarco 0:bc829777f1ea 61
sulymarco 0:bc829777f1ea 62
sulymarco 0:bc829777f1ea 63 void MapLocalStructures (void)
sulymarco 0:bc829777f1ea 64 {
EasyCAT 2:368e7d4d8171 65 out_LAB_1 = (out_LAB_1t*)((char *)ec_slave[LAB_1].outputs - &IOmap[0] + &IOmapSafe[0]);
EasyCAT 2:368e7d4d8171 66 in_LAB_1 = (in_LAB_1t*)((char *)ec_slave[LAB_1].inputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:bc829777f1ea 67
EasyCAT 2:368e7d4d8171 68 out_LAB_2 = (out_LAB_2t*)((char *)ec_slave[LAB_2].outputs - &IOmap[0] + &IOmapSafe[0]);
EasyCAT 2:368e7d4d8171 69 in_LAB_2 = (in_LAB_2t*)((char *)ec_slave[LAB_2].inputs - &IOmap[0] + &IOmapSafe[0]);
sulymarco 0:bc829777f1ea 70 }
sulymarco 0:bc829777f1ea 71
sulymarco 0:bc829777f1ea 72
sulymarco 0:bc829777f1ea 73
sulymarco 0:bc829777f1ea 74 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 75
sulymarco 0:bc829777f1ea 76 uint32_t network_configuration(void)
sulymarco 0:bc829777f1ea 77 {
sulymarco 0:bc829777f1ea 78
sulymarco 0:bc829777f1ea 79 if (ec_slavecount != SLAVE_NUM) // check if the number of slaves matches what we expect
sulymarco 0:bc829777f1ea 80 return 0;
sulymarco 0:bc829777f1ea 81
EasyCAT 2:368e7d4d8171 82 if (strcmp(ec_slave[LAB_1].name,"LAB_1")) // verify slave by slave that the slave names are correct
sulymarco 0:bc829777f1ea 83 return 0;
sulymarco 0:bc829777f1ea 84
EasyCAT 2:368e7d4d8171 85 else if (strcmp(ec_slave[LAB_2].name,"LAB_2"))
sulymarco 0:bc829777f1ea 86 return 0;
sulymarco 0:bc829777f1ea 87
sulymarco 0:bc829777f1ea 88 return 1;
sulymarco 0:bc829777f1ea 89 }
sulymarco 0:bc829777f1ea 90
sulymarco 0:bc829777f1ea 91
sulymarco 0:bc829777f1ea 92 #endif