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EasyCAT LAB - EtherCAT master very simple example
- 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.
- 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, to keep things as simple as possible, only two bytes of data are exchanged between the slaves and the TFT display is not used .
Diff: config.h
- Revision:
- 2:368e7d4d8171
- Parent:
- 0:bc829777f1ea
--- a/config.h Fri May 07 10:19:40 2021 +0000 +++ b/config.h Wed Oct 25 15:38:52 2023 +0000 @@ -6,8 +6,8 @@ //------------------------------------------------------------------------------ -#define LAB_2_1 1 -#define LAB_2_2 2 +#define LAB_1 1 +#define LAB_2 2 #define SLAVE_NUM 2 @@ -22,13 +22,13 @@ typedef struct __attribute__((__packed__)) { uint8_t Segments; -}out_LAB_2_1t; +}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_2_1t; // declare it in the data structure +}in_LAB_1t; // declare it in the data structure //------------------------------------------------------------------------------ @@ -36,22 +36,22 @@ typedef struct __attribute__((__packed__)) { uint8_t Segments; -}out_LAB_2_2t; +}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_2_2t; // declare it in the data structure +}in_LAB_2t; // declare it in the data structure //------------------------------------------------------------------------------ -out_LAB_2_1t *out_LAB_2_1; -in_LAB_2_1t *in_LAB_2_1; +out_LAB_1t *out_LAB_1; +in_LAB_1t *in_LAB_1; -out_LAB_2_2t *out_LAB_2_2; -in_LAB_2_2t *in_LAB_2_2; +out_LAB_2t *out_LAB_2; +in_LAB_2t *in_LAB_2; //------------------------------------------------------------------------------ @@ -62,11 +62,11 @@ void MapLocalStructures (void) { - out_LAB_2_1 = (out_LAB_2_1t*)((char *)ec_slave[LAB_2_1].outputs - &IOmap[0] + &IOmapSafe[0]); - in_LAB_2_1 = (in_LAB_2_1t*)((char *)ec_slave[LAB_2_1].inputs - &IOmap[0] + &IOmapSafe[0]); + 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_2 = (out_LAB_2_2t*)((char *)ec_slave[LAB_2_2].outputs - &IOmap[0] + &IOmapSafe[0]); - in_LAB_2_2 = (in_LAB_2_2t*)((char *)ec_slave[LAB_2_2].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]); } @@ -79,10 +79,10 @@ if (ec_slavecount != SLAVE_NUM) // check if the number of slaves matches what we expect return 0; - if (strcmp(ec_slave[LAB_2_1].name,"LAB_2")) // verify slave by slave that the slave names are correct + 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_2].name,"LAB_2")) + else if (strcmp(ec_slave[LAB_2].name,"LAB_2")) return 0; return 1;