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 .
Diff: config.h
- Revision:
- 0:bc829777f1ea
- Child:
- 2:368e7d4d8171
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/config.h Tue Jul 09 16:25:27 2019 +0000
@@ -0,0 +1,92 @@
+#ifndef config_H
+#define config_H
+
+#include "ethercat.h"
+
+
+//------------------------------------------------------------------------------
+
+#define LAB_2_1 1
+#define LAB_2_2 2
+
+#define SLAVE_NUM 2
+
+
+//------------------------------------------------------------------------------
+
+#define IO_MAP_SIZE 256
+
+
+//------------------------------------------------------------------------------
+
+typedef struct __attribute__((__packed__))
+{
+ uint8_t Segments;
+}out_LAB_2_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
+
+
+//------------------------------------------------------------------------------
+
+typedef struct __attribute__((__packed__))
+{
+ uint8_t Segments;
+}out_LAB_2_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
+
+
+//------------------------------------------------------------------------------
+
+out_LAB_2_1t *out_LAB_2_1;
+in_LAB_2_1t *in_LAB_2_1;
+
+out_LAB_2_2t *out_LAB_2_2;
+in_LAB_2_2t *in_LAB_2_2;
+
+
+//------------------------------------------------------------------------------
+
+char IOmap[IO_MAP_SIZE];
+char IOmapSafe[IO_MAP_SIZE];
+
+
+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_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]);
+}
+
+
+
+//------------------------------------------------------------------------------
+
+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_2_1].name,"LAB_2")) // verify slave by slave that the slave names are correct
+ return 0;
+
+ else if (strcmp(ec_slave[LAB_2_2].name,"LAB_2"))
+ return 0;
+
+ return 1;
+}
+
+
+#endif
\ No newline at end of file
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