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: main.cpp
- Revision:
- 0:bc829777f1ea
- Child:
- 1:971b4897a4c5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jul 09 16:25:27 2019 +0000
@@ -0,0 +1,292 @@
+//********************************************************************************************
+// *
+// 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 "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
+
+
+
+//---- local functions ---------------------------------------------------------
+
+void Application();
+void BlinkLedForever();
+
+//------------------------------------------------------------------------------
+
+Ticker SampleTicker;
+Thread thread;
+
+DigitalOut Test_1(D1); // debug test points
+DigitalOut Test_2(D2); //
+DigitalOut Test_3(D3); //
+DigitalOut Test_4(D4); //
+
+DigitalOut LED_RED(LED3);
+
+
+//------------------------------------------------------------------------------
+
+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;
+
+ NetworkError = false;
+
+ if (ec_init(NULL)) // init SOEM
+ {
+ printf("ec_init succeeded.\n");
+ 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);
+ }
+ }
+
+ printf("Not all slaves reached operational state!\n");
+ void BlinkLedForever();
+ }
+
+
+ thread.start(ExchangeMaster);
+ thread.set_priority(osPriorityRealtime);
+
+ SampleTicker.attach_us(&SampleIsr, CYCLE_TIME);
+
+ Application();
+ }
+
+ else
+ {
+ printf("Mismatch of network units!\n");
+ BlinkLedForever();
+ }
+ }
+
+ else
+ {
+ printf("No slaves found!\n");
+ BlinkLedForever();
+ }
+ }
+ else
+ {
+ printf("Ethernet interface init failed!");
+ BlinkLedForever();
+ }
+}
+
+
+//****** 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)
+ {
+ printf("Network error!\n");
+
+ if(WorkCounterSafe >= 0)
+ {
+ printf("Expected working counter %d\n", ExpectWorkCounter);
+ printf("Actual working counter %d\n", WorkCounterSafe);
+ }
+ else
+ {
+ printf("Timeout\n");
+ }
+
+ printf("Please fix the error and press the reset button \n");
+
+ SampleTicker.detach(); // stop the sample interrupt
+ BlinkLedForever(); // and loop for ever
+ }
+
+
+ //----- slaves data management -----------
+
+
+ out_LAB_2_1->Segments = in_LAB_2_2->Buttons; // send to the slave LAB_2_1 the buttons status
+ // from the slave LAB_2_2
+
+
+ out_LAB_2_2->Segments = in_LAB_2_1->Buttons; // send to the slave LAB_2_2 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;
+ }
+}
+
+//******************************************************************************
+
+
+void BlinkLedForever() // blink the red led forever to signal
+ // an unrecoverable error condition
+
+ // fix the error and press the reset button
+{
+ while(1)
+ {
+ LED_RED = !LED_RED;
+ wait_ms(100);
+ }
+}
+
+
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ecosystem by AB&T Tecnologie Informatiche.
