AB&T / Mbed 2 deprecated TestEasyCAT

EasyCAT shield basic test - EtherCAT slave example

Dependencies:   mbed EasyCAT_lib

The EasyCAT Shield and /static/img/mbed.gif boards

/media/uploads/EasyCAT/easycat_onnucleo.jpg

  • The EasyCAT Shield is an Arduino shield, designed and manufactured in Italy by AB&T Tecnologie Informatiche, that allow us to build a custom EtherCAT® slave in an easy way.
  • The TestEasyCAT program is a basic example that shows how to excange some I/O between the EtherCAT master and the EasyCAT slave.

Import programTestEasyCAT

EasyCAT shield basic test - EtherCAT slave example

Last commit 09 Jan 2019 by info@...

Import libraryEasyCAT_lib

EasyCAT shield library - It allows you to make an EtherCAT slave

Last commit 10 Apr 2021 by info@...

main.cpp@0:31a727b65397, 2017-09-12 (annotated)

Committer:
EasyCAT
Date:
Tue Sep 12 17:14:08 2017 +0000
Revision:
0:31a727b65397
Child:
1:1e7996e6c4a7
first release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EasyCAT 0:31a727b65397 1 //********************************************************************************************
EasyCAT 0:31a727b65397 2 // *
EasyCAT 0:31a727b65397 3 // AB&T Tecnologie Informatiche - Ivrea Italy *
EasyCAT 0:31a727b65397 4 // http://www.bausano.net *
EasyCAT 0:31a727b65397 5 // https://www.ethercat.org/en/products/791FFAA126AD43859920EA64384AD4FD.htm *
EasyCAT 0:31a727b65397 6 // *
EasyCAT 0:31a727b65397 7 //********************************************************************************************
EasyCAT 0:31a727b65397 8 // *
EasyCAT 0:31a727b65397 9 // This software is distributed as an example, in the hope that it could be useful, *
EasyCAT 0:31a727b65397 10 // WITHOUT ANY WARRANTY, even the implied warranty of FITNESS FOR A PARTICULAR PURPOSE *
EasyCAT 0:31a727b65397 11 // *
EasyCAT 0:31a727b65397 12 //********************************************************************************************
EasyCAT 0:31a727b65397 13
EasyCAT 0:31a727b65397 14
EasyCAT 0:31a727b65397 15 //----- EasyCAT shield application basic example for mbed boards 170912 ----------------------
EasyCAT 0:31a727b65397 16 //----- Derived from the example project TestEasyCAT.ino for the AB&T EasyCAT Arduino shield
EasyCAT 0:31a727b65397 17
EasyCAT 0:31a727b65397 18 //----- Tested with the STM32 NUCLEO-F767ZI board --------------------------------------------
EasyCAT 0:31a727b65397 19
EasyCAT 0:31a727b65397 20
EasyCAT 0:31a727b65397 21
EasyCAT 0:31a727b65397 22 #include "mbed.h"
EasyCAT 0:31a727b65397 23 #include "EasyCAT.h" // EasyCAT library to interface the LAN9252
EasyCAT 0:31a727b65397 24
EasyCAT 0:31a727b65397 25
EasyCAT 0:31a727b65397 26 void Application (void);
EasyCAT 0:31a727b65397 27
EasyCAT 0:31a727b65397 28
EasyCAT 0:31a727b65397 29 EasyCAT EASYCAT; // EasyCAT istantiation
EasyCAT 0:31a727b65397 30
EasyCAT 0:31a727b65397 31 // The constructor allow us to choose the pin used for the EasyCAT SPI chip select
EasyCAT 0:31a727b65397 32 // Without any parameter pin 9 will be used
EasyCAT 0:31a727b65397 33
EasyCAT 0:31a727b65397 34 // for EasyCAT board REV_A we can choose between:
EasyCAT 0:31a727b65397 35 // 8, 9, 10
EasyCAT 0:31a727b65397 36 //
EasyCAT 0:31a727b65397 37 // for EasyCAT board REV_B we can choose between:
EasyCAT 0:31a727b65397 38 // 8, 9, 10, A5, 6, 7
EasyCAT 0:31a727b65397 39
EasyCAT 0:31a727b65397 40 // example:
EasyCAT 0:31a727b65397 41 //EasyCAT EASYCAT(8); // pin 8 will be used as SPI chip select
EasyCAT 0:31a727b65397 42
EasyCAT 0:31a727b65397 43
EasyCAT 0:31a727b65397 44 // The chip select chosen by the firmware must match the setting on the board
EasyCAT 0:31a727b65397 45
EasyCAT 0:31a727b65397 46 // On board REV_A the chip select is set soldering
EasyCAT 0:31a727b65397 47 // a 0 ohm resistor in the appropriate position
EasyCAT 0:31a727b65397 48
EasyCAT 0:31a727b65397 49 // On board REV_B the chip select is set
EasyCAT 0:31a727b65397 50 // througt a bank of jumpers
EasyCAT 0:31a727b65397 51
EasyCAT 0:31a727b65397 52
EasyCAT 0:31a727b65397 53
EasyCAT 0:31a727b65397 54 //---- pins declaration ------------------------------------------------------------------------------
EasyCAT 0:31a727b65397 55
EasyCAT 0:31a727b65397 56
EasyCAT 0:31a727b65397 57
EasyCAT 0:31a727b65397 58 AnalogIn Ana0(A0); // analog input 0
EasyCAT 0:31a727b65397 59 AnalogIn Ana1(A1); // analog input 1
EasyCAT 0:31a727b65397 60
EasyCAT 0:31a727b65397 61
EasyCAT 0:31a727b65397 62 DigitalOut Out_0(A2); // four bits output
EasyCAT 0:31a727b65397 63 DigitalOut Out_1(A3); //
EasyCAT 0:31a727b65397 64 DigitalOut Out_2(A4); //
EasyCAT 0:31a727b65397 65 DigitalOut Out_3(A5); //
EasyCAT 0:31a727b65397 66
EasyCAT 0:31a727b65397 67 DigitalIn In_0(D3); // four bits input
EasyCAT 0:31a727b65397 68 DigitalIn In_1(D5); //
EasyCAT 0:31a727b65397 69 DigitalIn In_2(D6); //
EasyCAT 0:31a727b65397 70 DigitalIn In_3(D7); //
EasyCAT 0:31a727b65397 71
EasyCAT 0:31a727b65397 72 DigitalOut Led(LED1); //
EasyCAT 0:31a727b65397 73
EasyCAT 0:31a727b65397 74
EasyCAT 0:31a727b65397 75
EasyCAT 0:31a727b65397 76 //---- global variables ---------------------------------------------------------------------------
EasyCAT 0:31a727b65397 77
EasyCAT 0:31a727b65397 78
EasyCAT 0:31a727b65397 79 UWORD ContaUp; // used for sawthoot test generation
EasyCAT 0:31a727b65397 80 UWORD ContaDown; //
EasyCAT 0:31a727b65397 81
EasyCAT 0:31a727b65397 82 unsigned long Millis = 0;
EasyCAT 0:31a727b65397 83 unsigned long PreviousSaw = 0;
EasyCAT 0:31a727b65397 84 unsigned long PreviousCycle = 0;
EasyCAT 0:31a727b65397 85
EasyCAT 0:31a727b65397 86
EasyCAT 0:31a727b65397 87 //---- declarations for Arduino "millis()" emulation -----------------------
EasyCAT 0:31a727b65397 88
EasyCAT 0:31a727b65397 89 static Ticker uS_Tick;
EasyCAT 0:31a727b65397 90 static volatile uint32_t MillisVal = 0;
EasyCAT 0:31a727b65397 91
EasyCAT 0:31a727b65397 92 void InitMillis(void);
EasyCAT 0:31a727b65397 93 void mS_Tick(void);
EasyCAT 0:31a727b65397 94
EasyCAT 0:31a727b65397 95 inline static uint32_t millis (void)
EasyCAT 0:31a727b65397 96 {
EasyCAT 0:31a727b65397 97 return MillisVal;
EasyCAT 0:31a727b65397 98 };
EasyCAT 0:31a727b65397 99
EasyCAT 0:31a727b65397 100
EasyCAT 0:31a727b65397 101
EasyCAT 0:31a727b65397 102 //---------------------------------------------------------------------------------------------
EasyCAT 0:31a727b65397 103
EasyCAT 0:31a727b65397 104 int main(void)
EasyCAT 0:31a727b65397 105 {
EasyCAT 0:31a727b65397 106
EasyCAT 0:31a727b65397 107 printf ("\nEasyCAT - Generic EtherCAT slave\n"); // print the banner
EasyCAT 0:31a727b65397 108
EasyCAT 0:31a727b65397 109 InitMillis(); // init Arduino "millis()" emulation
EasyCAT 0:31a727b65397 110
EasyCAT 0:31a727b65397 111 ContaDown.Word = 0x0000;
EasyCAT 0:31a727b65397 112 ContaUp.Word = 0x0000;
EasyCAT 0:31a727b65397 113 //---- initialize the EasyCAT board -----
EasyCAT 0:31a727b65397 114
EasyCAT 0:31a727b65397 115 if (EASYCAT.Init() == true) // initialization
EasyCAT 0:31a727b65397 116 { // succesfully completed
EasyCAT 0:31a727b65397 117 printf ("initialized\n"); //
EasyCAT 0:31a727b65397 118 }
EasyCAT 0:31a727b65397 119
EasyCAT 0:31a727b65397 120 else // initialization failed
EasyCAT 0:31a727b65397 121 { // the EasyCAT board was not recognized
EasyCAT 0:31a727b65397 122 printf ("initialization failed\n"); //
EasyCAT 0:31a727b65397 123 // The most common reason is that the SPI
EasyCAT 0:31a727b65397 124 // chip select choosen on the board doesn't
EasyCAT 0:31a727b65397 125 // match the one choosen by the firmware
EasyCAT 0:31a727b65397 126
EasyCAT 0:31a727b65397 127 while (1) // stay in loop for ever
EasyCAT 0:31a727b65397 128 { // with the led blinking
EasyCAT 0:31a727b65397 129 Led = 1; //
EasyCAT 0:31a727b65397 130 wait_ms(125); //
EasyCAT 0:31a727b65397 131 Led = 0; //
EasyCAT 0:31a727b65397 132 wait_ms(125); //
EasyCAT 0:31a727b65397 133 } //
EasyCAT 0:31a727b65397 134 }
EasyCAT 0:31a727b65397 135
EasyCAT 0:31a727b65397 136
EasyCAT 0:31a727b65397 137 while (1) //---- main loop ---------------------------
EasyCAT 0:31a727b65397 138 {
EasyCAT 0:31a727b65397 139 // In the main loop we must call ciclically the
EasyCAT 0:31a727b65397 140 // EasyCAT task and our application
EasyCAT 0:31a727b65397 141 //
EasyCAT 0:31a727b65397 142 // This allows the bidirectional exachange of the data
EasyCAT 0:31a727b65397 143 // between the EtherCAT master and our application
EasyCAT 0:31a727b65397 144 //
EasyCAT 0:31a727b65397 145 // The EasyCAT cycle and the Master cycle are asynchronous
EasyCAT 0:31a727b65397 146 //
EasyCAT 0:31a727b65397 147
EasyCAT 0:31a727b65397 148 // wait_ms(20); // Here we to set the EasyCAT cycle time
EasyCAT 0:31a727b65397 149 // according to the needs of our application
EasyCAT 0:31a727b65397 150 //
EasyCAT 0:31a727b65397 151 // For user interface applications a cycle time of 100mS,
EasyCAT 0:31a727b65397 152 // or even more, is appropriate, but, for data processing
EasyCAT 0:31a727b65397 153 // applications, a faster cycle time may be required
EasyCAT 0:31a727b65397 154 //
EasyCAT 0:31a727b65397 155 // In this case we can also completely eliminate this
EasyCAT 0:31a727b65397 156 // delay in order to obtain the fastest possible response
EasyCAT 0:31a727b65397 157
EasyCAT 0:31a727b65397 158
EasyCAT 0:31a727b65397 159 // Instead we can also use millis() to set the cycle time
EasyCAT 0:31a727b65397 160 //
EasyCAT 0:31a727b65397 161 // example:
EasyCAT 0:31a727b65397 162 Millis = millis(); //
EasyCAT 0:31a727b65397 163 if (Millis - PreviousCycle >= 10) // each 10 mS
EasyCAT 0:31a727b65397 164 { //
EasyCAT 0:31a727b65397 165 PreviousCycle = Millis; //
EasyCAT 0:31a727b65397 166
EasyCAT 0:31a727b65397 167 EASYCAT.MainTask(); // execute the EasyCAT task
EasyCAT 0:31a727b65397 168
EasyCAT 0:31a727b65397 169 Application(); // execute the user application
EasyCAT 0:31a727b65397 170 }
EasyCAT 0:31a727b65397 171 }
EasyCAT 0:31a727b65397 172 }
EasyCAT 0:31a727b65397 173
EasyCAT 0:31a727b65397 174
EasyCAT 0:31a727b65397 175 //---- user application ------------------------------------------------------------------------------
EasyCAT 0:31a727b65397 176
EasyCAT 0:31a727b65397 177 void Application (void)
EasyCAT 0:31a727b65397 178
EasyCAT 0:31a727b65397 179 {
EasyCAT 0:31a727b65397 180 float Analog;
EasyCAT 0:31a727b65397 181 // --- analog inputs management ---
EasyCAT 0:31a727b65397 182 //
EasyCAT 0:31a727b65397 183 Analog = Ana0.read(); // read analog input 0
EasyCAT 0:31a727b65397 184 Analog = Analog * 255; // normalize it on 8 bits
EasyCAT 0:31a727b65397 185 EASYCAT.BufferIn.Byte[0] = (uint8_t)Analog; // and put the result into
EasyCAT 0:31a727b65397 186 // input Byte 0
EasyCAT 0:31a727b65397 187
EasyCAT 0:31a727b65397 188 Analog = Ana1.read(); // read analog input 1
EasyCAT 0:31a727b65397 189 Analog = Analog * 255; // normalize it on 8 bits
EasyCAT 0:31a727b65397 190 EASYCAT.BufferIn.Byte[1] = (uint8_t)Analog; // and put the result into
EasyCAT 0:31a727b65397 191 // input Byte 1
EasyCAT 0:31a727b65397 192
EasyCAT 0:31a727b65397 193
EasyCAT 0:31a727b65397 194 // --- four output bits management ----
EasyCAT 0:31a727b65397 195 //
EasyCAT 0:31a727b65397 196 if (EASYCAT.BufferOut.Byte[0] & 0b00000001) // the four output bits are mapped to the
EasyCAT 0:31a727b65397 197 Out_0 = 1; // lower nibble of output Byte 0
EasyCAT 0:31a727b65397 198 else //
EasyCAT 0:31a727b65397 199 Out_0 = 0; //
EasyCAT 0:31a727b65397 200 //
EasyCAT 0:31a727b65397 201 if (EASYCAT.BufferOut.Byte[0] & (1<<0)) //
EasyCAT 0:31a727b65397 202 Out_0 = 1; //
EasyCAT 0:31a727b65397 203 else //
EasyCAT 0:31a727b65397 204 Out_0 = 0; //
EasyCAT 0:31a727b65397 205 //
EasyCAT 0:31a727b65397 206 if (EASYCAT.BufferOut.Byte[0] & (1<<1)) //
EasyCAT 0:31a727b65397 207 Out_1 = 1; //
EasyCAT 0:31a727b65397 208 else //
EasyCAT 0:31a727b65397 209 Out_1 = 0; //
EasyCAT 0:31a727b65397 210 //
EasyCAT 0:31a727b65397 211 if (EASYCAT.BufferOut.Byte[0] & (1<<2)) //
EasyCAT 0:31a727b65397 212 Out_2 = 1; //
EasyCAT 0:31a727b65397 213 else //
EasyCAT 0:31a727b65397 214 Out_2 = 0; //
EasyCAT 0:31a727b65397 215 //
EasyCAT 0:31a727b65397 216 if (EASYCAT.BufferOut.Byte[0] & (1<<3)) //
EasyCAT 0:31a727b65397 217 Out_3 = 1; //
EasyCAT 0:31a727b65397 218 else //
EasyCAT 0:31a727b65397 219 Out_3 = 0; //
EasyCAT 0:31a727b65397 220
EasyCAT 0:31a727b65397 221 //--- four input bits management ---
EasyCAT 0:31a727b65397 222 //
EasyCAT 0:31a727b65397 223 EASYCAT.BufferIn.Byte[6] = 0x00; // the four input pins are mapped to the
EasyCAT 0:31a727b65397 224 if (!In_0) // lower nibble of input Byte 6
EasyCAT 0:31a727b65397 225 EASYCAT.BufferIn.Byte[6] |= 0b00000001; //
EasyCAT 0:31a727b65397 226 if (!In_1) //
EasyCAT 0:31a727b65397 227 EASYCAT.BufferIn.Byte[6] |= 0b00000010; //
EasyCAT 0:31a727b65397 228 if (!In_2) //
EasyCAT 0:31a727b65397 229 EASYCAT.BufferIn.Byte[6] |= 0b00000100; //
EasyCAT 0:31a727b65397 230 if (!In_3) //
EasyCAT 0:31a727b65397 231 EASYCAT.BufferIn.Byte[6] |= 0b00001000; //
EasyCAT 0:31a727b65397 232
EasyCAT 0:31a727b65397 233
EasyCAT 0:31a727b65397 234 // --- test sawtooth generation ---
EasyCAT 0:31a727b65397 235 //
EasyCAT 0:31a727b65397 236 Millis = millis(); // each 100 mS
EasyCAT 0:31a727b65397 237
EasyCAT 0:31a727b65397 238 if (Millis - PreviousSaw >= 100) //
EasyCAT 0:31a727b65397 239 { //
EasyCAT 0:31a727b65397 240 PreviousSaw = Millis; //
EasyCAT 0:31a727b65397 241 //
EasyCAT 0:31a727b65397 242 ContaUp.Word++; // we increment the variable ContaUp
EasyCAT 0:31a727b65397 243 ContaDown.Word--; // and decrement ContaDown
EasyCAT 0:31a727b65397 244 } //
EasyCAT 0:31a727b65397 245
EasyCAT 0:31a727b65397 246 // we use these variables to create sawtooth,
EasyCAT 0:31a727b65397 247 // with different slopes and periods, for
EasyCAT 0:31a727b65397 248 // test pourpose, in input Bytes 2,3,4,5,30,31
EasyCAT 0:31a727b65397 249
EasyCAT 0:31a727b65397 250 EASYCAT.BufferIn.Byte[2] = ContaUp.Byte[0]; // slow rising slope
EasyCAT 0:31a727b65397 251 EASYCAT.BufferIn.Byte[3] = ContaUp.Byte[1]; // extremly slow rising slope
EasyCAT 0:31a727b65397 252
EasyCAT 0:31a727b65397 253 EASYCAT.BufferIn.Byte[4] = ContaDown.Byte[0]; // slow falling slope
EasyCAT 0:31a727b65397 254 EASYCAT.BufferIn.Byte[5] = ContaDown.Byte[1]; // extremly slow falling slope
EasyCAT 0:31a727b65397 255
EasyCAT 0:31a727b65397 256
EasyCAT 0:31a727b65397 257 EASYCAT.BufferIn.Byte[30] = ContaUp.Byte[0] << 2; // medium speed rising slope
EasyCAT 0:31a727b65397 258 EASYCAT.BufferIn.Byte[31] = ContaDown.Byte[0] << 2; // medium speed falling slope
EasyCAT 0:31a727b65397 259 }
EasyCAT 0:31a727b65397 260
EasyCAT 0:31a727b65397 261
EasyCAT 0:31a727b65397 262 //--- functions for Arduino "millis()" emulation -------------------------------------
EasyCAT 0:31a727b65397 263
EasyCAT 0:31a727b65397 264
EasyCAT 0:31a727b65397 265 void InitMillis(void)
EasyCAT 0:31a727b65397 266 {
EasyCAT 0:31a727b65397 267 uS_Tick.attach (&mS_Tick, 0.001);
EasyCAT 0:31a727b65397 268 }
EasyCAT 0:31a727b65397 269
EasyCAT 0:31a727b65397 270 void mS_Tick(void)
EasyCAT 0:31a727b65397 271 {
EasyCAT 0:31a727b65397 272 MillisVal++;
EasyCAT 0:31a727b65397 273 }