EasyCAT shield basic test - EtherCAT slave example
Dependencies: mbed EasyCAT_lib
The EasyCAT Shield and boards
- 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.
- This is the EasyCAT product page on the EtherCAT® Technology Group website.
- 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
Import libraryEasyCAT_lib
EasyCAT shield library - It allows you to make an EtherCAT slave
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?
User | Revision | Line number | New 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 | } |