Esmacat HarmonicBionics / EsmacatShield

An Mbed library for an EtherCAT Arduino Shield developed by Esmacat to connect the larger Arduino ecosystem and other MCU boards capable of connecting a shield with an Arduino Uno form factor. EASE can easily turn an MCU board, including the Arduino ecosystem, into a cost-efficient EtherCAT slave subsystem in the larger EtherCAT system. Using EtherCAT communication, EASE can reliably communicate with other base boards through an EtherCAT master.

Information about Esmacat and EASE is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Homepage

EsmacatShield.cpp@2:77c2a6061e77, 2020-02-06 (annotated)

Committer:
pratima_hb
Date:
Thu Feb 06 17:35:14 2020 +0000
Revision:
2:77c2a6061e77
Parent:
1:b66c3e4ce9f5 
Updated the data types(to int16_t) of the read and write function to be able to send and receive negative numbers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pratima_hb 1:b66c3e4ce9f5 1 /**
pratima_hb 1:b66c3e4ce9f5 2 Copyright (c) 2020 https://www.esmacat.com/
pratima_hb 1:b66c3e4ce9f5 3
pratima_hb 1:b66c3e4ce9f5 4 Licensed under the Apache License, Version 2.0 (the "License");
pratima_hb 1:b66c3e4ce9f5 5 you may not use this file except in compliance with the License.
pratima_hb 1:b66c3e4ce9f5 6 You may obtain a copy of the License at
pratima_hb 1:b66c3e4ce9f5 7
pratima_hb 1:b66c3e4ce9f5 8 http://www.apache.org/licenses/LICENSE-2.0
pratima_hb 1:b66c3e4ce9f5 9
pratima_hb 1:b66c3e4ce9f5 10 Unless required by applicable law or agreed to in writing, software
pratima_hb 1:b66c3e4ce9f5 11 distributed under the License is distributed on an "AS IS" BASIS,
pratima_hb 1:b66c3e4ce9f5 12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
pratima_hb 1:b66c3e4ce9f5 13 See the License for the specific language governing permissions and
pratima_hb 1:b66c3e4ce9f5 14 limitations under the License.
pratima_hb 1:b66c3e4ce9f5 15
pratima_hb 1:b66c3e4ce9f5 16 EsmacatShield.cpp - Library for using EtherCAT Arduino Shield by Esmacat(EASE).
pratima_hb 1:b66c3e4ce9f5 17 Created by Esmacat, 01/22/2020
pratima_hb 1:b66c3e4ce9f5 18
pratima_hb 1:b66c3e4ce9f5 19 *******************************************************************************
pratima_hb 1:b66c3e4ce9f5 20 * @file EsmacatShield.cpp
pratima_hb 1:b66c3e4ce9f5 21 *******************************************************************************
pratima_hb 1:b66c3e4ce9f5 22 */
pratima_hb 1:b66c3e4ce9f5 23
pratima_hb 0:4a9e3331b131 24 #include "EsmacatShield.h"
pratima_hb 0:4a9e3331b131 25
pratima_hb 0:4a9e3331b131 26 EsmacatShield::EsmacatShield(SPI &spi, DigitalOut &pin):ecat_spi(spi),ecat_cs(pin)
pratima_hb 0:4a9e3331b131 27 {
pratima_hb 0:4a9e3331b131 28
pratima_hb 0:4a9e3331b131 29 }
pratima_hb 0:4a9e3331b131 30
pratima_hb 0:4a9e3331b131 31 void EsmacatShield::setup_spi()
pratima_hb 0:4a9e3331b131 32 {
pratima_hb 0:4a9e3331b131 33 /*Chip must be deselected*/
pratima_hb 0:4a9e3331b131 34 ecat_cs = 1;
pratima_hb 0:4a9e3331b131 35
pratima_hb 0:4a9e3331b131 36 /*Setup the spi for 8 bit data, Mode 1,
pratima_hb 0:4a9e3331b131 37 with a 3MHz clock rate*/
pratima_hb 0:4a9e3331b131 38 ecat_spi.format(8,1);
pratima_hb 0:4a9e3331b131 39 ecat_spi.frequency(3000000);
pratima_hb 0:4a9e3331b131 40
pratima_hb 0:4a9e3331b131 41 /* Chip must be selected*/
pratima_hb 0:4a9e3331b131 42 ecat_cs = 0;
pratima_hb 0:4a9e3331b131 43
pratima_hb 0:4a9e3331b131 44 }
pratima_hb 0:4a9e3331b131 45
pratima_hb 0:4a9e3331b131 46
pratima_hb 2:77c2a6061e77 47 void EsmacatShield::write_reg_value(int write_addr, int16_t value, bool led_on)
pratima_hb 0:4a9e3331b131 48 {
pratima_hb 0:4a9e3331b131 49 uint8_t v1,v2;
pratima_hb 0:4a9e3331b131 50 // Chip must be selected
pratima_hb 0:4a9e3331b131 51 ecat_cs = 0;
pratima_hb 0:4a9e3331b131 52 wait_us(2000); //sleep for 2 ms;
pratima_hb 0:4a9e3331b131 53 write_addr = write_addr <<3;
pratima_hb 0:4a9e3331b131 54 if (led_on)
pratima_hb 0:4a9e3331b131 55 {
pratima_hb 0:4a9e3331b131 56 ecat_spi.write(((EASE_WRITE_REG|write_addr)| EASE_LED_ON)& EASE_SINGLE_SHOT);
pratima_hb 0:4a9e3331b131 57 }
pratima_hb 0:4a9e3331b131 58 else
pratima_hb 0:4a9e3331b131 59 {
pratima_hb 0:4a9e3331b131 60 ecat_spi.write((EASE_WRITE_REG|write_addr)& EASE_LED_OFF & EASE_SINGLE_SHOT);
pratima_hb 0:4a9e3331b131 61 }
pratima_hb 0:4a9e3331b131 62 v1 = (value&0xFF00) >> 8;
pratima_hb 0:4a9e3331b131 63 v2 = (value&0x00FF);
pratima_hb 0:4a9e3331b131 64 ecat_spi.write(v1);
pratima_hb 0:4a9e3331b131 65 ecat_spi.write(v2);
pratima_hb 0:4a9e3331b131 66 // Chip must be deselected
pratima_hb 0:4a9e3331b131 67 ecat_cs = 1;
pratima_hb 0:4a9e3331b131 68 wait_us(2000); //sleep for 2 ms;
pratima_hb 0:4a9e3331b131 69 }
pratima_hb 0:4a9e3331b131 70
pratima_hb 2:77c2a6061e77 71 int16_t* EsmacatShield::get_ecat_registers(int16_t regs[8]) {
pratima_hb 0:4a9e3331b131 72 regs[0] = read_reg_value(1);
pratima_hb 0:4a9e3331b131 73 regs[1] = read_reg_value(2);
pratima_hb 0:4a9e3331b131 74 regs[2] = read_reg_value(3);
pratima_hb 0:4a9e3331b131 75 regs[3] = read_reg_value(4);
pratima_hb 0:4a9e3331b131 76 regs[4] = read_reg_value(5);
pratima_hb 0:4a9e3331b131 77 regs[5] = read_reg_value(6);
pratima_hb 0:4a9e3331b131 78 regs[6] = read_reg_value(7);
pratima_hb 0:4a9e3331b131 79 regs[7] = read_reg_value(0);
pratima_hb 0:4a9e3331b131 80 return(regs);
pratima_hb 0:4a9e3331b131 81 }
pratima_hb 0:4a9e3331b131 82
pratima_hb 2:77c2a6061e77 83 int16_t EsmacatShield::read_reg_value(int16_t read_addr)
pratima_hb 0:4a9e3331b131 84 {
pratima_hb 0:4a9e3331b131 85 uint16_t v2,v3;
pratima_hb 0:4a9e3331b131 86 // Chip must be selected
pratima_hb 0:4a9e3331b131 87 ecat_cs = 0;
pratima_hb 0:4a9e3331b131 88 wait_us(2000); //sleep for 2 ms;
pratima_hb 0:4a9e3331b131 89 read_addr = read_addr <<3;
pratima_hb 0:4a9e3331b131 90 ecat_spi.write( EASE_READ_REG|read_addr);
pratima_hb 0:4a9e3331b131 91 v2 = ecat_spi.write(0x00);
pratima_hb 0:4a9e3331b131 92 v3 = ecat_spi.write(0x00);
pratima_hb 0:4a9e3331b131 93 // Chip must be deselected
pratima_hb 0:4a9e3331b131 94 ecat_cs = 1;
pratima_hb 0:4a9e3331b131 95 wait_us(2000); //sleep for 2 ms;
pratima_hb 0:4a9e3331b131 96
pratima_hb 0:4a9e3331b131 97 return (v2<<8)+v3;
pratima_hb 0:4a9e3331b131 98 }
pratima_hb 0:4a9e3331b131 99
pratima_hb 0:4a9e3331b131 100 EsmacatShield::~EsmacatShield(void)
pratima_hb 0:4a9e3331b131 101 {
pratima_hb 0:4a9e3331b131 102 //empty block
pratima_hb 0:4a9e3331b131 103 }
pratima_hb 0:4a9e3331b131 104