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?
User | Revision | Line number | New 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 |