Esmacat HarmonicBionics / EsmacatShield

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EsmacatShield Class Reference
Public Member Functions

EsmacatShield Class Reference

This is a driver code for EASE with form factor of Arduino UNO shields. More...

#include <EsmacatShield.h>

Public Member Functions

 EsmacatShield (SPI &spi, DigitalOut &pin)
 Constructor for EsmacatShield Class.
void setup_spi ()
 Set up spi communication.
void write_reg_value (int write_addr, int16_t value, bool led_on=1)
 Write given Register with the given value.
int16_t * get_ecat_registers (int16_t regs[8])
 Read EASE Register.

Detailed Description

This is a driver code for EASE with form factor of Arduino UNO shields.

This shield communicates with the base board via SPI.

Version:
1.0

EASE stacks onto Arduino-like boards (a.k.a Base board). The Base board can read and write registers on EASE via SPI. The same registers can also be written and read by an EtherCAT master via a standard EtherCAT protocol. Multiple EASE boards can be connected with Ethernet cables with a daisy-chain topology and powered via Ethernet cables with Power-over-EtherCAT (POE) technology. EASE, thus bridges the data packets between an EtherCAT master and multiple Base boards.

*#include "mbed.h"
*#include <EsmacatShield.h>      //Include Esmacat Arduino Library

*int counter;
*int v[8];                       //EASE 8 registers
*Serial pc(USBTX, USBRX);

*DigitalOut selectPin(D10); // D10 is used to drive chip enable low
*SPI spi(D11, D12, D13); // mosi, miso, sclk


*int main() 
*{

    EsmacatShield slave(spi, selectPin);        //Define Chip Selector Pin
    
    slave.setup_spi();      //Setup SPI for EASE, 8 bit Data, Mode 1, 3MHz freq
    
    while(1)
    {
      slave.get_ecat_registers(v);  //read all registers
      slave.write_reg_value(0,counter++, true);   //Write register data (register,value, led_on)
      wait_us(1000000);                      //sleep for 1000 ms
      slave.write_reg_value(0,counter++, false);   //Write register data (register,value, led_on)
      wait_us(1000000);                        //sleep for 1000 ms
      pc.printf("Next Iteration \n");
      for (int i=0;i<8;i++)     //print the registers read on pc
      {
        pc.printf("%d",i);
        pc.printf("\t");
        pc.printf("%d",v[i]);
        pc.printf("\n");
      }  
    }

*}

Definition at line 92 of file EsmacatShield.h.

Constructor & Destructor Documentation

EsmacatShield ( SPI &  spi,
DigitalOut &  pin 
)

Constructor for EsmacatShield Class.

Requires an existing SPI object as well as a DigitalOut object. The DigitalOut object is used for a chip enable signal

On Entry:

Parameters:
[in]spi- pointer to existing SPI object
[in]pin- pointer to a DigitalOut pin object

On Exit:

Returns:
None

Definition at line 26 of file EsmacatShield.cpp.

Member Function Documentation

int16_t * get_ecat_registers ( int16_t  regs[8] )

Read EASE Register.

Using this function 8 different 16 bit integers on EASE can be read.

On Entry:

Parameters:
[in]Pointerto integer - Eight consecutive memory locations from this pointer will be stored with the integer values read from EASE.

On Exit:

Parameters:
[out]pointerto the integer where the data is stored.
Returns:
None

Definition at line 71 of file EsmacatShield.cpp.

void setup_spi (  )

Set up spi communication.

Sets up SPI communication by using the member. functions format and frequency. 8 bit data, Mode 1, frequency of communication set to 3000000Hz

On Entry:

On Exit:

Returns:
None

Definition at line 31 of file EsmacatShield.cpp.

void write_reg_value ( int  write_addr,
int16_t  value,
bool  led_on = 1 
)

Write given Register with the given value.

Using this function 8 different 16 bit integers can be written into EASE.

On Entry:

Parameters:
[in]write_addr- The Register number to be written into. Can take values from 0 to 7
[in]value- The value to be written into the register
[in]led_on- True to turn LED ON

  • False to turn LED OFF

On Exit:

Returns:
None

Definition at line 47 of file EsmacatShield.cpp.

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