Esmacat HarmonicBionics
This is an example application demonstrating building an EtherCAT system using Esmacat
Dependencies: EsmacatShield X_NUCLEO_IHM01A1
Basic Information of Esmacat
Information about Esmacat and EASE is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Homepage
Information about the hardware needs and setup is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Hardware-Setup
Information about the structure of the system and it's software is provided in the link below. https://os.mbed.com/users/esmacat/code/EASE_Example/wiki/Software
About this example
This is an example application to demonstrate the ease with which a system, which communicates over EtherCAT, can be build. It measures the RPM of a motor using a proximity sensor.
Following lists the hardware required
- 2 x Mbed boards with Arduino UNO form factor (NUCLEO-F103RB)
- 2 x EASE boards
- 1 x proximity sensor shield (X_NUCLEO_6180XA1)
- 1 x Motor shield (X-NUCLEO-IHM01A1)
- 1 x stepper motor
- 1 x Ethernet POE injector with a 24VDC power supply
- 2 x Ethernet cables
- Keyboard, mouse, and monitor
- PC with Linux/Windows OS installed
- DC power supply for motor
Click here to know more about this Example
Diff: main.cpp
- Revision:
- 40:fc0e002acc8c
- Parent:
- 39:1270497828ca
- Child:
- 42:faa7b7382f2f
--- a/main.cpp Thu Feb 06 22:44:58 2020 +0000
+++ b/main.cpp Thu Feb 13 17:16:43 2020 +0000
@@ -83,17 +83,20 @@
/* Component specific header files. */
#include "L6474.h"
-/* Esmacat code*/
+///* Esmacat code*/
#include <EsmacatShield.h> //Include Esmacat Library
int16_t ease_read[8]; //EASE 8 registers
-/*D9 Chip select for EASE. Remember to change the jumper on the board*/
+///*D9 Chip select for EASE. Remember to change the jumper on the board*/
DigitalOut selectPin(D9);
SPI spi(D11, D12, D13); // mosi, miso, sclk
-/* Esmacat code*/
+///* Esmacat code*/
/* Definitions ---------------------------------------------------------------*/
+
+
+#define STEPS_1 (400 * 8) /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
/* Delay in milliseconds. */
#define DELAY_1 1000
@@ -165,15 +168,14 @@
int main()
{
- /*----- Initialization of EASE -----*/
-
/*----- Initialization. -----*/
- /* Initializing SPI bus. */
+ /* Initializing SPI bus for Motor */
DevSPI dev_spi(D11, D12, D13);// SPI device for the motor
dev_spi.setup(8, 3, 3E6); // Set-up SPI device for the motor
-
+
+ /* EASE slave object creation and Initializing SPI bus for EASE */
EsmacatShield slave(spi, selectPin); //Define Chip Selector Pin
slave.setup_spi(); //Setup SPI for EASE
@@ -186,10 +188,7 @@
/* Attaching and enabling interrupt handlers. */
motor->attach_flag_irq(&flag_irq_handler);
- motor->enable_flag_irq();
-
-
-
+ motor->enable_flag_irq();
while(1)
{
@@ -202,11 +201,7 @@
// get the data from Esmacat Master
slave.get_ecat_registers(ease_read); //read all registers
-
- wait_us(1000);
- /* Printing to the console. */
- printf("--> Moving to position : %d\r\n", ease_read[0]);
-
+
// This part of the code sets up the Mode 1 for SPI to be used for
// communication with EASE. This is needed because SPI for EASE operates
@@ -215,9 +210,17 @@
wait_us(200);
// command the motor to go to a set postion
- motor->go_to(ease_read[0]);
-
-
+ if (ease_read[0] == 0)
+ {
+ printf("Value from EASE %d.\r\n", ease_read[0]);
+ motor->move(StepperMotor::FWD, STEPS_1);
+ }
+ else if(ease_read[0] == 10)
+ {
+ printf("Value from EASE %d.\r\n", ease_read[0]);
+ motor->move(StepperMotor::BWD, STEPS_1);
+ }
+
/* Getting current position. */
int position = motor->get_position();