Yang Zhang / Mbed 2 deprecated TestEasyCAT_MOTION

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Dependencies:   mbed EasyCAT_lib

main.cpp@2:1e780f9c21b1, 2021-10-04 (annotated)

Committer:
neeyoo
Date:
Mon Oct 04 15:16:46 2021 +0000
Revision:
2:1e780f9c21b1
Parent:
1:1e7996e6c4a7 
for motion;

Who changed what in which revision?

UserRevisionLine numberNew 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 1:1e7996e6c4a7 15 // revision 2 - moved "DigitalOut Led(LED1)"
EasyCAT 1:1e7996e6c4a7 16
EasyCAT 1:1e7996e6c4a7 17
EasyCAT 1:1e7996e6c4a7 18
EasyCAT 0:31a727b65397 19 //----- EasyCAT shield application basic example for mbed boards 170912 ----------------------
EasyCAT 0:31a727b65397 20 //----- Derived from the example project TestEasyCAT.ino for the AB&T EasyCAT Arduino shield
EasyCAT 0:31a727b65397 21
EasyCAT 0:31a727b65397 22 //----- Tested with the STM32 NUCLEO-F767ZI board --------------------------------------------
EasyCAT 0:31a727b65397 23
EasyCAT 0:31a727b65397 24
EasyCAT 0:31a727b65397 25
EasyCAT 0:31a727b65397 26 #include "mbed.h"
EasyCAT 0:31a727b65397 27 #include "EasyCAT.h" // EasyCAT library to interface the LAN9252
neeyoo 2:1e780f9c21b1 28
EasyCAT 0:31a727b65397 29
EasyCAT 0:31a727b65397 30 void Application (void);
EasyCAT 0:31a727b65397 31
EasyCAT 0:31a727b65397 32
neeyoo 2:1e780f9c21b1 33 EasyCAT EASYCAT(DC_SYNC); // EasyCAT istantiation
EasyCAT 0:31a727b65397 34
EasyCAT 0:31a727b65397 35 // The constructor allow us to choose the pin used for the EasyCAT SPI chip select
EasyCAT 0:31a727b65397 36 // Without any parameter pin 9 will be used
EasyCAT 0:31a727b65397 37
EasyCAT 0:31a727b65397 38 // for EasyCAT board REV_A we can choose between:
EasyCAT 0:31a727b65397 39 // 8, 9, 10
EasyCAT 0:31a727b65397 40 //
EasyCAT 0:31a727b65397 41 // for EasyCAT board REV_B we can choose between:
EasyCAT 0:31a727b65397 42 // 8, 9, 10, A5, 6, 7
EasyCAT 0:31a727b65397 43
EasyCAT 0:31a727b65397 44 // example:
EasyCAT 0:31a727b65397 45 //EasyCAT EASYCAT(8); // pin 8 will be used as SPI chip select
EasyCAT 0:31a727b65397 46
EasyCAT 0:31a727b65397 47
EasyCAT 0:31a727b65397 48 // The chip select chosen by the firmware must match the setting on the board
EasyCAT 0:31a727b65397 49
EasyCAT 0:31a727b65397 50 // On board REV_A the chip select is set soldering
EasyCAT 0:31a727b65397 51 // a 0 ohm resistor in the appropriate position
EasyCAT 0:31a727b65397 52
EasyCAT 0:31a727b65397 53 // On board REV_B the chip select is set
EasyCAT 0:31a727b65397 54 // througt a bank of jumpers
EasyCAT 0:31a727b65397 55
EasyCAT 0:31a727b65397 56
EasyCAT 0:31a727b65397 57
neeyoo 2:1e780f9c21b1 58 InterruptIn event(D2); // This pin receive the SM interrupt
neeyoo 2:1e780f9c21b1 59 // generated by the LAN9252
neeyoo 2:1e780f9c21b1 60
neeyoo 2:1e780f9c21b1 61
neeyoo 2:1e780f9c21b1 62 void Campionatura(void);
EasyCAT 0:31a727b65397 63
EasyCAT 0:31a727b65397 64
EasyCAT 0:31a727b65397 65
EasyCAT 0:31a727b65397 66 //---- global variables ---------------------------------------------------------------------------
EasyCAT 0:31a727b65397 67 unsigned long Millis = 0;
EasyCAT 0:31a727b65397 68 unsigned long PreviousCycle = 0;
neeyoo 2:1e780f9c21b1 69 int32_t data_test = 0;
neeyoo 2:1e780f9c21b1 70 int32_t j = 0;
EasyCAT 0:31a727b65397 71
EasyCAT 0:31a727b65397 72
EasyCAT 0:31a727b65397 73 //---- declarations for Arduino "millis()" emulation -----------------------
EasyCAT 0:31a727b65397 74
EasyCAT 0:31a727b65397 75 static Ticker uS_Tick;
EasyCAT 0:31a727b65397 76 static volatile uint32_t MillisVal = 0;
EasyCAT 0:31a727b65397 77
EasyCAT 0:31a727b65397 78 void InitMillis(void);
EasyCAT 0:31a727b65397 79 void mS_Tick(void);
EasyCAT 0:31a727b65397 80
EasyCAT 0:31a727b65397 81 inline static uint32_t millis (void)
EasyCAT 0:31a727b65397 82 {
EasyCAT 0:31a727b65397 83 return MillisVal;
EasyCAT 0:31a727b65397 84 };
EasyCAT 0:31a727b65397 85
EasyCAT 0:31a727b65397 86
EasyCAT 0:31a727b65397 87
EasyCAT 0:31a727b65397 88 //---------------------------------------------------------------------------------------------
EasyCAT 0:31a727b65397 89
EasyCAT 0:31a727b65397 90 int main(void)
EasyCAT 0:31a727b65397 91 {
EasyCAT 0:31a727b65397 92
EasyCAT 0:31a727b65397 93 printf ("\nEasyCAT - Generic EtherCAT slave\n"); // print the banner
EasyCAT 0:31a727b65397 94
EasyCAT 0:31a727b65397 95 InitMillis(); // init Arduino "millis()" emulation
EasyCAT 0:31a727b65397 96
EasyCAT 0:31a727b65397 97 //---- initialize the EasyCAT board -----
EasyCAT 0:31a727b65397 98
EasyCAT 0:31a727b65397 99 if (EASYCAT.Init() == true) // initialization
EasyCAT 0:31a727b65397 100 { // succesfully completed
EasyCAT 0:31a727b65397 101 printf ("initialized\n"); //
EasyCAT 0:31a727b65397 102 }
EasyCAT 0:31a727b65397 103
EasyCAT 0:31a727b65397 104 else // initialization failed
EasyCAT 0:31a727b65397 105 { // the EasyCAT board was not recognized
EasyCAT 0:31a727b65397 106 printf ("initialization failed\n"); //
EasyCAT 0:31a727b65397 107 // The most common reason is that the SPI
EasyCAT 0:31a727b65397 108 // chip select choosen on the board doesn't
EasyCAT 0:31a727b65397 109 // match the one choosen by the firmware
EasyCAT 1:1e7996e6c4a7 110
EasyCAT 1:1e7996e6c4a7 111 DigitalOut Led(LED1); //
EasyCAT 0:31a727b65397 112
EasyCAT 0:31a727b65397 113 while (1) // stay in loop for ever
EasyCAT 0:31a727b65397 114 { // with the led blinking
EasyCAT 0:31a727b65397 115 Led = 1; //
EasyCAT 0:31a727b65397 116 wait_ms(125); //
EasyCAT 0:31a727b65397 117 Led = 0; //
EasyCAT 0:31a727b65397 118 wait_ms(125); //
EasyCAT 0:31a727b65397 119 } //
neeyoo 2:1e780f9c21b1 120 }
neeyoo 2:1e780f9c21b1 121
neeyoo 2:1e780f9c21b1 122
neeyoo 2:1e780f9c21b1 123 event.fall(&Campionatura);
EasyCAT 0:31a727b65397 124
EasyCAT 0:31a727b65397 125
neeyoo 2:1e780f9c21b1 126 while (1)
EasyCAT 0:31a727b65397 127 {
neeyoo 2:1e780f9c21b1 128 // everything happens in interrupt
EasyCAT 0:31a727b65397 129 }
EasyCAT 0:31a727b65397 130 }
EasyCAT 0:31a727b65397 131
neeyoo 2:1e780f9c21b1 132 //---- interrupt service --------------------------------------------------------------------------------
neeyoo 2:1e780f9c21b1 133
neeyoo 2:1e780f9c21b1 134 // The EasyCAT task and the User
neeyoo 2:1e780f9c21b1 135 // Application run in interrupt
EasyCAT 0:31a727b65397 136 //
neeyoo 2:1e780f9c21b1 137 // Take care that the EtherCAT task + User Application
neeyoo 2:1e780f9c21b1 138 // time is less that the master cycle time
neeyoo 2:1e780f9c21b1 139
neeyoo 2:1e780f9c21b1 140 void Campionatura() //
neeyoo 2:1e780f9c21b1 141 { //
neeyoo 2:1e780f9c21b1 142 EASYCAT.MainTask(); // EtherCAT task
EasyCAT 0:31a727b65397 143 //
neeyoo 2:1e780f9c21b1 144 Application();
neeyoo 2:1e780f9c21b1 145 printf("%d \n", millis() - PreviousCycle);
neeyoo 2:1e780f9c21b1 146 PreviousCycle = millis(); // User application
neeyoo 2:1e780f9c21b1 147
neeyoo 2:1e780f9c21b1 148 }
neeyoo 2:1e780f9c21b1 149
neeyoo 2:1e780f9c21b1 150 // User application
EasyCAT 0:31a727b65397 151
neeyoo 2:1e780f9c21b1 152 void Application (void)
neeyoo 2:1e780f9c21b1 153 {
neeyoo 2:1e780f9c21b1 154 EASYCAT.BufferIn.Cust.centerXL = data_test;
neeyoo 2:1e780f9c21b1 155 EASYCAT.BufferIn.Cust.centerYL = data_test;
neeyoo 2:1e780f9c21b1 156 EASYCAT.BufferIn.Cust.forceL = data_test;
neeyoo 2:1e780f9c21b1 157 EASYCAT.BufferIn.Cust.yawL = data_test;
neeyoo 2:1e780f9c21b1 158 EASYCAT.BufferIn.Cust.pitchL = data_test;
neeyoo 2:1e780f9c21b1 159 EASYCAT.BufferIn.Cust.rollL = data_test;
neeyoo 2:1e780f9c21b1 160 EASYCAT.BufferIn.Cust.centerXR = data_test;
neeyoo 2:1e780f9c21b1 161 EASYCAT.BufferIn.Cust.centerYR = data_test;
neeyoo 2:1e780f9c21b1 162 EASYCAT.BufferIn.Cust.forceR = data_test;
neeyoo 2:1e780f9c21b1 163 EASYCAT.BufferIn.Cust.yawR = data_test;
neeyoo 2:1e780f9c21b1 164 EASYCAT.BufferIn.Cust.pitchR = data_test;
neeyoo 2:1e780f9c21b1 165 EASYCAT.BufferIn.Cust.rollR = data_test;
neeyoo 2:1e780f9c21b1 166 EASYCAT.BufferIn.Cust.yawH = data_test;
neeyoo 2:1e780f9c21b1 167 EASYCAT.BufferIn.Cust.pitchH = data_test;
neeyoo 2:1e780f9c21b1 168 EASYCAT.BufferIn.Cust.rollH = data_test;
neeyoo 2:1e780f9c21b1 169
neeyoo 2:1e780f9c21b1 170 data_test++;
neeyoo 2:1e780f9c21b1 171
neeyoo 2:1e780f9c21b1 172 }
EasyCAT 0:31a727b65397 173
EasyCAT 0:31a727b65397 174
EasyCAT 0:31a727b65397 175 //--- functions for Arduino "millis()" emulation -------------------------------------
EasyCAT 0:31a727b65397 176
EasyCAT 0:31a727b65397 177
EasyCAT 0:31a727b65397 178 void InitMillis(void)
EasyCAT 0:31a727b65397 179 {
EasyCAT 0:31a727b65397 180 uS_Tick.attach (&mS_Tick, 0.001);
EasyCAT 0:31a727b65397 181 }
EasyCAT 0:31a727b65397 182
EasyCAT 0:31a727b65397 183 void mS_Tick(void)
EasyCAT 0:31a727b65397 184 {
EasyCAT 0:31a727b65397 185 MillisVal++;
neeyoo 2:1e780f9c21b1 186 }