Yang Zhang
/
TestEasyCAT_MOTION
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Dependencies: mbed EasyCAT_lib
Diff: main.cpp
- Revision:
- 0:31a727b65397
- Child:
- 1:1e7996e6c4a7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Sep 12 17:14:08 2017 +0000
@@ -0,0 +1,273 @@
+//********************************************************************************************
+// *
+// AB&T Tecnologie Informatiche - Ivrea Italy *
+// http://www.bausano.net *
+// https://www.ethercat.org/en/products/791FFAA126AD43859920EA64384AD4FD.htm *
+// *
+//********************************************************************************************
+// *
+// This software is distributed as an example, in the hope that it could be useful, *
+// WITHOUT ANY WARRANTY, even the implied warranty of FITNESS FOR A PARTICULAR PURPOSE *
+// *
+//********************************************************************************************
+
+
+//----- EasyCAT shield application basic example for mbed boards 170912 ----------------------
+//----- Derived from the example project TestEasyCAT.ino for the AB&T EasyCAT Arduino shield
+
+//----- Tested with the STM32 NUCLEO-F767ZI board --------------------------------------------
+
+
+
+#include "mbed.h"
+#include "EasyCAT.h" // EasyCAT library to interface the LAN9252
+
+
+void Application (void);
+
+
+EasyCAT EASYCAT; // EasyCAT istantiation
+
+ // The constructor allow us to choose the pin used for the EasyCAT SPI chip select
+ // Without any parameter pin 9 will be used
+
+ // for EasyCAT board REV_A we can choose between:
+ // 8, 9, 10
+ //
+ // for EasyCAT board REV_B we can choose between:
+ // 8, 9, 10, A5, 6, 7
+
+ // example:
+//EasyCAT EASYCAT(8); // pin 8 will be used as SPI chip select
+
+
+ // The chip select chosen by the firmware must match the setting on the board
+
+ // On board REV_A the chip select is set soldering
+ // a 0 ohm resistor in the appropriate position
+
+ // On board REV_B the chip select is set
+ // througt a bank of jumpers
+
+
+
+//---- pins declaration ------------------------------------------------------------------------------
+
+
+
+AnalogIn Ana0(A0); // analog input 0
+AnalogIn Ana1(A1); // analog input 1
+
+
+DigitalOut Out_0(A2); // four bits output
+DigitalOut Out_1(A3); //
+DigitalOut Out_2(A4); //
+DigitalOut Out_3(A5); //
+
+DigitalIn In_0(D3); // four bits input
+DigitalIn In_1(D5); //
+DigitalIn In_2(D6); //
+DigitalIn In_3(D7); //
+
+DigitalOut Led(LED1); //
+
+
+
+//---- global variables ---------------------------------------------------------------------------
+
+
+UWORD ContaUp; // used for sawthoot test generation
+UWORD ContaDown; //
+
+unsigned long Millis = 0;
+unsigned long PreviousSaw = 0;
+unsigned long PreviousCycle = 0;
+
+
+//---- declarations for Arduino "millis()" emulation -----------------------
+
+static Ticker uS_Tick;
+static volatile uint32_t MillisVal = 0;
+
+void InitMillis(void);
+void mS_Tick(void);
+
+inline static uint32_t millis (void)
+{
+ return MillisVal;
+};
+
+
+
+//---------------------------------------------------------------------------------------------
+
+int main(void)
+{
+
+ printf ("\nEasyCAT - Generic EtherCAT slave\n"); // print the banner
+
+ InitMillis(); // init Arduino "millis()" emulation
+
+ ContaDown.Word = 0x0000;
+ ContaUp.Word = 0x0000;
+ //---- initialize the EasyCAT board -----
+
+ if (EASYCAT.Init() == true) // initialization
+ { // succesfully completed
+ printf ("initialized\n"); //
+ }
+
+ else // initialization failed
+ { // the EasyCAT board was not recognized
+ printf ("initialization failed\n"); //
+ // The most common reason is that the SPI
+ // chip select choosen on the board doesn't
+ // match the one choosen by the firmware
+
+ while (1) // stay in loop for ever
+ { // with the led blinking
+ Led = 1; //
+ wait_ms(125); //
+ Led = 0; //
+ wait_ms(125); //
+ } //
+ }
+
+
+ while (1) //---- main loop ---------------------------
+ {
+ // In the main loop we must call ciclically the
+ // EasyCAT task and our application
+ //
+ // This allows the bidirectional exachange of the data
+ // between the EtherCAT master and our application
+ //
+ // The EasyCAT cycle and the Master cycle are asynchronous
+ //
+
+ // wait_ms(20); // Here we to set the EasyCAT cycle time
+ // according to the needs of our application
+ //
+ // For user interface applications a cycle time of 100mS,
+ // or even more, is appropriate, but, for data processing
+ // applications, a faster cycle time may be required
+ //
+ // In this case we can also completely eliminate this
+ // delay in order to obtain the fastest possible response
+
+
+ // Instead we can also use millis() to set the cycle time
+ //
+ // example:
+ Millis = millis(); //
+ if (Millis - PreviousCycle >= 10) // each 10 mS
+ { //
+ PreviousCycle = Millis; //
+
+ EASYCAT.MainTask(); // execute the EasyCAT task
+
+ Application(); // execute the user application
+ }
+ }
+}
+
+
+//---- user application ------------------------------------------------------------------------------
+
+void Application (void)
+
+{
+ float Analog;
+ // --- analog inputs management ---
+ //
+ Analog = Ana0.read(); // read analog input 0
+ Analog = Analog * 255; // normalize it on 8 bits
+ EASYCAT.BufferIn.Byte[0] = (uint8_t)Analog; // and put the result into
+ // input Byte 0
+
+ Analog = Ana1.read(); // read analog input 1
+ Analog = Analog * 255; // normalize it on 8 bits
+ EASYCAT.BufferIn.Byte[1] = (uint8_t)Analog; // and put the result into
+ // input Byte 1
+
+
+ // --- four output bits management ----
+ //
+ if (EASYCAT.BufferOut.Byte[0] & 0b00000001) // the four output bits are mapped to the
+ Out_0 = 1; // lower nibble of output Byte 0
+ else //
+ Out_0 = 0; //
+ //
+ if (EASYCAT.BufferOut.Byte[0] & (1<<0)) //
+ Out_0 = 1; //
+ else //
+ Out_0 = 0; //
+ //
+ if (EASYCAT.BufferOut.Byte[0] & (1<<1)) //
+ Out_1 = 1; //
+ else //
+ Out_1 = 0; //
+ //
+ if (EASYCAT.BufferOut.Byte[0] & (1<<2)) //
+ Out_2 = 1; //
+ else //
+ Out_2 = 0; //
+ //
+ if (EASYCAT.BufferOut.Byte[0] & (1<<3)) //
+ Out_3 = 1; //
+ else //
+ Out_3 = 0; //
+
+ //--- four input bits management ---
+ //
+ EASYCAT.BufferIn.Byte[6] = 0x00; // the four input pins are mapped to the
+ if (!In_0) // lower nibble of input Byte 6
+ EASYCAT.BufferIn.Byte[6] |= 0b00000001; //
+ if (!In_1) //
+ EASYCAT.BufferIn.Byte[6] |= 0b00000010; //
+ if (!In_2) //
+ EASYCAT.BufferIn.Byte[6] |= 0b00000100; //
+ if (!In_3) //
+ EASYCAT.BufferIn.Byte[6] |= 0b00001000; //
+
+
+ // --- test sawtooth generation ---
+ //
+ Millis = millis(); // each 100 mS
+
+ if (Millis - PreviousSaw >= 100) //
+ { //
+ PreviousSaw = Millis; //
+ //
+ ContaUp.Word++; // we increment the variable ContaUp
+ ContaDown.Word--; // and decrement ContaDown
+ } //
+
+ // we use these variables to create sawtooth,
+ // with different slopes and periods, for
+ // test pourpose, in input Bytes 2,3,4,5,30,31
+
+ EASYCAT.BufferIn.Byte[2] = ContaUp.Byte[0]; // slow rising slope
+ EASYCAT.BufferIn.Byte[3] = ContaUp.Byte[1]; // extremly slow rising slope
+
+ EASYCAT.BufferIn.Byte[4] = ContaDown.Byte[0]; // slow falling slope
+ EASYCAT.BufferIn.Byte[5] = ContaDown.Byte[1]; // extremly slow falling slope
+
+
+ EASYCAT.BufferIn.Byte[30] = ContaUp.Byte[0] << 2; // medium speed rising slope
+ EASYCAT.BufferIn.Byte[31] = ContaDown.Byte[0] << 2; // medium speed falling slope
+}
+
+
+//--- functions for Arduino "millis()" emulation -------------------------------------
+
+
+void InitMillis(void)
+{
+ uS_Tick.attach (&mS_Tick, 0.001);
+}
+
+void mS_Tick(void)
+{
+ MillisVal++;
+}
\ No newline at end of file