Pratima Gokhale / Mbed OS EASE_Example

Build an EtherCAT Slave

Dependencies:   EsmacatShield

Quick Build EtherCAT Slave

Esmacat is an easy yet powerful EtherCAT solution for robot mechatronics developed by Harmonic Bionics. It provides a full EtherCAT hardware and software solution for Master and Slave devices which allows developers to set up and run an EtherCAT application within minutes. It also supports Power-over-EtherCAT (POE) technology which allows high-speed communication and logic-power supply over a single Ethernet cable simplifying the cabling and wiring needs of the system significantly.

EtherCAT Arduino Shield by Esmacat (EASE) is a shield which can be used to build a Slave device. It stacks onto Mbed boards with form factor of Arduino UNO. The Mbed Base board communicates with EASE over SPI. EASE communicates with the Master over EtherCAT. Multiple EASE boards can be connected with Ethernet cables in a daisy-chain topology.

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https://os.mbed.com/media/uploads/pratima_hb/ethercat.png

https://os.mbed.com/media/uploads/pratima_hb/ease_multiple.png

Information about the hardware needs and setup is provided in the link below. https://os.mbed.com/users/pratima_hb/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/pratima_hb/code/EASE_Example/wiki/Software

main.cpp

Committer:
pratima_hb
Date:
2020-01-30
Revision:
0:ba190577ec8a
Child:
1:ee9b73e47960

File content as of revision 0:ba190577ec8a:


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


int counter;
int v[8];                  //an array of integer is declared for reading the 
                           //data packet of EtherCAT from EASE 8 registers
Serial pc(USBTX, USBRX);   // Configuring the serial port to host PC

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);  //Create an Esmacat slave object with defined
                                          // spi and chip SelectPin
    
    slave.setup_spi();            //Setup SPI for EASE
    
    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 out read registers to host PC terminal
      {
        pc.printf("%d",i);
        pc.printf("\t");
        pc.printf("%d",v[i]);
        pc.printf("\n");
      }
        
    }

}