main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @date    February 06, 2020
00005  * @brief   mbed test application - Esmacat Shield(EASE) working together with 
00006  *          Base Board with Arduino UNO form factor as EtherCAT slave.
00007  *          With the successful execution of this code the LED on EASE should
00008  *          blink. It should also estabilish data transfer between the EtherCAT
00009  *          Master of Esmacat on the PC.
00010  *          For further information please refer to the tutorials at
00011  *          https://www.esmacat.com/tutorials 
00012  ******************************************************************************
00013  
00014   Copyright (c) 2020 https://www.esmacat.com/
00015 
00016   Licensed under the Apache License, Version 2.0 (the "License");
00017   you may not use this file except in compliance with the License.
00018   You may obtain a copy of the License at
00019 
00020     http://www.apache.org/licenses/LICENSE-2.0
00021 
00022   Unless required by applicable law or agreed to in writing, software
00023   distributed under the License is distributed on an "AS IS" BASIS,
00024   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00025   See the License for the specific language governing permissions and
00026   limitations under the License.
00027 
00028   EsmacatShield.h - Library for using EtherCAT Arduino Shield by Esmacat(EASE).
00029   Created by Esmacat, 01/22/2020
00030   
00031 *******************************************************************************
00032 * @file EsmacatShield.h
00033 *******************************************************************************
00034 */
00035 #include "mbed.h"
00036 #include <EsmacatShield.h> //Include EsmacatShield Library
00037 
00038 
00039 int counter;
00040 int16_t v[8];                  //an array of integer is declared for reading the 
00041                            //data packet of EtherCAT from EASE 8 registers
00042 Serial pc(USBTX, USBRX);   // Configuring the serial port to host PC
00043 
00044 DigitalOut selectPin(D10); // D10 is used to drive chip enable low
00045 SPI spi(D11, D12, D13);    // mosi, miso, sclk
00046 
00047 
00048 int main() 
00049 {
00050 
00051     EsmacatShield slave(spi, selectPin);  //Create an Esmacat slave object with defined
00052                                           // spi and chip SelectPin
00053     
00054     slave.setup_spi();            //Setup SPI for EASE
00055     
00056     while(1)
00057     {
00058       slave.get_ecat_registers(v);  //read all registers
00059       slave.write_reg_value(0,counter++, true);   //Write register data (register,value, led_on)
00060       wait_us(1000000);                      //sleep for 1000 ms
00061       slave.write_reg_value(0,counter++, false);   //Write register data (register,value, led_on)
00062       wait_us(1000000);                      //sleep for 1000 ms
00063       pc.printf("Next Iteration \n");
00064       for (int i=0;i<8;i++)         //Print out read registers to host PC terminal
00065       {
00066         pc.printf("%d",i);
00067         pc.printf("  ");
00068         pc.printf("%d",v[i]);
00069         pc.printf("\n");
00070       }
00071         
00072     }
00073 
00074 }