Pratima Gokhale
EsmacatShield - Library for EtherCAT Arduino Shield by Esmacat (EASE)
Dependents: EASE_Example HelloWorld_EASE_Proximity_Sensor HelloWorld_EASE_Motor_Example Example_EtherCAT_System_Using_EASE ... more
Information about Esmacat and EASE is provided in the link below. https://os.mbed.com/users/pratima_hb/code/EASE_Example/wiki/Homepage
Diff: EsmacatShield.cpp
- Revision:
- 0:4a9e3331b131
- Child:
- 1:b66c3e4ce9f5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EsmacatShield.cpp Wed Jan 29 19:27:19 2020 +0000
@@ -0,0 +1,81 @@
+#include "EsmacatShield.h"
+
+EsmacatShield::EsmacatShield(SPI &spi, DigitalOut &pin):ecat_spi(spi),ecat_cs(pin)
+{
+
+}
+
+void EsmacatShield::setup_spi()
+{
+ /*Chip must be deselected*/
+ ecat_cs = 1;
+
+ /*Setup the spi for 8 bit data, Mode 1,
+ with a 3MHz clock rate*/
+ ecat_spi.format(8,1);
+ ecat_spi.frequency(3000000);
+
+ /* Chip must be selected*/
+ ecat_cs = 0;
+
+}
+
+
+void EsmacatShield::write_reg_value(int write_addr,int value, bool led_on)
+{
+ uint8_t v1,v2;
+ // Chip must be selected
+ ecat_cs = 0;
+ wait_us(2000); //sleep for 2 ms;
+ write_addr = write_addr <<3;
+ if (led_on)
+ {
+ ecat_spi.write(((EASE_WRITE_REG|write_addr)| EASE_LED_ON)& EASE_SINGLE_SHOT);
+ }
+ else
+ {
+ ecat_spi.write((EASE_WRITE_REG|write_addr)& EASE_LED_OFF & EASE_SINGLE_SHOT);
+ }
+ v1 = (value&0xFF00) >> 8;
+ v2 = (value&0x00FF);
+ ecat_spi.write(v1);
+ ecat_spi.write(v2);
+ // Chip must be deselected
+ ecat_cs = 1;
+ wait_us(2000); //sleep for 2 ms;
+}
+
+int* EsmacatShield::get_ecat_registers(int regs[8]) {
+ regs[0] = read_reg_value(1);
+ regs[1] = read_reg_value(2);
+ regs[2] = read_reg_value(3);
+ regs[3] = read_reg_value(4);
+ regs[4] = read_reg_value(5);
+ regs[5] = read_reg_value(6);
+ regs[6] = read_reg_value(7);
+ regs[7] = read_reg_value(0);
+ return(regs);
+}
+
+int EsmacatShield::read_reg_value(int read_addr)
+{
+ uint16_t v2,v3;
+ // Chip must be selected
+ ecat_cs = 0;
+ wait_us(2000); //sleep for 2 ms;
+ read_addr = read_addr <<3;
+ ecat_spi.write( EASE_READ_REG|read_addr);
+ v2 = ecat_spi.write(0x00);
+ v3 = ecat_spi.write(0x00);
+ // Chip must be deselected
+ ecat_cs = 1;
+ wait_us(2000); //sleep for 2 ms;
+
+ return (v2<<8)+v3;
+}
+
+EsmacatShield::~EsmacatShield(void)
+{
+ //empty block
+}
+