Pratima Gokhale / EsmacatShield

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

EsmacatShield.h@2:77c2a6061e77, 2020-02-06 (annotated)

Committer:
pratima_hb
Date:
Thu Feb 06 17:35:14 2020 +0000
Revision:
2:77c2a6061e77
Parent:
1:b66c3e4ce9f5 
Updated the data types(to int16_t) of the read and write function to be able to send and receive negative numbers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pratima_hb 0:4a9e3331b131 1 /**
pratima_hb 1:b66c3e4ce9f5 2 Copyright (c) 2020 https://www.esmacat.com/
pratima_hb 1:b66c3e4ce9f5 3
pratima_hb 1:b66c3e4ce9f5 4 Licensed under the Apache License, Version 2.0 (the "License");
pratima_hb 1:b66c3e4ce9f5 5 you may not use this file except in compliance with the License.
pratima_hb 1:b66c3e4ce9f5 6 You may obtain a copy of the License at
pratima_hb 1:b66c3e4ce9f5 7
pratima_hb 1:b66c3e4ce9f5 8 http://www.apache.org/licenses/LICENSE-2.0
pratima_hb 1:b66c3e4ce9f5 9
pratima_hb 1:b66c3e4ce9f5 10 Unless required by applicable law or agreed to in writing, software
pratima_hb 1:b66c3e4ce9f5 11 distributed under the License is distributed on an "AS IS" BASIS,
pratima_hb 1:b66c3e4ce9f5 12 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
pratima_hb 1:b66c3e4ce9f5 13 See the License for the specific language governing permissions and
pratima_hb 1:b66c3e4ce9f5 14 limitations under the License.
pratima_hb 1:b66c3e4ce9f5 15
pratima_hb 0:4a9e3331b131 16 EsmacatShield.h - Library for using EtherCAT Arduino Shield by Esmacat(EASE).
pratima_hb 0:4a9e3331b131 17 Created by Esmacat, 01/22/2020
pratima_hb 0:4a9e3331b131 18
pratima_hb 0:4a9e3331b131 19 *******************************************************************************
pratima_hb 0:4a9e3331b131 20 * @file EsmacatShield.h
pratima_hb 0:4a9e3331b131 21 *******************************************************************************
pratima_hb 0:4a9e3331b131 22 */
pratima_hb 0:4a9e3331b131 23
pratima_hb 0:4a9e3331b131 24
pratima_hb 0:4a9e3331b131 25 #ifndef EsmacatShield_h
pratima_hb 0:4a9e3331b131 26 #define EsmacatShield_h
pratima_hb 0:4a9e3331b131 27
pratima_hb 0:4a9e3331b131 28 #include "mbed.h"
pratima_hb 0:4a9e3331b131 29
pratima_hb 0:4a9e3331b131 30 #define EASE_READ_REG 0B00000000
pratima_hb 0:4a9e3331b131 31 #define EASE_WRITE_REG 0B10000000
pratima_hb 0:4a9e3331b131 32 #define EASE_SINGLE_SHOT 0B10111111
pratima_hb 0:4a9e3331b131 33 #define EASE_LED_ON 0B00000100
pratima_hb 0:4a9e3331b131 34 #define EASE_LED_OFF 0B11111011
pratima_hb 0:4a9e3331b131 35
pratima_hb 0:4a9e3331b131 36
pratima_hb 0:4a9e3331b131 37 /**
pratima_hb 0:4a9e3331b131 38 * @brief This is a driver code for EASE with form factor of Arduino
pratima_hb 0:4a9e3331b131 39 * UNO shields. This shield communicates with the base board via SPI.
pratima_hb 0:4a9e3331b131 40 *
pratima_hb 0:4a9e3331b131 41 * @version 1.0
pratima_hb 0:4a9e3331b131 42 *
pratima_hb 0:4a9e3331b131 43 * @details EASE stacks onto Arduino-like boards (a.k.a Base board).
pratima_hb 0:4a9e3331b131 44 * The Base board can read and write registers on EASE via SPI.
pratima_hb 0:4a9e3331b131 45 * The same registers can also be written and read by an EtherCAT master via a
pratima_hb 0:4a9e3331b131 46 * standard EtherCAT protocol. Multiple EASE boards can be connected with
pratima_hb 0:4a9e3331b131 47 * Ethernet cables with a daisy-chain topology and powered via Ethernet cables
pratima_hb 0:4a9e3331b131 48 * with Power-over-EtherCAT (POE) technology. EASE, thus bridges the data
pratima_hb 0:4a9e3331b131 49 * packets between an EtherCAT master and multiple Base boards.
pratima_hb 0:4a9e3331b131 50 *
pratima_hb 0:4a9e3331b131 51 * @code
pratima_hb 0:4a9e3331b131 52 *#include "mbed.h"
pratima_hb 0:4a9e3331b131 53 *#include <EsmacatShield.h> //Include Esmacat Arduino Library
pratima_hb 0:4a9e3331b131 54 *
pratima_hb 0:4a9e3331b131 55 *int counter;
pratima_hb 0:4a9e3331b131 56 *int v[8]; //EASE 8 registers
pratima_hb 0:4a9e3331b131 57 *Serial pc(USBTX, USBRX);
pratima_hb 0:4a9e3331b131 58 *
pratima_hb 0:4a9e3331b131 59 *DigitalOut selectPin(D10); // D10 is used to drive chip enable low
pratima_hb 0:4a9e3331b131 60 *SPI spi(D11, D12, D13); // mosi, miso, sclk
pratima_hb 0:4a9e3331b131 61 *
pratima_hb 0:4a9e3331b131 62 *
pratima_hb 0:4a9e3331b131 63 *int main()
pratima_hb 0:4a9e3331b131 64 *{
pratima_hb 0:4a9e3331b131 65 *
pratima_hb 0:4a9e3331b131 66 * EsmacatShield slave(spi, selectPin); //Define Chip Selector Pin
pratima_hb 0:4a9e3331b131 67 *
pratima_hb 0:4a9e3331b131 68 * slave.setup_spi(); //Setup SPI for EASE, 8 bit Data, Mode 1, 3MHz freq
pratima_hb 0:4a9e3331b131 69 *
pratima_hb 0:4a9e3331b131 70 * while(1)
pratima_hb 0:4a9e3331b131 71 * {
pratima_hb 0:4a9e3331b131 72 * slave.get_ecat_registers(v); //read all registers
pratima_hb 0:4a9e3331b131 73 * slave.write_reg_value(0,counter++, true); //Write register data (register,value, led_on)
pratima_hb 0:4a9e3331b131 74 * wait_us(1000000); //sleep for 1000 ms
pratima_hb 0:4a9e3331b131 75 * slave.write_reg_value(0,counter++, false); //Write register data (register,value, led_on)
pratima_hb 0:4a9e3331b131 76 * wait_us(1000000); //sleep for 1000 ms
pratima_hb 0:4a9e3331b131 77 * pc.printf("Next Iteration \n");
pratima_hb 0:4a9e3331b131 78 * for (int i=0;i<8;i++) //print the registers read on pc
pratima_hb 0:4a9e3331b131 79 * {
pratima_hb 0:4a9e3331b131 80 * pc.printf("%d",i);
pratima_hb 0:4a9e3331b131 81 * pc.printf("\t");
pratima_hb 0:4a9e3331b131 82 * pc.printf("%d",v[i]);
pratima_hb 0:4a9e3331b131 83 * pc.printf("\n");
pratima_hb 0:4a9e3331b131 84 * }
pratima_hb 0:4a9e3331b131 85 * }
pratima_hb 0:4a9e3331b131 86 *
pratima_hb 0:4a9e3331b131 87 *}
pratima_hb 0:4a9e3331b131 88 * @endcode
pratima_hb 0:4a9e3331b131 89 */
pratima_hb 0:4a9e3331b131 90
pratima_hb 0:4a9e3331b131 91
pratima_hb 0:4a9e3331b131 92 class EsmacatShield
pratima_hb 0:4a9e3331b131 93 {
pratima_hb 0:4a9e3331b131 94 public:
pratima_hb 0:4a9e3331b131 95 /**********************************************************//**
pratima_hb 0:4a9e3331b131 96 * @brief Constructor for EsmacatShield Class.
pratima_hb 0:4a9e3331b131 97 *
pratima_hb 0:4a9e3331b131 98 * @details Requires an existing SPI object as well as a DigitalOut object.
pratima_hb 0:4a9e3331b131 99 * The DigitalOut object is used for a chip enable signal
pratima_hb 0:4a9e3331b131 100 *
pratima_hb 0:4a9e3331b131 101 * On Entry:
pratima_hb 0:4a9e3331b131 102 * @param[in] spi - pointer to existing SPI object
pratima_hb 0:4a9e3331b131 103 * @param[in] pin - pointer to a DigitalOut pin object
pratima_hb 0:4a9e3331b131 104 *
pratima_hb 0:4a9e3331b131 105 * On Exit:
pratima_hb 0:4a9e3331b131 106 *
pratima_hb 0:4a9e3331b131 107 * @return None
pratima_hb 0:4a9e3331b131 108 **************************************************************/
pratima_hb 0:4a9e3331b131 109 EsmacatShield(SPI &spi, DigitalOut &pin);
pratima_hb 0:4a9e3331b131 110 /**********************************************************//**
pratima_hb 0:4a9e3331b131 111 * @brief Set up spi communication.
pratima_hb 0:4a9e3331b131 112 *
pratima_hb 0:4a9e3331b131 113 * @details Sets up SPI communication by using the member.
pratima_hb 0:4a9e3331b131 114 * functions format and frequency. 8 bit data, Mode 1,
pratima_hb 0:4a9e3331b131 115 * frequency of communication set to 3000000Hz
pratima_hb 0:4a9e3331b131 116 *
pratima_hb 0:4a9e3331b131 117 * On Entry:
pratima_hb 0:4a9e3331b131 118 *
pratima_hb 0:4a9e3331b131 119 * On Exit:
pratima_hb 0:4a9e3331b131 120 *
pratima_hb 0:4a9e3331b131 121 * @return None
pratima_hb 0:4a9e3331b131 122 **************************************************************/
pratima_hb 0:4a9e3331b131 123 void setup_spi();
pratima_hb 0:4a9e3331b131 124 /**********************************************************//**
pratima_hb 0:4a9e3331b131 125 * @brief Write given Register with the given value.
pratima_hb 0:4a9e3331b131 126 *
pratima_hb 0:4a9e3331b131 127 * @details Using this function 8 different 16 bit integers can be
pratima_hb 0:4a9e3331b131 128 * written into EASE.
pratima_hb 0:4a9e3331b131 129 *
pratima_hb 0:4a9e3331b131 130 * On Entry:
pratima_hb 0:4a9e3331b131 131 * @param[in] write_addr - The Register number to be written into.
pratima_hb 0:4a9e3331b131 132 * Can take values from 0 to 7
pratima_hb 0:4a9e3331b131 133 * @param[in] value - The value to be written into the register
pratima_hb 0:4a9e3331b131 134 * @param[in] led_on - True to turn LED ON
pratima_hb 0:4a9e3331b131 135 * - False to turn LED OFF
pratima_hb 0:4a9e3331b131 136 *
pratima_hb 0:4a9e3331b131 137 * On Exit:
pratima_hb 0:4a9e3331b131 138 *
pratima_hb 0:4a9e3331b131 139 * @return None
pratima_hb 0:4a9e3331b131 140 **************************************************************/
pratima_hb 2:77c2a6061e77 141 void write_reg_value(int write_addr,int16_t value, bool led_on=1);
pratima_hb 0:4a9e3331b131 142
pratima_hb 0:4a9e3331b131 143 /**********************************************************//**
pratima_hb 0:4a9e3331b131 144 * @brief Read EASE Register.
pratima_hb 0:4a9e3331b131 145 *
pratima_hb 0:4a9e3331b131 146 * @details Using this function 8 different 16 bit integers on EASE can be
pratima_hb 0:4a9e3331b131 147 * read.
pratima_hb 0:4a9e3331b131 148 *
pratima_hb 0:4a9e3331b131 149 * On Entry:
pratima_hb 0:4a9e3331b131 150 * @param[in] Pointer to integer - Eight consecutive memory locations
pratima_hb 0:4a9e3331b131 151 from this pointer will be stored with the integer values read
pratima_hb 0:4a9e3331b131 152 * from EASE.
pratima_hb 0:4a9e3331b131 153 *
pratima_hb 0:4a9e3331b131 154 * On Exit:
pratima_hb 0:4a9e3331b131 155 * @param[out] pointer to the integer where the data is stored.
pratima_hb 0:4a9e3331b131 156
pratima_hb 0:4a9e3331b131 157 *
pratima_hb 0:4a9e3331b131 158 * @return None
pratima_hb 0:4a9e3331b131 159 **************************************************************/
pratima_hb 2:77c2a6061e77 160 int16_t* get_ecat_registers(int16_t regs[8]);
pratima_hb 0:4a9e3331b131 161
pratima_hb 0:4a9e3331b131 162 /************************************************************
pratima_hb 0:4a9e3331b131 163 * @brief Default destructor for EsmacatShield Class.
pratima_hb 0:4a9e3331b131 164 *
pratima_hb 0:4a9e3331b131 165 * @details Destroys SPI object if owner
pratima_hb 0:4a9e3331b131 166 *
pratima_hb 0:4a9e3331b131 167 * On Entry:
pratima_hb 0:4a9e3331b131 168 *
pratima_hb 0:4a9e3331b131 169 * On Exit:
pratima_hb 0:4a9e3331b131 170 *
pratima_hb 0:4a9e3331b131 171 * @return None
pratima_hb 0:4a9e3331b131 172 **************************************************************/
pratima_hb 0:4a9e3331b131 173
pratima_hb 0:4a9e3331b131 174 ~EsmacatShield();
pratima_hb 0:4a9e3331b131 175 private:
pratima_hb 0:4a9e3331b131 176
pratima_hb 0:4a9e3331b131 177 SPI &ecat_spi;
pratima_hb 0:4a9e3331b131 178 DigitalOut &ecat_cs;
pratima_hb 2:77c2a6061e77 179 int16_t read_reg_value(int16_t read_addr);
pratima_hb 0:4a9e3331b131 180 };
pratima_hb 0:4a9e3331b131 181
pratima_hb 0:4a9e3331b131 182
pratima_hb 0:4a9e3331b131 183 #endif
pratima_hb 0:4a9e3331b131 184