Example_EtherCAT_System_Using_EASE - This is an example application demonstrating buil…

Users » pratima_hb » Code » Example_EtherCAT_System_Using_EASE

Pratima Gokhale / Mbed OS Example_EtherCAT_System_Using_EASE

This is an example application demonstrating building an EtherCAT system using Esmacat

Dependencies: EsmacatShield X_NUCLEO_IHM01A1

Basic Information of Esmacat

Information about Esmacat and EASE is provided in the link below. https://os.mbed.com/users/pratima_hb/code/EASE_Example/wiki/Homepage

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

About this example

This is an example application to demonstrate the ease with which a system, which communicates over EtherCAT, can be build. It measures the RPM of a motor using a proximity sensor.

Following lists the hardware required

2 x Mbed boards with Arduino UNO form factor (NUCLEO-F103RB)
2 x EASE boards
1 x proximity sensor shield (X_NUCLEO_6180XA1)
1 x Motor shield (X-NUCLEO-IHM01A1)
1 x stepper motor
1 x Ethernet POE injector with a 24VDC power supply
2 x Ethernet cables
Keyboard, mouse, and monitor
PC with Linux/Windows OS installed
DC power supply for motor

Click here to know more about this Example

main.cpp@8:146aac014c84, 2015-11-26 (annotated)

Committer:: Davidroid
Date:: Thu Nov 26 16:18:24 2015 +0000
Revision:: 8:146aac014c84
Parent:: 7:1d8a73b24eba
Child:: 9:dc704c11181d

+ Updated with the new version of the X_NUCLEO_IHM01A1 library.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:e6a49a092e2a	1	/**
Davidroid	0:e6a49a092e2a	2	******************************************************************************
Davidroid	0:e6a49a092e2a	3	* @file main.cpp
Davidroid	7:1d8a73b24eba	4	* @author Davide Aliprandi, STMicrolectronics
Davidroid	0:e6a49a092e2a	5	* @version V1.0.0
Davidroid	0:e6a49a092e2a	6	* @date October 14th, 2015
Davidroid	0:e6a49a092e2a	7	* @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
Davidroid	0:e6a49a092e2a	8	* Motor Control Expansion Board: control of 1 motor.
Davidroid	0:e6a49a092e2a	9	******************************************************************************
Davidroid	0:e6a49a092e2a	10	* @attention
Davidroid	0:e6a49a092e2a	11	*
Davidroid	0:e6a49a092e2a	12	* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid	0:e6a49a092e2a	13	*
Davidroid	0:e6a49a092e2a	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:e6a49a092e2a	15	* are permitted provided that the following conditions are met:
Davidroid	0:e6a49a092e2a	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:e6a49a092e2a	17	* this list of conditions and the following disclaimer.
Davidroid	0:e6a49a092e2a	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:e6a49a092e2a	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:e6a49a092e2a	20	* and/or other materials provided with the distribution.
Davidroid	0:e6a49a092e2a	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:e6a49a092e2a	22	* may be used to endorse or promote products derived from this software
Davidroid	0:e6a49a092e2a	23	* without specific prior written permission.
Davidroid	0:e6a49a092e2a	24	*
Davidroid	0:e6a49a092e2a	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:e6a49a092e2a	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:e6a49a092e2a	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:e6a49a092e2a	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:e6a49a092e2a	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:e6a49a092e2a	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:e6a49a092e2a	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:e6a49a092e2a	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:e6a49a092e2a	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:e6a49a092e2a	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:e6a49a092e2a	35	*
Davidroid	0:e6a49a092e2a	36	******************************************************************************
Davidroid	0:e6a49a092e2a	37	*/
Davidroid	0:e6a49a092e2a	38
Davidroid	0:e6a49a092e2a	39
Davidroid	0:e6a49a092e2a	40	/* Includes ------------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	41
Davidroid	0:e6a49a092e2a	42	/* mbed specific header files. */
Davidroid	0:e6a49a092e2a	43	#include "mbed.h"
Davidroid	0:e6a49a092e2a	44
Davidroid	0:e6a49a092e2a	45	/* Helper header files. */
Davidroid	0:e6a49a092e2a	46	#include "DevSPI.h"
Davidroid	0:e6a49a092e2a	47
Davidroid	0:e6a49a092e2a	48	/* Component specific header files. */
Davidroid	0:e6a49a092e2a	49	#include "l6474_class.h"
Davidroid	0:e6a49a092e2a	50
Davidroid	0:e6a49a092e2a	51
Davidroid	0:e6a49a092e2a	52	/* Definitions ---------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	53
Davidroid	0:e6a49a092e2a	54	/* Number of steps corresponding to one round angle of the motor. */
Davidroid	3:fffa53c7aed2	55	#define ROUND_ANGLE_STEPS 3200
Davidroid	0:e6a49a092e2a	56
Davidroid	0:e6a49a092e2a	57
Davidroid	0:e6a49a092e2a	58	/* Variables -----------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	59
Davidroid	0:e6a49a092e2a	60	/* Motor Control Component. */
Davidroid	1:fbf28f3367aa	61	L6474 *motor;
Davidroid	0:e6a49a092e2a	62
Davidroid	0:e6a49a092e2a	63
Davidroid	0:e6a49a092e2a	64	/* Main ----------------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	65
Davidroid	0:e6a49a092e2a	66	int main()
Davidroid	0:e6a49a092e2a	67	{
Davidroid	6:32166bfc04b0	68	/----- Initialization. -----/
Davidroid	6:32166bfc04b0	69
Davidroid	0:e6a49a092e2a	70	/* Initializing SPI bus. */
Davidroid	0:e6a49a092e2a	71	DevSPI dev_spi(D11, D12, D13);
Davidroid	0:e6a49a092e2a	72
Davidroid	0:e6a49a092e2a	73	/* Initializing Motor Control Component. */
Davidroid	5:8065b587ade0	74	motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid	1:fbf28f3367aa	75	if (motor->Init(NULL) != COMPONENT_OK)
Davidroid	0:e6a49a092e2a	76	return false;
Davidroid	0:e6a49a092e2a	77
Davidroid	0:e6a49a092e2a	78	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	79	printf("Motor Control Application Example for 1 Motor\r\n\n");
Davidroid	0:e6a49a092e2a	80
Davidroid	6:32166bfc04b0	81
Davidroid	6:32166bfc04b0	82	/----- Moving. -----/
Davidroid	6:32166bfc04b0	83
Davidroid	6:32166bfc04b0	84	/* Printing to the console. */
Davidroid	6:32166bfc04b0	85	printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid	6:32166bfc04b0	86
Davidroid	6:32166bfc04b0	87	/* Moving N steps in the forward direction. */
Davidroid	6:32166bfc04b0	88	motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
Davidroid	6:32166bfc04b0	89
Davidroid	6:32166bfc04b0	90	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	91	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	92
Davidroid	6:32166bfc04b0	93	/* Getting current position. */
Davidroid	6:32166bfc04b0	94	int position = motor->GetPosition();
Davidroid	6:32166bfc04b0	95
Davidroid	6:32166bfc04b0	96	/* Printing to the console. */
Davidroid	6:32166bfc04b0	97	printf(" Position: %d.\r\n", position);
Davidroid	6:32166bfc04b0	98
Davidroid	6:32166bfc04b0	99	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	100	wait_ms(2000);
Davidroid	6:32166bfc04b0	101
Davidroid	6:32166bfc04b0	102
Davidroid	6:32166bfc04b0	103	/----- Moving. -----/
Davidroid	6:32166bfc04b0	104
Davidroid	6:32166bfc04b0	105	/* Printing to the console. */
Davidroid	6:32166bfc04b0	106	printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1);
Davidroid	6:32166bfc04b0	107
Davidroid	6:32166bfc04b0	108	/* Moving N steps in the backward direction. */
Davidroid	6:32166bfc04b0	109	motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
Davidroid	6:32166bfc04b0	110
Davidroid	6:32166bfc04b0	111	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	112	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	113
Davidroid	6:32166bfc04b0	114	/* Getting current position. */
Davidroid	6:32166bfc04b0	115	position = motor->GetPosition();
Davidroid	6:32166bfc04b0	116
Davidroid	6:32166bfc04b0	117	/* Printing to the console. */
Davidroid	6:32166bfc04b0	118	printf(" Position: %d.\r\n", position);
Davidroid	6:32166bfc04b0	119	printf("--> Setting Home.\r\n");
Davidroid	6:32166bfc04b0	120
Davidroid	6:32166bfc04b0	121	/* Setting the current position to be the home position. */
Davidroid	6:32166bfc04b0	122	motor->SetHome();
Davidroid	6:32166bfc04b0	123
Davidroid	6:32166bfc04b0	124	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	125	wait_ms(2000);
Davidroid	6:32166bfc04b0	126
Davidroid	6:32166bfc04b0	127
Davidroid	6:32166bfc04b0	128	/----- Going to a specified position. -----/
Davidroid	6:32166bfc04b0	129
Davidroid	6:32166bfc04b0	130	/* Printing to the console. */
Davidroid	6:32166bfc04b0	131	printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
Davidroid	6:32166bfc04b0	132
Davidroid	6:32166bfc04b0	133	/* Requesting to go to a specified position. */
Davidroid	6:32166bfc04b0	134	motor->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid	6:32166bfc04b0	135
Davidroid	6:32166bfc04b0	136	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	137	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	138
Davidroid	6:32166bfc04b0	139	/* Getting current position. */
Davidroid	6:32166bfc04b0	140	position = motor->GetPosition();
Davidroid	6:32166bfc04b0	141
Davidroid	6:32166bfc04b0	142	/* Printing to the console. */
Davidroid	6:32166bfc04b0	143	printf(" Position: %d.\r\n", position);
Davidroid	6:32166bfc04b0	144
Davidroid	6:32166bfc04b0	145	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	146	wait_ms(2000);
Davidroid	6:32166bfc04b0	147
Davidroid	6:32166bfc04b0	148
Davidroid	6:32166bfc04b0	149	/----- Going Home. -----/
Davidroid	6:32166bfc04b0	150
Davidroid	6:32166bfc04b0	151	/* Printing to the console. */
Davidroid	6:32166bfc04b0	152	printf("--> Going Home.\r\n");
Davidroid	6:32166bfc04b0	153
Davidroid	6:32166bfc04b0	154	/* Requesting to go to home. */
Davidroid	6:32166bfc04b0	155	motor->GoHome();
Davidroid	6:32166bfc04b0	156
Davidroid	6:32166bfc04b0	157	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	158	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	159
Davidroid	6:32166bfc04b0	160	/* Getting current position. */
Davidroid	6:32166bfc04b0	161	position = motor->GetPosition();
Davidroid	6:32166bfc04b0	162
Davidroid	6:32166bfc04b0	163	/* Printing to the console. */
Davidroid	6:32166bfc04b0	164	printf(" Position: %d.\r\n", position);
Davidroid	0:e6a49a092e2a	165
Davidroid	6:32166bfc04b0	166	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	167	wait_ms(2000);
Davidroid	6:32166bfc04b0	168
Davidroid	6:32166bfc04b0	169
Davidroid	6:32166bfc04b0	170	/----- Running. -----/
Davidroid	6:32166bfc04b0	171
Davidroid	6:32166bfc04b0	172	/* Printing to the console. */
Davidroid	6:32166bfc04b0	173	printf("--> Running backward.\r\n");
Davidroid	6:32166bfc04b0	174
Davidroid	6:32166bfc04b0	175	/* Requesting to run backward. */
Davidroid	6:32166bfc04b0	176	motor->Run(StepperMotor::BWD);
Davidroid	6:32166bfc04b0	177
Davidroid	6:32166bfc04b0	178	/* Waiting until delay has expired. */
Davidroid	6:32166bfc04b0	179	wait_ms(6000);
Davidroid	6:32166bfc04b0	180
Davidroid	6:32166bfc04b0	181	/* Getting current speed. */
Davidroid	6:32166bfc04b0	182	int speed = motor->GetSpeed();
Davidroid	6:32166bfc04b0	183
Davidroid	6:32166bfc04b0	184	/* Printing to the console. */
Davidroid	6:32166bfc04b0	185	printf(" Speed: %d.\r\n", speed);
Davidroid	6:32166bfc04b0	186
Davidroid	6:32166bfc04b0	187	/----- Increasing the speed while running. -----/
Davidroid	6:32166bfc04b0	188
Davidroid	6:32166bfc04b0	189	/* Printing to the console. */
Davidroid	6:32166bfc04b0	190	printf("--> Increasing the speed while running.\r\n");
Davidroid	6:32166bfc04b0	191
Davidroid	6:32166bfc04b0	192	/* Increasing speed to 2400 step/s. */
Davidroid	6:32166bfc04b0	193	motor->SetMaxSpeed(2400);
Davidroid	6:32166bfc04b0	194
Davidroid	6:32166bfc04b0	195	/* Waiting until delay has expired. */
Davidroid	6:32166bfc04b0	196	wait_ms(6000);
Davidroid	6:32166bfc04b0	197
Davidroid	6:32166bfc04b0	198	/* Getting current speed. */
Davidroid	6:32166bfc04b0	199	speed = motor->GetSpeed();
Davidroid	6:32166bfc04b0	200
Davidroid	6:32166bfc04b0	201	/* Printing to the console. */
Davidroid	6:32166bfc04b0	202	printf(" Speed: %d.\r\n", speed);
Davidroid	6:32166bfc04b0	203
Davidroid	6:32166bfc04b0	204
Davidroid	6:32166bfc04b0	205	/----- Decreasing the speed while running. -----/
Davidroid	0:e6a49a092e2a	206
Davidroid	6:32166bfc04b0	207	/* Printing to the console. */
Davidroid	6:32166bfc04b0	208	printf("--> Decreasing the speed while running.\r\n");
Davidroid	6:32166bfc04b0	209
Davidroid	6:32166bfc04b0	210	/* Decreasing speed to 1200 step/s. */
Davidroid	6:32166bfc04b0	211	motor->SetMaxSpeed(1200);
Davidroid	6:32166bfc04b0	212
Davidroid	6:32166bfc04b0	213	/* Waiting until delay has expired. */
Davidroid	6:32166bfc04b0	214	wait_ms(8000);
Davidroid	6:32166bfc04b0	215
Davidroid	6:32166bfc04b0	216	/* Getting current speed. */
Davidroid	6:32166bfc04b0	217	speed = motor->GetSpeed();
Davidroid	6:32166bfc04b0	218
Davidroid	6:32166bfc04b0	219	/* Printing to the console. */
Davidroid	6:32166bfc04b0	220	printf(" Speed: %d.\r\n", speed);
Davidroid	6:32166bfc04b0	221
Davidroid	6:32166bfc04b0	222
Davidroid	6:32166bfc04b0	223	/----- Requiring hard-stop while running. -----/
Davidroid	6:32166bfc04b0	224
Davidroid	6:32166bfc04b0	225	/* Printing to the console. */
Davidroid	6:32166bfc04b0	226	printf("--> Requiring hard-stop while running.\r\n");
Davidroid	6:32166bfc04b0	227
Davidroid	6:32166bfc04b0	228	/* Requesting to immediatly stop. */
Davidroid	6:32166bfc04b0	229	motor->HardStop();
Davidroid	6:32166bfc04b0	230
Davidroid	6:32166bfc04b0	231	/* Waiting while the motor is active. */
Davidroid	6:32166bfc04b0	232	motor->WaitWhileActive();
Davidroid	6:32166bfc04b0	233
Davidroid	6:32166bfc04b0	234	/* Waiting 2 seconds. */
Davidroid	6:32166bfc04b0	235	wait_ms(2000);
Davidroid	6:32166bfc04b0	236
Davidroid	6:32166bfc04b0	237
Davidroid	6:32166bfc04b0	238	/----- Infinite Loop. -----/
Davidroid	6:32166bfc04b0	239
Davidroid	6:32166bfc04b0	240	/* Printing to the console. */
Davidroid	6:32166bfc04b0	241	printf("--> Infinite Loop...\r\n");
Davidroid	6:32166bfc04b0	242
Davidroid	6:32166bfc04b0	243	/* Setting the current position to be the home position. */
Davidroid	6:32166bfc04b0	244	motor->SetHome();
Davidroid	6:32166bfc04b0	245
Davidroid	6:32166bfc04b0	246	/* Infinite Loop. */
Davidroid	6:32166bfc04b0	247	while (1)
Davidroid	6:32166bfc04b0	248	{
Davidroid	6:32166bfc04b0	249	/* Requesting to go to a specified position. */
Davidroid	6:32166bfc04b0	250	motor->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid	3:fffa53c7aed2	251
Davidroid	0:e6a49a092e2a	252	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	253	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	254
Davidroid	0:e6a49a092e2a	255	/* Requesting to go to a specified position. */
Davidroid	6:32166bfc04b0	256	motor->GoTo(- (ROUND_ANGLE_STEPS >> 1));
Davidroid	0:e6a49a092e2a	257
Davidroid	0:e6a49a092e2a	258	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	259	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	260	}
Davidroid	0:e6a49a092e2a	261	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed OS
Created:	13 Feb 2020
Imports:	4
Forks:	0
Commits:	43
Dependents:	0
Dependencies:	2
Followers:	1

The code in this repository is Apache licensed.