Example_EtherCAT_System_Using_EASE - This is an example application demonstrating buil…

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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@2:e12e4df7a486, 2015-11-13 (annotated)

Committer:: Davidroid
Date:: Fri Nov 13 12:59:29 2015 +0000
Revision:: 2:e12e4df7a486
Parent:: 1:fbf28f3367aa
Child:: 3:fffa53c7aed2

Adaptation to the "StepperMotor" abstract class.

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	0:e6a49a092e2a	4	* @author Davide Aliprandi / AST
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	* This application makes use of a C++ component architecture obtained
Davidroid	0:e6a49a092e2a	10	* from the C component architecture through the Stm32CubeTOO tool.
Davidroid	0:e6a49a092e2a	11	******************************************************************************
Davidroid	0:e6a49a092e2a	12	* @attention
Davidroid	0:e6a49a092e2a	13	*
Davidroid	0:e6a49a092e2a	14	* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid	0:e6a49a092e2a	15	*
Davidroid	0:e6a49a092e2a	16	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:e6a49a092e2a	17	* are permitted provided that the following conditions are met:
Davidroid	0:e6a49a092e2a	18	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:e6a49a092e2a	19	* this list of conditions and the following disclaimer.
Davidroid	0:e6a49a092e2a	20	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:e6a49a092e2a	21	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:e6a49a092e2a	22	* and/or other materials provided with the distribution.
Davidroid	0:e6a49a092e2a	23	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:e6a49a092e2a	24	* may be used to endorse or promote products derived from this software
Davidroid	0:e6a49a092e2a	25	* without specific prior written permission.
Davidroid	0:e6a49a092e2a	26	*
Davidroid	0:e6a49a092e2a	27	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:e6a49a092e2a	28	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:e6a49a092e2a	29	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:e6a49a092e2a	30	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:e6a49a092e2a	31	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:e6a49a092e2a	32	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:e6a49a092e2a	33	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:e6a49a092e2a	34	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:e6a49a092e2a	35	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:e6a49a092e2a	36	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:e6a49a092e2a	37	*
Davidroid	0:e6a49a092e2a	38	******************************************************************************
Davidroid	0:e6a49a092e2a	39	*/
Davidroid	0:e6a49a092e2a	40
Davidroid	0:e6a49a092e2a	41
Davidroid	0:e6a49a092e2a	42	/* Includes ------------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	43
Davidroid	0:e6a49a092e2a	44	/* mbed specific header files. */
Davidroid	0:e6a49a092e2a	45	#include "mbed.h"
Davidroid	0:e6a49a092e2a	46
Davidroid	0:e6a49a092e2a	47	/* Helper header files. */
Davidroid	0:e6a49a092e2a	48	#include "DevSPI.h"
Davidroid	0:e6a49a092e2a	49
Davidroid	0:e6a49a092e2a	50	/* Component specific header files. */
Davidroid	0:e6a49a092e2a	51	#include "l6474_class.h"
Davidroid	0:e6a49a092e2a	52
Davidroid	0:e6a49a092e2a	53
Davidroid	0:e6a49a092e2a	54	/* Definitions ---------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	55
Davidroid	0:e6a49a092e2a	56	/* Number of steps corresponding to one round angle of the motor. */
Davidroid	0:e6a49a092e2a	57	#define ROUND_ANGLE_STEPS 1600
Davidroid	0:e6a49a092e2a	58
Davidroid	0:e6a49a092e2a	59
Davidroid	0:e6a49a092e2a	60	/* Variables -----------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	61
Davidroid	0:e6a49a092e2a	62	/* Motor Control Component. */
Davidroid	1:fbf28f3367aa	63	L6474 *motor;
Davidroid	0:e6a49a092e2a	64
Davidroid	0:e6a49a092e2a	65
Davidroid	0:e6a49a092e2a	66	/* Main ----------------------------------------------------------------------*/
Davidroid	0:e6a49a092e2a	67
Davidroid	0:e6a49a092e2a	68	int main()
Davidroid	0:e6a49a092e2a	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	1:fbf28f3367aa	74	motor = new L6474(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	0:e6a49a092e2a	81	/* Main Loop. */
Davidroid	0:e6a49a092e2a	82	while(true)
Davidroid	0:e6a49a092e2a	83	{
Davidroid	0:e6a49a092e2a	84	/----- Moving forward of N steps. -----/
Davidroid	0:e6a49a092e2a	85
Davidroid	0:e6a49a092e2a	86	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	87	printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid	0:e6a49a092e2a	88
Davidroid	0:e6a49a092e2a	89	/* Moving N steps in the forward direction. */
Davidroid	2:e12e4df7a486	90	motor->Move(StepperMotor::CW, ROUND_ANGLE_STEPS);
Davidroid	0:e6a49a092e2a	91
Davidroid	0:e6a49a092e2a	92	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	93	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	94
Davidroid	0:e6a49a092e2a	95	/* Getting current position. */
Davidroid	1:fbf28f3367aa	96	int position = motor->GetPosition();
Davidroid	0:e6a49a092e2a	97
Davidroid	0:e6a49a092e2a	98	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	99	printf(" Position: %d.\r\n", position);
Davidroid	0:e6a49a092e2a	100
Davidroid	0:e6a49a092e2a	101	/* Waiting 2 seconds. */
Davidroid	0:e6a49a092e2a	102	wait_ms(2000);
Davidroid	0:e6a49a092e2a	103
Davidroid	0:e6a49a092e2a	104
Davidroid	0:e6a49a092e2a	105	/----- Moving backward N steps. -----/
Davidroid	0:e6a49a092e2a	106
Davidroid	0:e6a49a092e2a	107	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	108	printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid	0:e6a49a092e2a	109
Davidroid	0:e6a49a092e2a	110	/* Moving N steps in the backward direction. */
Davidroid	2:e12e4df7a486	111	motor->Move(StepperMotor::CCW, ROUND_ANGLE_STEPS);
Davidroid	0:e6a49a092e2a	112
Davidroid	0:e6a49a092e2a	113	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	114	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	115
Davidroid	0:e6a49a092e2a	116	/* Getting current position. */
Davidroid	1:fbf28f3367aa	117	position = motor->GetPosition();
Davidroid	0:e6a49a092e2a	118
Davidroid	0:e6a49a092e2a	119	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	120	printf(" Position: %d.\r\n", position);
Davidroid	0:e6a49a092e2a	121
Davidroid	0:e6a49a092e2a	122	/* Setting the current position to be the home position. */
Davidroid	1:fbf28f3367aa	123	motor->SetHome();
Davidroid	0:e6a49a092e2a	124
Davidroid	0:e6a49a092e2a	125	/* Waiting 2 seconds. */
Davidroid	0:e6a49a092e2a	126	wait_ms(2000);
Davidroid	0:e6a49a092e2a	127
Davidroid	0:e6a49a092e2a	128
Davidroid	0:e6a49a092e2a	129	/----- Going to a specified position. -----/
Davidroid	0:e6a49a092e2a	130
Davidroid	0:e6a49a092e2a	131	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	132	printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
Davidroid	0:e6a49a092e2a	133
Davidroid	0:e6a49a092e2a	134	/* Requesting to go to a specified position. */
Davidroid	1:fbf28f3367aa	135	motor->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid	0:e6a49a092e2a	136
Davidroid	0:e6a49a092e2a	137	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	138	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	139
Davidroid	0:e6a49a092e2a	140	/* Getting current position. */
Davidroid	1:fbf28f3367aa	141	position = motor->GetPosition();
Davidroid	0:e6a49a092e2a	142
Davidroid	0:e6a49a092e2a	143	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	144	printf(" Position: %d.\r\n", position);
Davidroid	0:e6a49a092e2a	145
Davidroid	0:e6a49a092e2a	146	/* Waiting 2 seconds. */
Davidroid	0:e6a49a092e2a	147	wait_ms(2000);
Davidroid	0:e6a49a092e2a	148
Davidroid	0:e6a49a092e2a	149
Davidroid	0:e6a49a092e2a	150	/----- Going Home. -----/
Davidroid	0:e6a49a092e2a	151
Davidroid	0:e6a49a092e2a	152	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	153	printf("--> Going Home.\r\n");
Davidroid	0:e6a49a092e2a	154
Davidroid	0:e6a49a092e2a	155	/* Requesting to go to home. */
Davidroid	1:fbf28f3367aa	156	motor->GoHome();
Davidroid	0:e6a49a092e2a	157
Davidroid	0:e6a49a092e2a	158	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	159	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	160
Davidroid	0:e6a49a092e2a	161	/* Getting current position. */
Davidroid	1:fbf28f3367aa	162	position = motor->GetPosition();
Davidroid	0:e6a49a092e2a	163
Davidroid	0:e6a49a092e2a	164	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	165	printf(" Position: %d.\r\n", position);
Davidroid	0:e6a49a092e2a	166
Davidroid	0:e6a49a092e2a	167	/* Waiting 2 seconds. */
Davidroid	0:e6a49a092e2a	168	wait_ms(2000);
Davidroid	0:e6a49a092e2a	169
Davidroid	0:e6a49a092e2a	170
Davidroid	0:e6a49a092e2a	171	/----- Moving backward. -----/
Davidroid	0:e6a49a092e2a	172
Davidroid	0:e6a49a092e2a	173	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	174	printf("--> Moving backward.\r\n");
Davidroid	0:e6a49a092e2a	175
Davidroid	0:e6a49a092e2a	176	/* Requesting to run backward. */
Davidroid	2:e12e4df7a486	177	motor->Run(StepperMotor::CCW);
Davidroid	0:e6a49a092e2a	178
Davidroid	0:e6a49a092e2a	179	/* Waiting until delay has expired. */
Davidroid	1:fbf28f3367aa	180	wait_ms(6000);
Davidroid	0:e6a49a092e2a	181
Davidroid	0:e6a49a092e2a	182	/* Getting current speed. */
Davidroid	2:e12e4df7a486	183	int speed = motor->GetSpeed();
Davidroid	0:e6a49a092e2a	184
Davidroid	0:e6a49a092e2a	185	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	186	printf(" Speed: %d.\r\n", speed);
Davidroid	0:e6a49a092e2a	187
Davidroid	0:e6a49a092e2a	188
Davidroid	0:e6a49a092e2a	189	/----- Increasing the speed while running. -----/
Davidroid	0:e6a49a092e2a	190
Davidroid	0:e6a49a092e2a	191	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	192	printf("--> Increasing the speed while running.\r\n");
Davidroid	0:e6a49a092e2a	193
Davidroid	0:e6a49a092e2a	194	/* Increasing speed to 2400 step/s. */
Davidroid	1:fbf28f3367aa	195	motor->SetMaxSpeed(2400);
Davidroid	0:e6a49a092e2a	196
Davidroid	0:e6a49a092e2a	197	/* Waiting until delay has expired. */
Davidroid	1:fbf28f3367aa	198	wait_ms(6000);
Davidroid	0:e6a49a092e2a	199
Davidroid	0:e6a49a092e2a	200	/* Getting current speed. */
Davidroid	2:e12e4df7a486	201	speed = motor->GetSpeed();
Davidroid	0:e6a49a092e2a	202
Davidroid	0:e6a49a092e2a	203	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	204	printf(" Speed: %d.\r\n", speed);
Davidroid	0:e6a49a092e2a	205
Davidroid	0:e6a49a092e2a	206
Davidroid	0:e6a49a092e2a	207	/----- Decreasing the speed while running. -----/
Davidroid	0:e6a49a092e2a	208
Davidroid	0:e6a49a092e2a	209	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	210	printf("--> Decreasing the speed while running.\r\n");
Davidroid	0:e6a49a092e2a	211
Davidroid	0:e6a49a092e2a	212	/* Decreasing speed to 1200 step/s. */
Davidroid	1:fbf28f3367aa	213	motor->SetMaxSpeed(1200);
Davidroid	0:e6a49a092e2a	214
Davidroid	0:e6a49a092e2a	215	/* Waiting until delay has expired. */
Davidroid	1:fbf28f3367aa	216	wait_ms(8000);
Davidroid	0:e6a49a092e2a	217
Davidroid	0:e6a49a092e2a	218	/* Getting current speed. */
Davidroid	2:e12e4df7a486	219	speed = motor->GetSpeed();
Davidroid	0:e6a49a092e2a	220
Davidroid	0:e6a49a092e2a	221	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	222	printf(" Speed: %d.\r\n", speed);
Davidroid	0:e6a49a092e2a	223
Davidroid	0:e6a49a092e2a	224
Davidroid	0:e6a49a092e2a	225	/----- Moving forward. -----/
Davidroid	0:e6a49a092e2a	226
Davidroid	0:e6a49a092e2a	227	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	228	printf("--> Moving forward.\r\n");
Davidroid	0:e6a49a092e2a	229
Davidroid	0:e6a49a092e2a	230	/* Requesting to run in forward direction. */
Davidroid	2:e12e4df7a486	231	motor->Run(StepperMotor::CW);
Davidroid	0:e6a49a092e2a	232
Davidroid	0:e6a49a092e2a	233	/* Waiting until delay has expired. */
Davidroid	1:fbf28f3367aa	234	wait_ms(4000);
Davidroid	0:e6a49a092e2a	235
Davidroid	0:e6a49a092e2a	236
Davidroid	0:e6a49a092e2a	237	/----- Requiring hard-stop while running. -----/
Davidroid	0:e6a49a092e2a	238
Davidroid	0:e6a49a092e2a	239	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	240	printf("--> Requiring hard-stop while running.\r\n");
Davidroid	0:e6a49a092e2a	241
Davidroid	0:e6a49a092e2a	242	/* Requesting to immediatly stop. */
Davidroid	1:fbf28f3367aa	243	motor->HardStop();
Davidroid	0:e6a49a092e2a	244
Davidroid	0:e6a49a092e2a	245	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	246	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	247
Davidroid	0:e6a49a092e2a	248	/* Waiting 2 seconds. */
Davidroid	0:e6a49a092e2a	249	wait_ms(2000);
Davidroid	0:e6a49a092e2a	250
Davidroid	0:e6a49a092e2a	251
Davidroid	0:e6a49a092e2a	252	/----- Infinite Loop. -----/
Davidroid	0:e6a49a092e2a	253
Davidroid	0:e6a49a092e2a	254	/* Printing to the console. */
Davidroid	0:e6a49a092e2a	255	printf("--> Infinite Loop...\r\n");
Davidroid	0:e6a49a092e2a	256
Davidroid	0:e6a49a092e2a	257	/* Setting the current position to be the home position. */
Davidroid	1:fbf28f3367aa	258	motor->SetHome();
Davidroid	0:e6a49a092e2a	259
Davidroid	0:e6a49a092e2a	260	/* Infinite Loop. */
Davidroid	0:e6a49a092e2a	261	while(1)
Davidroid	0:e6a49a092e2a	262	{
Davidroid	0:e6a49a092e2a	263	/* Requesting to go to a specified position. */
Davidroid	1:fbf28f3367aa	264	motor->GoTo(- ROUND_ANGLE_STEPS >> 2);
Davidroid	0:e6a49a092e2a	265
Davidroid	0:e6a49a092e2a	266	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	267	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	268
Davidroid	0:e6a49a092e2a	269	/* Requesting to go to a specified position. */
Davidroid	1:fbf28f3367aa	270	motor->GoTo(ROUND_ANGLE_STEPS >> 2);
Davidroid	0:e6a49a092e2a	271
Davidroid	0:e6a49a092e2a	272	/* Waiting while the motor is active. */
Davidroid	1:fbf28f3367aa	273	motor->WaitWhileActive();
Davidroid	0:e6a49a092e2a	274	}
Davidroid	0:e6a49a092e2a	275	}
Davidroid	0:e6a49a092e2a	276	}

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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.