Difference between revisions of "Component: EtherCAT Slave (EasyCAT) (Comms: IoT/Cloud)"

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==EtherCAT Slave (EasyCAT) component==
 
==EtherCAT Slave (EasyCAT) component==
 
Provides support for the EtherCAT Slave industrial protocol using an EasyCAT Arduino shield. The shield can be driven from a Flowcode compatible Arduino type board or can be driven using an Arduino using the SCADA Slave firmware to drive EtherCAT from the Flowcode simulation runtime. Compatible with the EasyCAT Easy Configurator tool.
 
Provides support for the EtherCAT Slave industrial protocol using an EasyCAT Arduino shield. The shield can be driven from a Flowcode compatible Arduino type board or can be driven using an Arduino using the SCADA Slave firmware to drive EtherCAT from the Flowcode simulation runtime. Compatible with the EasyCAT Easy Configurator tool.
 +
 +
==Component Source Code==
 +
 +
Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_EasyCat.fcfx FC_Comp_Source_EasyCat.fcfx]
 +
 +
Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_EasyCat.fcfx FC_Comp_Source_EasyCat.fcfx]
  
 
==Detailed description==
 
==Detailed description==
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''No detailed description exists yet for this component''
 
  
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==Examples==
 
  
  
  
  
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''<span style="color:red;">No additional examples</span>''
 
  
  
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==Downloadable macro reference==
 
  
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{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
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|-
 
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| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
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| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetInt'''
 
−
|-
 
−
| colspan="2" | Write a 16-bit value to the In receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" | Data
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
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| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MainTask'''
 
−
|-
 
−
| colspan="2" | Must be called as part of the application main program loop.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLong'''
 
−
|-
 
−
| colspan="2" | Write a 32-bit value to the In receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
 
−
| width="90%" | Data
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetFloat'''
 
−
|-
 
−
| colspan="2" | Read a 32-bit floating point value from the Out receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLong'''
 
−
|-
 
−
| colspan="2" | Read a 32-bit value from the Out receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetInt'''
 
−
|-
 
−
| colspan="2" | Read a 16-bit value from the Out receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
+
''No detailed description exists yet for this component''
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetByte'''
 
−
|-
 
−
| colspan="2" | Write an 8-bit value to the In receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Data
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
 +
==Examples==
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetByte'''
 
−
|-
 
−
| colspan="2" | Read a 8-bit value from the Out receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFloat'''
 
−
|-
 
−
| colspan="2" | Write a 32-bit floating point value to the In receive buffer&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | Data Index&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:]] -
 
−
| width="90%" | Data
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 
−
|-
 
−
| colspan="2" | Starts up the SPI connection to the EasyCAT board and configures the board. Returns 1 for a sucessful initialise.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 
−
|-
 
−
| colspan="2" | Sets up the component ready to collect weather data.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 
−
|-
 
−
| colspan="2" | Sets up the GSM module. Returns 0 for OK, 255 for no reply and 254 for command fail.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Left'''
 
−
|-
 
−
| colspan="2" | Rotates the robot left - waits for the angle to be traversed before returning&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" | Angle
 
−
|-
 
−
| colspan="2" | Angle to turn in degrees&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadIR'''
 
−
|-
 
−
| colspan="2" | Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight,  6=Rear, 7=RearLeft&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | index
 
−
|-
 
−
| colspan="2" | 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawPixel'''
 
−
|-
 
−
| colspan="2" | Allows a single pixel on the LCD to be set or cleared&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | X
 
−
|-
 
−
| colspan="2" | X Pixel 0-127&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Y
 
−
|-
 
−
| colspan="2" | Y Pixel 0-31&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | State
 
−
|-
 
−
| colspan="2" | 0=White (Off), 1=Black (On)&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoSetPosition'''
 
−
|-
 
−
| colspan="2" | Allows one of the servo positions to be assigned&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Channel
 
−
|-
 
−
| colspan="2" | Range 0-3&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Position
 
−
|-
 
−
| colspan="2" | Range 0-255&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardBitmap'''
 
−
|-
 
−
| colspan="2" | Displays a monochrome bitmap read from the card on the LCD&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | X
 
−
|-
 
−
| colspan="2" | Range 0-127&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Y
 
−
|-
 
−
| colspan="2" | Range 0-31&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
 
−
| width="90%" | Filename
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardRecordMic'''
 
−
|-
 
−
| colspan="2" | Records an audio stream on the card from the microphone&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | BitDepth
 
−
|-
 
−
| colspan="2" | 0=8-bit, 1=16-bit&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | SampleRate
 
−
|-
 
−
| colspan="2" | Sample Rate 0=8KHz, 1=16KHz&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" | RecordTime
 
−
|-
 
−
| colspan="2" | Time to record for in seconds, Range 0-65535&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
 
−
| width="90%" | Filename
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardOpen'''
 
−
|-
 
−
| colspan="2" | Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
 
−
| width="90%" | Filename
 
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
 +
''<span style="color:red;">No additional examples</span>''
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Forwards'''
 
−
|-
 
−
| colspan="2" | Drives the robot forwards - waits for the distance to be traversed before returning&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" | Distance
 
−
|-
 
−
| colspan="2" | Distance in mm&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadBearing'''
 
−
|-
 
−
| colspan="2" | Reads the compass bearing based on the degrees clockwise from magnetic north.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetConsoleHandle'''
 
−
|-
 
−
| colspan="2" | Gets the handle to the console allowing data displaying on the panel etc.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:]] -
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawLine'''
 
−
|-
 
−
| colspan="2" | Allows a single pixel width line to be drawn on the LCD&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | X1
 
−
|-
 
−
| colspan="2" | X Pixel 0-127&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Y1
 
−
|-
 
−
| colspan="2" | Y Pixel 0-31&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | X2
 
−
|-
 
−
| colspan="2" | X Pixel 0-127&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Y2
 
−
|-
 
−
| colspan="2" | Y Pixel 0-31&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoAutoMoveToPosition'''
 
−
|-
 
−
| colspan="2" | Allows one of the servo positions to move gradually to a new position&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Channel
 
−
|-
 
−
| colspan="2" | Range 0-3&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Position
 
−
|-
 
−
| colspan="2" | Range 0-255&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
  
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadAllValue'''
 
−
|-
 
−
| colspan="2" | Reads a single value stored from the read all command Index dictates which sensor value to read&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Index
 
−
|-
 
−
| colspan="2" | 0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
  
 +
==Macro reference==
  
 +
===GetByte===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDBacklight'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetByte'''
 
|-
 
|-
−
| colspan="2" | Allows the LCD backlight brighntess to be adjusted&nbsp;
+
| colspan="2" | Read a 8-bit value from the Out receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | Intensity
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness&nbsp;
+
| colspan="2" | Data Index&nbsp;
 
|-
 
|-
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
|}
 
|}
  
  
 +
===GetFloat===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDDrawRect'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetFloat'''
 
|-
 
|-
−
| colspan="2" | Allows a rectangle to be drawn on the LCD&nbsp;
+
| colspan="2" | Read a 32-bit floating point value from the Out receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | X1
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | X Pixel 0-127&nbsp;
+
| colspan="2" | Data Index&nbsp;
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Y1
 
−
|-
 
−
| colspan="2" | Y Pixel 0-31&nbsp;
 
 
|-
 
|-
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-f32-icon.png]] - FLOAT
−
| width="90%" | X2
 
−
|-
 
−
| colspan="2" | X Pixel 0-127&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" | Y2
 
−
|-
 
−
| colspan="2" | Y Pixel 0-31&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
|}
 
|}
  
  
 +
===GetInt===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadLine'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetInt'''
 
|-
 
|-
−
| colspan="2" | Reads one of the IR line sensors 0-1 0=Left, 1=Right&nbsp;
+
| colspan="2" | Read a 16-bit value from the Out receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | index
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | 0=Left, 1=Right&nbsp;
+
| colspan="2" | Data Index&nbsp;
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
Line 600: Line 144:
  
  
 +
===GetLong===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoDisable'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetLong'''
 
|-
 
|-
−
| colspan="2" | Allows one of the servo outputs 0-3 to be disabled&nbsp;
+
| colspan="2" | Read a 32-bit value from the Out receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | Channel
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | Range 0-3&nbsp;
+
| colspan="2" | Data Index&nbsp;
 
|-
 
|-
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u32-icon.png]] - ULONG
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
|}
 
|}
  
  
 +
===Initialise===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ServoEnable'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Initialise'''
 
|-
 
|-
−
| colspan="2" | Allows one of the servo outputs 0-3 to be enabled&nbsp;
+
| colspan="2" | Starts up the SPI connection to the EasyCAT board and configures the board. Returns 1 for a sucessful initialise.&nbsp;
 
|-
 
|-
 
|-
 
|-
−
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
+
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-bool-icon.png]] - BOOL
−
| width="90%" | Channel
 
−
|-
 
−
| colspan="2" | Range 0-3&nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
|}
 
|}
  
  
 +
===MainTask===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardReadByte'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MainTask'''
 
|-
 
|-
−
| colspan="2" | Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end&nbsp;
+
| colspan="2" | Must be called as part of the application main program loop.&nbsp;
 
|-
 
|-
 
|-
 
|-
Line 649: Line 191:
  
  
 +
===SetByte===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardErase'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetByte'''
 
|-
 
|-
−
| colspan="2" | Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK&nbsp;
+
| colspan="2" | Write an 8-bit value to the In receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
−
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
+
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | Filename
+
| width="90%" | Index
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
 
−
 
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardWriteByte'''
 
−
|-
 
−
| colspan="2" | Appends a byte to the end of the currently open file &nbsp;
 
 
|-
 
|-
 +
| colspan="2" | Data Index&nbsp;
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
Line 685: Line 215:
  
  
 +
===SetFloat===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderRead'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetFloat'''
 
|-
 
|-
−
| colspan="2" | Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.&nbsp;
+
| colspan="2" | Write a 32-bit floating point value to the In receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | index
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | 0=Left, 1=Right&nbsp;
+
| colspan="2" | Data Index&nbsp;
 
|-
 
|-
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u16-icon.png]] - UINT
+
| width="10%" align="center" | [[File:Fc9-f32-icon.png]] - FLOAT
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
+
| width="90%" | Data
−
|}
 
−
 
 
−
 
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMotors'''
 
−
|-
 
−
| colspan="2" | Sets the motor speeds without feedback Range -100 to 100&nbsp;
 
 
|-
 
|-
−
|-
+
| colspan="2" | &nbsp;
−
| width="10%" align="center" | [[File:]] -
 
−
| width="90%" | Left
 
−
|-
 
−
| colspan="2" | Range -100 to 100&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:]] -
 
−
| width="90%" | Right
 
−
|-
 
−
| colspan="2" | Range -100 to 100&nbsp;
 
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 726: Line 239:
  
  
 +
===SetInt===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Backwards'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetInt'''
 
|-
 
|-
−
| colspan="2" | Drives the robot backwards - waits for the distance to be traversed before returning&nbsp;
+
| colspan="2" | Write a 16-bit value to the In receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
−
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
+
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | Distance
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | Distance in mm&nbsp;
+
| colspan="2" | Data Index&nbsp;
 
|-
 
|-
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
+
| width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
+
| width="90%" | Data
−
|}
 
−
 
 
−
 
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''EncoderReset'''
 
−
|-
 
−
| colspan="2" | Resets the motor encoder counters&nbsp;
 
 
|-
 
|-
 +
| colspan="2" | &nbsp;
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
Line 757: Line 263:
  
  
 +
===SetLong===
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
|-
 
|-
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDVerbose'''
+
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetLong'''
 
|-
 
|-
−
| colspan="2" | Allows the LCD to automatically report the API commands as they get processed. Default - verbose on&nbsp;
+
| colspan="2" | Write a 32-bit value to the In receive buffer&nbsp;
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
 
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE
−
| width="90%" | State
+
| width="90%" | Index
 
|-
 
|-
−
| colspan="2" | 0=Off 1=On&nbsp;
+
| colspan="2" | Data Index&nbsp;
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
 
−
 
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetProp'''
 
−
|-
 
−
| colspan="2" | Allows the COM port property to be set from a parent component.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
 
−
| width="90%" | PropName
 
−
|-
 
−
| colspan="2" | &nbsp;
 
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
 
| width="10%" align="center" | [[File:Fc9-u32-icon.png]] - ULONG
−
| width="90%" | PropVal
+
| width="90%" | Data
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
 
−
 
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''CardInit'''
 
−
|-
 
−
| colspan="2" | Attempts to startup the SD card  255=No Card, 254=Init Fail, 0=Init OK&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
 
−
 
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GetProp'''
 
−
|-
 
−
| colspan="2" | Allows the property filter for the COM port list to be copied to a parent component.&nbsp;
 
−
|-
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING
 
−
| width="90%" | PropName
 
 
|-
 
|-
 
| colspan="2" | &nbsp;
 
| colspan="2" | &nbsp;
−
|-
 
−
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-string-icon.png]] - STRING
 
−
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
−
|}
 
−
 
−
 
−
{| class="wikitable" style="width:60%; background-color:#FFFFFF;"
 
−
|-
 
−
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]]
 
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear'''
 
−
|-
 
−
| colspan="2" | Clears the LCD&nbsp;
 
−
|-
 
 
|-
 
|-
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
| width="90%" style="border-top: 2px solid #000;" | ''Return''
 
|}
 
|}
−
 
−
 
  
  
Line 861: Line 304:
 
|-
 
|-
 
| colspan="2" | Used to load a header file from Easy CAT Configurator tool to describe the units inputs and outputs&nbsp;
 
| colspan="2" | Used to load a header file from Easy CAT Configurator tool to describe the units inputs and outputs&nbsp;
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Data Rx
 +
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
 
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
Line 866: Line 313:
 
|-
 
|-
 
| colspan="2" | Total number of bytes to come out from the EtherCAT master&nbsp;
 
| colspan="2" | Total number of bytes to come out from the EtherCAT master&nbsp;
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Data Tx
 +
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
 
| width="10%" align="center" | [[File:Fc9-type-21-icon.png]]
Line 872: Line 323:
 
| colspan="2" | Total bytes to come in from the EtherCAT master&nbsp;
 
| colspan="2" | Total bytes to come in from the EtherCAT master&nbsp;
 
|-
 
|-
−
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]]
+
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Connections'''
+
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | SPI Properties
 +
|-
 +
|-
 +
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
 +
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Connections
 
|-
 
|-
 
|-
 
|-
Line 906: Line 361:
 
| colspan="2" | Prescale option selector&nbsp;
 
| colspan="2" | Prescale option selector&nbsp;
 
|-
 
|-
−
| width="10%" align="center" style="background-color:#D8C9D8;" | [[File:Fc9-conn-icon.png]]
+
| width="10%" align="center" style="background-color:#EAE1EA;" | [[File:Fc9-conn-icon.png]]
−
| width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Simulations'''
+
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | Simulation
 
|-
 
|-
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
 
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
 
| width="90%" | Simulation Comms
 
| width="90%" | Simulation Comms
−
|-
 
−
| colspan="2" | &nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
 
−
| width="90%" | Scope Traces
 
−
|-
 
−
| colspan="2" | Selects if the scope traces are automatically generated or not&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-type-7-icon.png]]
 
−
| width="90%" | Console Data
 
−
|-
 
−
| colspan="2" | Selects if the console data is automatically generated or not&nbsp;
 
−
|-
 
−
| width="10%" align="center" | [[File:Fc9-type-16-icon.png]]
 
−
| width="90%" | API
 
 
|-
 
|-
 
| colspan="2" | &nbsp;
 
| colspan="2" | &nbsp;
 
|}
 
|}

Latest revision as of 13:10, 7 February 2023

Author Matrix TSL
Version 1.0
Category Comms: IoT/Cloud


EtherCAT Slave (EasyCAT) component

Provides support for the EtherCAT Slave industrial protocol using an EasyCAT Arduino shield. The shield can be driven from a Flowcode compatible Arduino type board or can be driven using an Arduino using the SCADA Slave firmware to drive EtherCAT from the Flowcode simulation runtime. Compatible with the EasyCAT Easy Configurator tool.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_EasyCat.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_EasyCat.fcfx

Detailed description

No detailed description exists yet for this component

Examples

No additional examples







Macro reference

GetByte

Fc9-comp-macro.png GetByte
Read a 8-bit value from the Out receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-u8-icon.png - BYTE Return


GetFloat

Fc9-comp-macro.png GetFloat
Read a 32-bit floating point value from the Out receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-f32-icon.png - FLOAT Return


GetInt

Fc9-comp-macro.png GetInt
Read a 16-bit value from the Out receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-u16-icon.png - UINT Return


GetLong

Fc9-comp-macro.png GetLong
Read a 32-bit value from the Out receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-u32-icon.png - ULONG Return


Initialise

Fc9-comp-macro.png Initialise
Starts up the SPI connection to the EasyCAT board and configures the board. Returns 1 for a sucessful initialise. 
Fc9-bool-icon.png - BOOL Return


MainTask

Fc9-comp-macro.png MainTask
Must be called as part of the application main program loop. 
Fc9-u8-icon.png - BYTE Return


SetByte

Fc9-comp-macro.png SetByte
Write an 8-bit value to the In receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-u8-icon.png - BYTE Data
 
Fc9-void-icon.png - VOID Return


SetFloat

Fc9-comp-macro.png SetFloat
Write a 32-bit floating point value to the In receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-f32-icon.png - FLOAT Data
 
Fc9-void-icon.png - VOID Return


SetInt

Fc9-comp-macro.png SetInt
Write a 16-bit value to the In receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-u16-icon.png - UINT Data
 
Fc9-void-icon.png - VOID Return


SetLong

Fc9-comp-macro.png SetLong
Write a 32-bit value to the In receive buffer 
Fc9-u8-icon.png - BYTE Index
Data Index 
Fc9-u32-icon.png - ULONG Data
 
Fc9-void-icon.png - VOID Return


Property reference

Fc9-prop-icon.png Properties
Fc9-type-16-icon.png Synchronisation Mode
ASYNC = free running i.e. no synchronization between master and slave (default) DC_SYNC = interrupt is generated from the distributed clock unit SM_SYNC = interrupt is generated from the syncronisation manager 
Fc9-type-13-icon.png Header File
Used to load a header file from Easy CAT Configurator tool to describe the units inputs and outputs 
Fc9-conn-icon.png Data Rx
Fc9-type-21-icon.png Total Byte Num Out
Total number of bytes to come out from the EtherCAT master 
Fc9-conn-icon.png Data Tx
Fc9-type-21-icon.png Total Byte Num In
Total bytes to come in from the EtherCAT master 
Fc9-conn-icon.png SPI Properties
Fc9-conn-icon.png Connections
Fc9-type-16-icon.png Channel
SPI Channel selector 
Fc9-type-5-icon.png MOSI
SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode. 
Fc9-type-5-icon.png MISO
SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode. 
Fc9-type-5-icon.png CLK
SPI Clock Pin CLK - The Clock signal is driven by the SPI master. 
Fc9-type-5-icon.png CS / SS
Chip Select / Slave Select Pin Master Mode: General purpose output pin used to select the remote SPI device. Slave Mode: Hardware chip select pin input used to select the SPI device.  
Fc9-type-16-icon.png Prescale
Prescale option selector 
Fc9-conn-icon.png Simulation
Fc9-type-7-icon.png Simulation Comms
 
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