Component: EtherCAT Slave (EasyCAT) (Comms: IoT/Cloud)

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.

Detailed description

No detailed description exists yet for this component

Examples

No additional examples

Downloadable macro reference

	SetInt
Write a 16-bit value to the In receive buffer
- BYTE	Index
Data Index
- UINT	Data
- VOID	Return

	MainTask
Must be called as part of the application main program loop.
- BYTE	Return

	SetLong
Write a 32-bit value to the In receive buffer
- BYTE	Index
Data Index
- ULONG	Data
- VOID	Return

	GetFloat
Read a 32-bit floating point value from the Out receive buffer
- BYTE	Index
Data Index
[[File:]] -	Return

	GetLong
Read a 32-bit value from the Out receive buffer
- BYTE	Index
Data Index
- ULONG	Return

	GetInt
Read a 16-bit value from the Out receive buffer
- BYTE	Index
Data Index
- UINT	Return

	SetByte
Write an 8-bit value to the In receive buffer
- BYTE	Index
Data Index
- BYTE	Data
- VOID	Return

	GetByte
Read a 8-bit value from the Out receive buffer
- BYTE	Index
Data Index
- BYTE	Return

	SetFloat
Write a 32-bit floating point value to the In receive buffer
- BYTE	Index
Data Index
[[File:]] -	Data
- VOID	Return

	Initialise
Starts up the SPI connection to the EasyCAT board and configures the board. Returns 1 for a sucessful initialise.
[[File:]] -	Return

	Initialise
Sets up the component ready to collect weather data.
- VOID	Return

	Initialise
Sets up the GSM module. Returns 0 for OK, 255 for no reply and 254 for command fail.
- BYTE	Return

	Left
Rotates the robot left - waits for the angle to be traversed before returning
- UINT	Angle
Angle to turn in degrees
- VOID	Return

	ReadIR
Reads an IR sensor 0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft
- BYTE	index
0=Left, 1=FrontLeft, 2=Front, 3=FrontRight, 4=Right, 5=RearRight, 6=Rear, 7=RearLeft
- UINT	Return

	LCDDrawPixel
Allows a single pixel on the LCD to be set or cleared
- BYTE	X
X Pixel 0-127
- BYTE	Y
Y Pixel 0-31
- BYTE	State
0=White (Off), 1=Black (On)
- VOID	Return

	ServoSetPosition
Allows one of the servo positions to be assigned
- BYTE	Channel
Range 0-3
- BYTE	Position
Range 0-255
- VOID	Return

	CardBitmap
Displays a monochrome bitmap read from the card on the LCD
- BYTE	X
Range 0-127
- BYTE	Y
Range 0-31
- STRING	Filename
- BYTE	Return

	CardRecordMic
Records an audio stream on the card from the microphone
- BYTE	BitDepth
0=8-bit, 1=16-bit
- BYTE	SampleRate
Sample Rate 0=8KHz, 1=16KHz
- UINT	RecordTime
Time to record for in seconds, Range 0-65535
- STRING	Filename
- BYTE	Return

	CardOpen
Attempts to open an existing file on the SD card 255=Error, 1=File not found, 0=Open OK
- STRING	Filename
- BYTE	Return

	Forwards
Drives the robot forwards - waits for the distance to be traversed before returning
- UINT	Distance
Distance in mm
- VOID	Return

	ReadBearing
Reads the compass bearing based on the degrees clockwise from magnetic north.
[[File:]] -	Return

	GetConsoleHandle
Gets the handle to the console allowing data displaying on the panel etc.
[[File:]] -	Return

	LCDDrawLine
Allows a single pixel width line to be drawn on the LCD
- BYTE	X1
X Pixel 0-127
- BYTE	Y1
Y Pixel 0-31
- BYTE	X2
X Pixel 0-127
- BYTE	Y2
Y Pixel 0-31
- VOID	Return

	ServoAutoMoveToPosition
Allows one of the servo positions to move gradually to a new position
- BYTE	Channel
Range 0-3
- BYTE	Position
Range 0-255
- VOID	Return

	ReadAllValue
Reads a single value stored from the read all command Index dictates which sensor value to read
- BYTE	Index
0=SW, 1-8=IR, 9-10=Line, 11=Light, 12=Mic, 13-15=Accel
- UINT	Return

	LCDBacklight
Allows the LCD backlight brighntess to be adjusted
- BYTE	Intensity
Range 0-100, 0=Off, 1=Min Brightness, 100=Max Brightness
- VOID	Return

	LCDDrawRect
Allows a rectangle to be drawn on the LCD
- BYTE	X1
X Pixel 0-127
- BYTE	Y1
Y Pixel 0-31
- BYTE	X2
X Pixel 0-127
- BYTE	Y2
Y Pixel 0-31
- VOID	Return

	ReadLine
Reads one of the IR line sensors 0-1 0=Left, 1=Right
- BYTE	index
0=Left, 1=Right
- UINT	Return

	ServoDisable
Allows one of the servo outputs 0-3 to be disabled
- BYTE	Channel
Range 0-3
- VOID	Return

	ServoEnable
Allows one of the servo outputs 0-3 to be enabled
- BYTE	Channel
Range 0-3
- VOID	Return

	CardReadByte
Reads a byte from the currently open file. Starts at the beginning of the file and auto increments to the end
- BYTE	Return

	CardErase
Attempts to delete an existing file on the SD card 255=Error, 1=File not found, 0=Delete OK
- STRING	Filename
- BYTE	Return

	CardWriteByte
Appends a byte to the end of the currently open file
- BYTE	Data
- VOID	Return

	EncoderRead
Reads one of the motor encoder counters. Approx 0.328296mm of travel per encoder unit.
- BYTE	index
0=Left, 1=Right
- UINT	Return

	SetMotors
Sets the motor speeds without feedback Range -100 to 100
[[File:]] -	Left
Range -100 to 100
[[File:]] -	Right
Range -100 to 100
- VOID	Return

	Backwards
Drives the robot backwards - waits for the distance to be traversed before returning
- UINT	Distance
Distance in mm
- VOID	Return

	EncoderReset
Resets the motor encoder counters
- VOID	Return

	LCDVerbose
Allows the LCD to automatically report the API commands as they get processed. Default - verbose on
- BYTE	State
0=Off 1=On
- VOID	Return

	SetProp
Allows the COM port property to be set from a parent component.
- STRING	PropName
- ULONG	PropVal
- VOID	Return

	CardInit
Attempts to startup the SD card 255=No Card, 254=Init Fail, 0=Init OK
- BYTE	Return

	GetProp
Allows the property filter for the COM port list to be copied to a parent component.
- STRING	PropName
- STRING	Return

	LCDClear
Clears the LCD
- VOID	Return

Property reference

	Properties
	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
	Header File
Used to load a header file from Easy CAT Configurator tool to describe the units inputs and outputs
	Total Byte Num Out
Total number of bytes to come out from the EtherCAT master
	Total Byte Num In
Total bytes to come in from the EtherCAT master
	Connections
	Channel
SPI Channel selector
	MOSI
SPI Data Out Pin SDO - Also Known as Master Out Slave In (MOSI) when used in Master mode.
	MISO
SPI Data In Pin SDI - Also Known as Master In Slave Out (MISO) when used in Master mode.
	CLK
SPI Clock Pin CLK - The Clock signal is driven by the SPI master.
	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.
	Prescale
Prescale option selector
	Simulations
	Simulation Comms
	Scope Traces
Selects if the scope traces are automatically generated or not
	Console Data
Selects if the console data is automatically generated or not
	API