Infineon XMC4800 User manual

XMC4800 EtherCAT®
generic slave example
Getting started V1.0
July 2016

Agenda
Overview and requirements
Setup
Description
How to test
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Agenda
Overview and requirements
Setup
Description
How to test
1
2
3
4
3
Copyright © Infineon Technologies AG 2016. All rights reserved.

Overview
This example demonstrates the usage of an
generic EtherCAT®slave node on „XMC4800
Relax EtherCAT®Kit“.
The term „generic“ refers to the fact, that
the data structures shared between master
and slave do not have a dedicated
application specific purpose.
While reviewing this example you will see in output direction the
EtherCAT®master controlling the 8 LEDs on the „XMC™EtherCAT®PHY
Board“ and dimming LED2 of the Relax Kit. In input direction you will
monitor inside the master device the status of the buttons available on
the Relax Kit.
You will observe inside code how you can modify the mapping of the
generic data structures to the I/Os for your own evaluations and testing.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Requirements
XMC4800 Relax EtherCAT®Kit
RJ45 Ethernet Cable
Windows Laptop installed
- DAVE™v4 (Version4.1.4 or higher)
- TwinCAT2 or TwinCAT3 Master PLC
Micro USB Cable (Debugger connector)
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Requirements
Free downloads
TwinCAT2 (30 day trial)
(used inside this document as reference)
Link: Download TwinCAT2
or
TwinCAT3 (no trial period; usability limited)
Link: Download TwinCAT3
DAVE™(v4.1.4 or higher)
Link: Download DAVE (Version 4)
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Agenda
Overview and requirements
Setup
Description
How to test
1
2
3
4
7
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Setup
Hardware
Ethernet cable
connected to
in-port
Micro usb cable
debugger
connected to
X101 debug
connector
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Setup
Import example project into DAVE™& build
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3
4
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Setup
Add device configuration to TwinCAT
1. Inside the workspace of the DAVE™example project you find
the device description XML-file:
XMC4800_Relax_Generic_EtherCat_Slave.xml
2. Copy the device description file to your TwinCAT installation:
C:\TwinCAT\Io\EtherCAT
3. If TwinCAT System Manager is currently running already, exit
TwinCAT.
4. Start TwinCAT. You should see device description cache being
re-worked automatically because the new device is added.
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Agenda
Overview and requirements
Setup
Description
How to test
1
2
3
4
11
Copyright © Infineon Technologies AG 2016. All rights reserved.

Description
Generic EtherCAT®slave library
The state machine of the generic
slave is implemented inside the
library libEthCatGenSlv.a.
ATTENTION: This library is for
demonstration purpose within this
example only and is not certified,
not conform and not planned to be
used in any other context than this
example here.
Established tool providers may
help you in your product
development and certification. A
list of vendors can be found here:
https://www.ethercat.org/en/prod
ucts.html
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Description
Generic EtherCAT®slave library
The API of the generic slave is
simple:
1. ECAT_init
To initialize the slave device
2. ECAT_registerCb
To register a callback.
Inside the callback the I/O data
from/to master is processed and
e.g. connected to hardware (ports,
timers, PWM,…)
3. ECAT_main_loop
Main loop called inside while(1) to
process the state machine
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Description
Generic EtherCAT®slave library
The size of generic data in both
directions is 4x16-bit and 8x1-
bit.
Check the types IN_object /
OUT_object inside the
headerfile ECAT_GenericNode.h
for details.
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Description
EtherCat®ports and physical connection
Inside the ECAT0_* files the
physical setup of the EtherCAT®
ports is provided.
For the example provided, the
configuration is fixed to the
LQFP144 which fits to the
XMC4800 Relax EtherCAT®Kit.
Inside main() during initialization
the port configuration is set in
place by calling ECAT0_Init.
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Description
Setup PWM for dimmable LED2 on P5.8
For driving the dimmable LED2 on
the XMC4800 Relax EtherCAT®Kit
PWM_CCU8 is used. The PWM is
set to start during initialization,
frequency is 500 Hz and the initial
duty cycle is set to 50%. The pin
P5.8 is allocated to channel1 of
CCU8 inside manual pin allocator
(right-click PWM_CCU8 APP).
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Description
Initialization inside main.c
Inside main() the DAVE™system (PWM CCU8) and the ports of the EtherCAT®
module are initialized. InitECAT_Adapt_LED() and Init_Relax-Button() are used
to initialize the buttons and LED1 to 8 of the „XMC™EtherCAT®PHY Board“.
Finally the generic EtherCAT®slave node is initialized, the callback is registered
and the ECAT_main_loop is called cyclic to process the state machine.
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Description
Callback to process input and output
Inside the callback function the binary output data (master->slave) is
used to set the level of LED1 to 8 of „XMC™EtherCAT®PHY Board“. The
integer output data is used to set the duty cycle of the dimmable LED2.
Finally the states of the buttons are checked and propagated to the input
data (slave->master).
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Copyright © Infineon Technologies AG 2016. All rights reserved.

Agenda
Overview and requirements
Setup
Description
How to test
1
2
3
4
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How to test
Start the slave to run
ACTIONS
1. Download software to XMC4800 and start debugger
2. Start the software to run
OBSERVATIONS
1. The ERR-LED on the "XMC™EtherCAT®PHY Board" will turn on and
immediately turn off again.
2. The LED2 on the "XMC4800 Relax EtherCAT®Kit" will remain turned
on.
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Copyright © Infineon Technologies AG 2016. All rights reserved.