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Introduction

This document describes the integration of the delivered EtherCAT example projects for ST STM32F411x target with the development environment STM32CubeIDE.

Target System

The port EtherCAT stack is implemented and tested with on a ST STM32F411RE-Nucleo board connected with to a Trinamic TM8462 EtherCAT® slave controller , on board TMC8462via SPI. The ESC evaluation board is called “TMC8462-EVAL v3.1 (connected via SPI interface)1”. The connection to the EtherCAT board is implemented using via simple connector cables.

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Toolchain:

  • Compiler/IDE: GNU ARM Embedded v10.3 used in STM32CubeIDE Version: 1.8.0

  • Flash tool/Debugger: Onboard ST-Link

General information

The port’s Port’s EtherCAT Stack runs on STM32F411x the Cortex-M4 core of the STM32F411x.Neccessary

  • Required connections on the ST Nucleo board (SPI1 used by default

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  • ):

    • PA5

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    • → SPI1_SCK

    • PA6

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    • → SPI1_MISO

    • PA7

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    • → SPI1_MOSI

    • PA4

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    • → SPI1_ChipSelect

  • Optional connections for interrupt driven PDI access:

    • PA0

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    • → PDI-IRQ

    • PA1

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    • → SYNC0 (

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    • required for DC feature)

In additionAdditionally, the power supply of the TMC8462-EVAL board is received from provided by the Nucleo board (5V, GND) show as shown in the picture above. This While this solution works, but it is better recommended to supply the TMC8462-EVAL board with an external voltage power source. In any case, the GND signals of both boards should must be connected for to establish a common ground.

For further driver informations information, please read ../drivers/st_stm32f411x/README.txt

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Then you can build and run the example projects.

ICC tool project

The sample projects are designed with port’s ICC tool. The HW configuration uses the generic STM32 entry with SPI slave ESC interface. Shown here for example s1:

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Please use this setting also for your own customer projects.

Available sample applications

  • s1_stm32f411x:

    • SDO read and write

    • 2 RX-PDOs and 2 TX-PDOs

    • object dictionary containing objects of various data types

  • s3_stm32f411x:

    • SDO read and write

    • SDO Info service

    • SDO Info object names

    • 2 RX-PDOs and 2 TX-PDOs

    • Split SDO-Access

    • Split NMT-Control

    • object dictionary containing objects of various data types

  • s4_stm32f411x:

    • SDO read and write

    • SDO Info service

    • SDO Info object names

    • 2 RX-PDOs and 2 TX-PDOs

    • Split SDO-Access

    • Split NMT-Control

    • object dictionary containing objects of various data types

    • EoE service with rudimentary ARP and IGMP support (ping)

    • FoE service

  • s5_stm32f411x:

    • SDO read and write

    • SDO Info service

    • SDO Info object names

    • 2 RX-PDOs and 2 TX-PDOs

    • object dictionary containing objects of various data types

    • virtual objects

  • s7_stm32f411x:

    • SDO read and write

    • SDO Info service

    • SDO Info object names

    • 2 RX-PDOs and 2 TX-PDOs

    • object dictionary containing objects of various data types

    • FoE mailbox service

    • BOOTSTRAP NMT mode

  • s9_stm32f411x:

    • SDO read and write

    • 2 RX-PDOs and 2 TX-PDOs

    • object dictionary containing objects of various data types

    • dynamic PDO mapping with extension module usr_dynPdoMapping

  • s10_stm32f411x_xxx:

    • Interrupt handling

    • xxx = isr: PDI Events are handled in an ISR

    • xxx = isr_dc: PDI Events and DC Events are handled in separate ISRs

  • s11_stm32f411x_cia402

    • EtherCAT slave with CiA 402 profile example application

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