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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 ST STM32F411RE-Nucleo board connected with a Trinamic TM8462 EtherCAT® slave controller, on board TMC8462-EVAL v3.1 (connected via SPI interface). The connection to the EtherCAT board is implemented using simple connector cables.

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 EtherCAT Stack runs on STM32F411x Cortex-M4.

Neccessary connections on ST Nucleo board (default used SPI1):
PA5 ---> SPI1_SCK
PA6 ---> SPI1_MISO
PA7 ---> SPI1_MOSI

PA4 ---> SPI1_ChipSelect

Optional for interrupt driven PDI access:

PA0 ---> PDI-IRQ

PA1 ---> SYNC0 (neccessary for DC feature)

In addition, the power supply of the TMC8462-EVAL board is received from the Nucleo board (5V, GND) show in the picture above. This works, but it is better to supply the TMC8462-EVAL board with an external voltage source. In any case, the GND of both boards should be connected for a common ground.

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

You can find port’s EtherCAT example projects in the folder of the delivery package:

../examples/st_stm32f411x/

Besides the EtherCAT Driver and the example applications you also need the
HAL-layer STM32Cube_FW_F4 provided by STMicroelectronics.

For further informations please read ../examples/st_stm32f411x/README.txt

Import projects

Import existing projects via STM32CubeIDE:

Use the Windows Explorer to insert the "Drivers" folder from the HAL layer STM32Cube_FW_F4 into the project structure shown:

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:

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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