Open this in PlatformIO. PlatformIO might be able to install all necessary software. If not, you need at least Arduino for STM32 (STM32duino) and SPI. PlatformIO might be able to figure that out, I hope so. SPI settings are in lib/soes/hal/spi.cpp if you are interested. SOES is the Arduino port of SOES from https://github.com/kubabuda/ecat_servo/tree/main/examples/SOES_arduino My own code is in main.cpp. The encoder counter code is in STM34_Encoder.cpp

The PCB design is in Kicad.

Open this with Kicad. I have put the symbols and footprints in there, just set the right paths. The design is in the state I ordered the pcb from Aisler, Germany.

The Schematics folder

contains reference documentation, schematics of several LAN9252 evaluation boards and other boards. This is from where I got inspiration and ideas to the design. No I didn't read all the reference documentation - I copied most from these designs and that's why it also worked the first time. Freerouting was used to route the pcb. Normally I route the nets by hand but this time it was a bit much and it came out quite nice and, most importantly, it worked.

ESI xml file generator is in EEPROM_generator.

Access the folder with a file browser and click on index.html to make or update your own xml file (and other necessary files, incl eeprom bin). Copy the contents to Firmware/lib/soes and to Twincat esi xml file directory c:\twincat\3.1\io\modules\ethercat The original EEPROM_generator is found here https://github.com/kubabuda/EEPROM_generator

CubeMX-files are for reference only.

The .ioc file can be opened in CubeMX. The STM32F407 processor has functions tied to specific pins, the .ioc file has this info. This is just for reference.

ESI (EtherCAT Slave Information) files

I have put Dig_8IN_8OUT.xml here, this is an example ESI file for the LAN9252 IC standalone, no MCU needed. It's sometimes handy to have the simplest possible ESI file at ahnd, here it is. You find the ESI file for the Encoder application here

linuxcnc contains modifications to make EaserCAT 2000 work

The configuration files and the hal component I used are placed here.

LAN9252_eeprom_store_valid

Arduino sketch to program the AT24C32 eeprom with a valid eeprom content. Hook up the eeprom using I2C and run the program. The verification in the of theprogram must be passed for valid programming.

###License

Don't violate the original licenses. No warranties. Use it any way you like.