Download Development of a Universal EtherCAT-Based fieldbus

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different VHDL modules was tested one at a time and they were confirmed to be
working together as excepted. No more details of the tests will be given, because they
are rather a matter of writing the initial code, testing, bug fixing, testing again and so
on.
The microcontroller C-code was first of all compiled by the CCSC compiler [21]
described before and then downloaded through a PCs serial port to the FPGA internal
memory. Testing was done completely in hardware by observing the function and using
an oscilloscope for signals not otherwise detectable.
The XML-file for the master was harder to test because there is no compiler-type
software which tells what possibly went wrong other than syntax errors. Due to this fact
the XML-file was made by trial and error together with the Beckhoff EtherCAT master
software TwinCAT [24].