2017-07-13 22:40:13 +08:00
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* EtherCAT RAW socket driver.
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*
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* Low level interface functions to send and receive EtherCAT packets.
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* EtherCAT has the property that packets are only send by the master,
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* and the send packets always return in the receive buffer.
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* There can be multiple packets "on the wire" before they return.
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* To combine the received packets with the original send packets a buffer
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* system is installed. The identifier is put in the index item of the
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* EtherCAT header. The index is stored and compared when a frame is received.
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* If there is a match the packet can be combined with the transmit packet
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* and returned to the higher level function.
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*
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* The socket layer can exhibit a reversal in the packet order (rare).
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* If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer
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* will reorder the packets automatically.
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*
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* The "redundant" option will configure two sockets and two NIC interfaces.
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* Slaves are connected to both interfaces, one on the IN port and one on the
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* OUT port. Packets are send via both interfaces. Any one of the connections
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* (also an interconnect) can be removed and the slaves are still serviced with
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* packets. The software layer will detect the possible failure modes and
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* compensate. If needed the packets from interface A are resent through interface B.
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* This layer if fully transparent for the higher layers.
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*/
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#include <sys/time.h>
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#include <time.h>
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#include <sys/types.h>
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#include <sys/ioctl.h>
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#include <net/bpf.h>
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#include <sys/socket.h>
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#include <net/if.h>
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#include <unistd.h>
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#include <arpa/inet.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <string.h>
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#include <pthread.h>
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#include <assert.h>
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#include "oshw.h"
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#include "osal.h"
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/** Redundancy modes */
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enum
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{
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/** No redundancy, single NIC mode */
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ECT_RED_NONE,
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2019-01-29 18:32:32 +08:00
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/** Double redundant NIC connection */
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2017-07-13 22:40:13 +08:00
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ECT_RED_DOUBLE
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};
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/** Primary source MAC address used for EtherCAT.
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* This address is not the MAC address used from the NIC.
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* EtherCAT does not care about MAC addressing, but it is used here to
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* differentiate the route the packet traverses through the EtherCAT
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* segment. This is needed to find out the packet flow in redundant
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* configurations. */
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const uint16 priMAC[3] = { 0x0201, 0x0101, 0x0101 };
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/** Secondary source MAC address used for EtherCAT. */
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const uint16 secMAC[3] = { 0x0604, 0x0404, 0x0404 };
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/** second MAC word is used for identification */
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#define RX_PRIM priMAC[1]
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/** second MAC word is used for identification */
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#define RX_SEC secMAC[1]
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static void ecx_clear_rxbufstat(int *rxbufstat)
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{
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int i;
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for(i = 0; i < EC_MAXBUF; i++)
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{
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rxbufstat[i] = EC_BUF_EMPTY;
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}
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}
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/** Basic setup to connect NIC to socket.
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* @param[in] port = port context struct
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* @param[in] ifname = Name of NIC device, f.e. "eth0"
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* @param[in] secondary = if >0 then use secondary stack instead of primary
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* @return >0 if succeeded
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*/
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int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
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{
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int i;
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int r, rval;
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struct timeval timeout;
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struct ifreq ifr;
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int *bpf;
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// const uint8_t bpffnamelen = 12;
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char fname[13] = {0};
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const int maxbpffile = 1000;
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uint true_val = 1;
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rval = 0;
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if (secondary)
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{
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/* secondary port struct available? */
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if (port->redport)
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{
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/* when using secondary socket it is automatically a redundant setup */
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bpf = &(port->redport->sockhandle);
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*bpf = -1;
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port->redstate = ECT_RED_DOUBLE;
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port->redport->stack.sock = &(port->redport->sockhandle);
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port->redport->stack.txbuf = &(port->txbuf);
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port->redport->stack.txbuflength = &(port->txbuflength);
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port->redport->stack.tempbuf = &(port->redport->tempinbuf);
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port->redport->stack.rxbuf = &(port->redport->rxbuf);
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port->redport->stack.rxbufstat = &(port->redport->rxbufstat);
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port->redport->stack.rxsa = &(port->redport->rxsa);
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ecx_clear_rxbufstat(&(port->redport->rxbufstat[0]));
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}
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else
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{
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/* fail */
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return 0;
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}
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}
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else
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{
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pthread_mutex_init(&(port->getindex_mutex), NULL);
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pthread_mutex_init(&(port->tx_mutex) , NULL);
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pthread_mutex_init(&(port->rx_mutex) , NULL);
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port->sockhandle = -1;
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port->lastidx = 0;
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port->redstate = ECT_RED_NONE;
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port->stack.sock = &(port->sockhandle);
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port->stack.txbuf = &(port->txbuf);
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port->stack.txbuflength = &(port->txbuflength);
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port->stack.tempbuf = &(port->tempinbuf);
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port->stack.rxbuf = &(port->rxbuf);
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port->stack.rxbufstat = &(port->rxbufstat);
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port->stack.rxsa = &(port->rxsa);
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ecx_clear_rxbufstat(&(port->rxbufstat[0]));
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bpf = &(port->sockhandle);
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}
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/* Open a bpf file descriptor */
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*bpf = -1;
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for(i = 0; *bpf == -1 && i < maxbpffile; ++i)
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{
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sprintf(fname, "/dev/bpf%i", i);
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*bpf = open(fname, O_RDWR);
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}
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2018-06-25 23:02:46 +08:00
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2017-07-13 22:40:13 +08:00
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if(*bpf == -1)
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{
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/* Failed to open bpf */
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2018-06-25 23:02:46 +08:00
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perror("Could not open bpf\n");
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2017-07-13 22:40:13 +08:00
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return 0;
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}
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/* Need to hand the same buffer size as bpf expects,
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force bpf to use our buffer size! */
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uint buffer_len = sizeof(ec_bufT);
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if (ioctl(*bpf, BIOCSBLEN, &buffer_len) == -1) {
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perror("BIOCGBLEN");
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}
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2018-06-25 23:02:46 +08:00
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if (buffer_len < 1518) {
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printf("buffer_len %d < 1518\n", buffer_len);
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return 0;
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}
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2017-07-13 22:40:13 +08:00
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/* connect bpf to NIC by name */
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strcpy(ifr.ifr_name, ifname);
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2018-06-25 23:02:46 +08:00
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if(ioctl(*bpf, BIOCSETIF, &ifr) == -1) {
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perror("BIOCSETIF");
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return 0;
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}
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2017-07-13 22:40:13 +08:00
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/* Set required bpf options */
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/* Activate immediate mode */
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if (ioctl(*bpf, BIOCIMMEDIATE, &true_val) == -1) {
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perror("BIOCIMMEDIATE");
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2018-06-25 23:02:46 +08:00
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return 0;
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2017-07-13 22:40:13 +08:00
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}
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/* Set interface in promiscuous mode */
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if (ioctl(*bpf, BIOCPROMISC, &true_val) == -1) {
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perror("BIOCPROMISC");
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2018-06-25 23:02:46 +08:00
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return 0;
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2017-07-13 22:40:13 +08:00
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}
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/* Allow to have custom source address */
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if (ioctl(*bpf, BIOCSHDRCMPLT, &true_val) == -1) {
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perror("BIOCSHDRCMPLT");
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2018-06-25 23:02:46 +08:00
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return 0;
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2017-07-13 22:40:13 +08:00
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}
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/* Listen only to incomming messages */
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uint direction = BPF_D_IN;
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if (ioctl(*bpf, BIOCSDIRECTION, &direction) == -1) {
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perror("BIOCSDIRECTION");
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2018-06-25 23:02:46 +08:00
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return 0;
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2017-07-13 22:40:13 +08:00
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}
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/* Set read timeout */
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timeout.tv_sec = 0;
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2018-06-25 23:02:46 +08:00
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timeout.tv_usec = 11000;
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2017-07-13 22:40:13 +08:00
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if (ioctl(*bpf, BIOCSRTIMEOUT, &timeout) == -1) {
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perror("BIOCSRTIMEOUT");
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2018-06-25 23:02:46 +08:00
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return 0;
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2017-07-13 22:40:13 +08:00
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}
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/* setup ethernet headers in tx buffers so we don't have to repeat it */
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for (i = 0; i < EC_MAXBUF; i++)
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{
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ec_setupheader(&(port->txbuf[i]));
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port->rxbufstat[i] = EC_BUF_EMPTY;
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}
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ec_setupheader(&(port->txbuf2));
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2018-06-25 23:02:46 +08:00
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return 1;
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2017-07-13 22:40:13 +08:00
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}
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/** Close sockets used
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* @param[in] port = port context struct
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* @return 0
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*/
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int ecx_closenic(ecx_portt *port)
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{
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if (port->sockhandle >= 0)
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close(port->sockhandle);
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if ((port->redport) && (port->redport->sockhandle >= 0))
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close(port->redport->sockhandle);
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return 0;
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}
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/** Fill buffer with ethernet header structure.
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* Destination MAC is always broadcast.
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* Ethertype is always ETH_P_ECAT.
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* @param[out] p = buffer
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*/
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void ec_setupheader(void *p)
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{
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ec_etherheadert *bp;
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bp = p;
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bp->da0 = htons(0xffff);
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bp->da1 = htons(0xffff);
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bp->da2 = htons(0xffff);
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bp->sa0 = htons(priMAC[0]);
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bp->sa1 = htons(priMAC[1]);
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bp->sa2 = htons(priMAC[2]);
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bp->etype = htons(ETH_P_ECAT);
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}
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/** Get new frame identifier index and allocate corresponding rx buffer.
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* @param[in] port = port context struct
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* @return new index.
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*/
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2020-10-09 22:57:53 +08:00
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uint8 ecx_getindex(ecx_portt *port)
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2017-07-13 22:40:13 +08:00
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{
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2020-10-09 22:57:53 +08:00
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uint8 idx;
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uint8 cnt;
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2017-07-13 22:40:13 +08:00
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pthread_mutex_lock( &(port->getindex_mutex) );
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idx = port->lastidx + 1;
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/* index can't be larger than buffer array */
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if (idx >= EC_MAXBUF)
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{
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idx = 0;
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}
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cnt = 0;
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/* try to find unused index */
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while ((port->rxbufstat[idx] != EC_BUF_EMPTY) && (cnt < EC_MAXBUF))
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{
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idx++;
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cnt++;
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if (idx >= EC_MAXBUF)
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{
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idx = 0;
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}
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}
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port->rxbufstat[idx] = EC_BUF_ALLOC;
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if (port->redstate != ECT_RED_NONE)
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port->redport->rxbufstat[idx] = EC_BUF_ALLOC;
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port->lastidx = idx;
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pthread_mutex_unlock( &(port->getindex_mutex) );
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return idx;
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}
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/** Set rx buffer status.
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* @param[in] port = port context struct
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* @param[in] idx = index in buffer array
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* @param[in] bufstat = status to set
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*/
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2020-10-09 22:57:53 +08:00
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void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
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2017-07-13 22:40:13 +08:00
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{
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port->rxbufstat[idx] = bufstat;
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if (port->redstate != ECT_RED_NONE)
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port->redport->rxbufstat[idx] = bufstat;
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}
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/** Transmit buffer over socket (non blocking).
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* @param[in] port = port context struct
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* @param[in] idx = index in tx buffer array
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* @param[in] stacknumber = 0=Primary 1=Secondary stack
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* @return socket send result
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*/
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2020-10-09 22:57:53 +08:00
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int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
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2017-07-13 22:40:13 +08:00
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{
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int lp, rval;
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ec_stackT *stack;
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if (!stacknumber)
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{
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stack = &(port->stack);
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}
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else
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{
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stack = &(port->redport->stack);
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}
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lp = (*stack->txbuflength)[idx];
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//rval = send(*stack->sock, (*stack->txbuf)[idx], lp, 0);
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(*stack->rxbufstat)[idx] = EC_BUF_TX;
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2018-08-23 13:36:56 +08:00
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rval = write (*stack->sock,(*stack->txbuf)[idx], lp);
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if (rval == -1)
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{
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(*stack->rxbufstat)[idx] = EC_BUF_EMPTY;
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}
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2017-07-13 22:40:13 +08:00
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return rval;
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}
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/** Transmit buffer over socket (non blocking).
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* @param[in] port = port context struct
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* @param[in] idx = index in tx buffer array
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* @return socket send result
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*/
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2020-10-09 22:57:53 +08:00
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int ecx_outframe_red(ecx_portt *port, uint8 idx)
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2017-07-13 22:40:13 +08:00
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{
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|
ec_comt *datagramP;
|
|
|
|
ec_etherheadert *ehp;
|
|
|
|
int rval;
|
|
|
|
|
|
|
|
ehp = (ec_etherheadert *)&(port->txbuf[idx]);
|
|
|
|
/* rewrite MAC source address 1 to primary */
|
|
|
|
ehp->sa1 = htons(priMAC[1]);
|
|
|
|
/* transmit over primary socket*/
|
|
|
|
rval = ecx_outframe(port, idx, 0);
|
|
|
|
if (port->redstate != ECT_RED_NONE)
|
|
|
|
{
|
|
|
|
pthread_mutex_lock( &(port->tx_mutex) );
|
|
|
|
ehp = (ec_etherheadert *)&(port->txbuf2);
|
|
|
|
/* use dummy frame for secondary socket transmit (BRD) */
|
|
|
|
datagramP = (ec_comt*)&(port->txbuf2[ETH_HEADERSIZE]);
|
|
|
|
/* write index to frame */
|
|
|
|
datagramP->index = idx;
|
|
|
|
/* rewrite MAC source address 1 to secondary */
|
|
|
|
ehp->sa1 = htons(secMAC[1]);
|
|
|
|
/* transmit over secondary socket */
|
|
|
|
//send(port->redport->sockhandle, &(port->txbuf2), port->txbuflength2 , 0);
|
|
|
|
port->redport->rxbufstat[idx] = EC_BUF_TX;
|
2018-08-23 13:36:56 +08:00
|
|
|
if (write(port->redport->sockhandle, &(port->txbuf2), port->txbuflength2) == -1)
|
|
|
|
{
|
|
|
|
(*stack->rxbufstat)[idx] = EC_BUF_EMPTY;
|
|
|
|
}
|
|
|
|
pthread_mutex_unlock( &(port->tx_mutex) );
|
2017-07-13 22:40:13 +08:00
|
|
|
}
|
|
|
|
|
|
|
|
return rval;
|
|
|
|
}
|
|
|
|
|
|
|
|
/** Non blocking read of socket. Put frame in temporary buffer.
|
|
|
|
* @param[in] port = port context struct
|
|
|
|
* @param[in] stacknumber = 0=primary 1=secondary stack
|
|
|
|
* @return >0 if frame is available and read
|
|
|
|
*/
|
|
|
|
static int ecx_recvpkt(ecx_portt *port, int stacknumber)
|
|
|
|
{
|
|
|
|
int lp, bytesrx;
|
|
|
|
ec_stackT *stack;
|
|
|
|
|
|
|
|
if (!stacknumber)
|
|
|
|
{
|
|
|
|
stack = &(port->stack);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
stack = &(port->redport->stack);
|
|
|
|
}
|
|
|
|
lp = sizeof(port->tempinbuf);
|
|
|
|
//bytesrx = recv(*stack->sock, (*stack->tempbuf), lp, 0);
|
|
|
|
bytesrx = read(*stack->sock, (*stack->tempbuf), lp);
|
|
|
|
port->tempinbufs = bytesrx;
|
|
|
|
|
|
|
|
return (bytesrx > 0);
|
|
|
|
}
|
|
|
|
|
|
|
|
/** Non blocking receive frame function. Uses RX buffer and index to combine
|
|
|
|
* read frame with transmitted frame. To compensate for received frames that
|
|
|
|
* are out-of-order all frames are stored in their respective indexed buffer.
|
2019-01-29 18:32:32 +08:00
|
|
|
* If a frame was placed in the buffer previously, the function retrieves it
|
2017-07-13 22:40:13 +08:00
|
|
|
* from that buffer index without calling ec_recvpkt. If the requested index
|
|
|
|
* is not already in the buffer it calls ec_recvpkt to fetch it. There are
|
|
|
|
* three options now, 1 no frame read, so exit. 2 frame read but other
|
|
|
|
* than requested index, store in buffer and exit. 3 frame read with matching
|
|
|
|
* index, store in buffer, set completed flag in buffer status and exit.
|
|
|
|
*
|
|
|
|
* @param[in] port = port context struct
|
|
|
|
* @param[in] idx = requested index of frame
|
|
|
|
* @param[in] stacknumber = 0=primary 1=secondary stack
|
|
|
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
|
|
|
* EC_NOFRAME or EC_OTHERFRAME.
|
|
|
|
*/
|
2020-10-09 22:57:53 +08:00
|
|
|
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
uint16 l;
|
|
|
|
int rval;
|
2020-10-09 22:57:53 +08:00
|
|
|
uint8 idxf;
|
2017-07-13 22:40:13 +08:00
|
|
|
ec_etherheadert *ehp;
|
|
|
|
ec_comt *ecp;
|
|
|
|
ec_stackT *stack;
|
|
|
|
ec_bufT *rxbuf;
|
|
|
|
|
|
|
|
if (!stacknumber)
|
|
|
|
{
|
|
|
|
stack = &(port->stack);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
stack = &(port->redport->stack);
|
|
|
|
}
|
|
|
|
rval = EC_NOFRAME;
|
|
|
|
rxbuf = &(*stack->rxbuf)[idx];
|
|
|
|
/* check if requested index is already in buffer ? */
|
|
|
|
if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD))
|
|
|
|
{
|
|
|
|
l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
|
|
|
|
/* return WKC */
|
|
|
|
rval = ((*rxbuf)[l] + ((uint16)(*rxbuf)[l + 1] << 8));
|
|
|
|
/* mark as completed */
|
|
|
|
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
pthread_mutex_lock(&(port->rx_mutex));
|
|
|
|
/* non blocking call to retrieve frame from socket */
|
|
|
|
if (ecx_recvpkt(port, stacknumber))
|
|
|
|
{
|
|
|
|
/* The data read from /dev/bpf includes an extra header, skip it. */
|
|
|
|
struct bpf_hdr *bpfh = (struct bpf_hdr *)(stack->tempbuf);
|
|
|
|
rval = EC_OTHERFRAME;
|
|
|
|
ehp =(ec_etherheadert*)(*stack->tempbuf + bpfh->bh_hdrlen);
|
|
|
|
/* check if it is an EtherCAT frame */
|
|
|
|
if (ehp->etype == htons(ETH_P_ECAT))
|
|
|
|
{
|
|
|
|
/* The EtherCAT header follows the ethernet frame header. */
|
|
|
|
ecp =(ec_comt*)(&ehp[1]);
|
|
|
|
l = etohs(ecp->elength) & 0x0fff;
|
|
|
|
idxf = ecp->index;
|
2019-01-29 18:32:32 +08:00
|
|
|
/* found index equals requested index ? */
|
2017-07-13 22:40:13 +08:00
|
|
|
if (idxf == idx)
|
|
|
|
{
|
|
|
|
/* yes, put it in the buffer array (strip headers) */
|
|
|
|
memcpy(rxbuf, &(ehp[1]), port->tempinbufs - ((uint32_t)ecp - (uint32_t)*stack->tempbuf));
|
|
|
|
/* return WKC */
|
|
|
|
rval = ((*rxbuf)[l] + ((uint16)((*rxbuf)[l + 1]) << 8));
|
|
|
|
/* mark as completed */
|
|
|
|
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
|
|
|
|
/* store MAC source word 1 for redundant routing info */
|
|
|
|
(*stack->rxsa)[idx] = ntohs(ehp->sa1);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
/* check if index exist and someone is waiting for it */
|
|
|
|
if (idxf < EC_MAXBUF && (*stack->rxbufstat)[idxf] == EC_BUF_TX)
|
|
|
|
{
|
|
|
|
rxbuf = &(*stack->rxbuf)[idxf];
|
|
|
|
/* put it in the buffer array (strip ethernet header) */
|
|
|
|
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idxf] - ETH_HEADERSIZE);
|
|
|
|
/* mark as received */
|
|
|
|
(*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
|
|
|
|
(*stack->rxsa)[idxf] = ntohs(ehp->sa1);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2019-01-29 18:32:32 +08:00
|
|
|
/* strange things happened */
|
2017-07-13 22:40:13 +08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
pthread_mutex_unlock( &(port->rx_mutex) );
|
|
|
|
|
|
|
|
}
|
|
|
|
|
2019-01-29 18:32:32 +08:00
|
|
|
/* WKC if matching frame found */
|
2017-07-13 22:40:13 +08:00
|
|
|
return rval;
|
|
|
|
}
|
|
|
|
|
|
|
|
/** Blocking redundant receive frame function. If redundant mode is not active then
|
|
|
|
* it skips the secondary stack and redundancy functions. In redundant mode it waits
|
|
|
|
* for both (primary and secondary) frames to come in. The result goes in an decision
|
|
|
|
* tree that decides, depending on the route of the packet and its possible missing arrival,
|
|
|
|
* how to reroute the original packet to get the data in an other try.
|
|
|
|
*
|
|
|
|
* @param[in] port = port context struct
|
|
|
|
* @param[in] idx = requested index of frame
|
|
|
|
* @param[in] timer = absolute timeout time
|
|
|
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
|
|
|
* EC_NOFRAME.
|
|
|
|
*/
|
2020-10-09 22:57:53 +08:00
|
|
|
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
osal_timert timer2;
|
|
|
|
int wkc = EC_NOFRAME;
|
|
|
|
int wkc2 = EC_NOFRAME;
|
|
|
|
int primrx, secrx;
|
|
|
|
|
|
|
|
/* if not in redundant mode then always assume secondary is OK */
|
|
|
|
if (port->redstate == ECT_RED_NONE)
|
|
|
|
wkc2 = 0;
|
|
|
|
do
|
|
|
|
{
|
|
|
|
/* only read frame if not already in */
|
|
|
|
if (wkc <= EC_NOFRAME)
|
|
|
|
wkc = ecx_inframe(port, idx, 0);
|
|
|
|
/* only try secondary if in redundant mode */
|
|
|
|
if (port->redstate != ECT_RED_NONE)
|
|
|
|
{
|
|
|
|
/* only read frame if not already in */
|
|
|
|
if (wkc2 <= EC_NOFRAME)
|
|
|
|
wkc2 = ecx_inframe(port, idx, 1);
|
|
|
|
}
|
|
|
|
/* wait for both frames to arrive or timeout */
|
|
|
|
} while (((wkc <= EC_NOFRAME) || (wkc2 <= EC_NOFRAME)) && !osal_timer_is_expired(timer));
|
|
|
|
/* only do redundant functions when in redundant mode */
|
|
|
|
if (port->redstate != ECT_RED_NONE)
|
|
|
|
{
|
2019-01-29 18:32:32 +08:00
|
|
|
/* primrx if the received MAC source on primary socket */
|
2017-07-13 22:40:13 +08:00
|
|
|
primrx = 0;
|
|
|
|
if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
|
2019-01-29 18:32:32 +08:00
|
|
|
/* secrx if the received MAC source on psecondary socket */
|
2017-07-13 22:40:13 +08:00
|
|
|
secrx = 0;
|
|
|
|
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
|
|
|
|
|
|
|
|
/* primary socket got secondary frame and secondary socket got primary frame */
|
|
|
|
/* normal situation in redundant mode */
|
|
|
|
if ( ((primrx == RX_SEC) && (secrx == RX_PRIM)) )
|
|
|
|
{
|
|
|
|
/* copy secondary buffer to primary */
|
|
|
|
memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
|
|
|
|
wkc = wkc2;
|
|
|
|
}
|
|
|
|
/* primary socket got nothing or primary frame, and secondary socket got secondary frame */
|
|
|
|
/* we need to resend TX packet */
|
|
|
|
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
|
|
|
|
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
|
|
|
|
{
|
|
|
|
/* If both primary and secondary have partial connection retransmit the primary received
|
|
|
|
* frame over the secondary socket. The result from the secondary received frame is a combined
|
|
|
|
* frame that traversed all slaves in standard order. */
|
|
|
|
if ( (primrx == RX_PRIM) && (secrx == RX_SEC) )
|
|
|
|
{
|
|
|
|
/* copy primary rx to tx buffer */
|
|
|
|
memcpy(&(port->txbuf[idx][ETH_HEADERSIZE]), &(port->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
|
|
|
|
}
|
|
|
|
osal_timer_start (&timer2, EC_TIMEOUTRET);
|
|
|
|
/* resend secondary tx */
|
|
|
|
ecx_outframe(port, idx, 1);
|
|
|
|
do
|
|
|
|
{
|
|
|
|
/* retrieve frame */
|
|
|
|
wkc2 = ecx_inframe(port, idx, 1);
|
|
|
|
} while ((wkc2 <= EC_NOFRAME) && !osal_timer_is_expired(&timer2));
|
|
|
|
if (wkc2 > EC_NOFRAME)
|
|
|
|
{
|
|
|
|
/* copy secondary result to primary rx buffer */
|
|
|
|
memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
|
|
|
|
wkc = wkc2;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/* return WKC or EC_NOFRAME */
|
|
|
|
return wkc;
|
|
|
|
}
|
|
|
|
|
|
|
|
/** Blocking receive frame function. Calls ec_waitinframe_red().
|
|
|
|
* @param[in] port = port context struct
|
|
|
|
* @param[in] idx = requested index of frame
|
|
|
|
* @param[in] timeout = timeout in us
|
|
|
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
|
|
|
* EC_NOFRAME.
|
|
|
|
*/
|
2020-10-09 22:57:53 +08:00
|
|
|
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
int wkc;
|
|
|
|
osal_timert timer;
|
|
|
|
|
|
|
|
osal_timer_start (&timer, timeout);
|
|
|
|
wkc = ecx_waitinframe_red(port, idx, &timer);
|
|
|
|
|
|
|
|
return wkc;
|
|
|
|
}
|
|
|
|
|
2019-01-29 18:32:32 +08:00
|
|
|
/** Blocking send and receive frame function. Used for non processdata frames.
|
2017-07-13 22:40:13 +08:00
|
|
|
* A datagram is build into a frame and transmitted via this function. It waits
|
|
|
|
* for an answer and returns the workcounter. The function retries if time is
|
|
|
|
* left and the result is WKC=0 or no frame received.
|
|
|
|
*
|
|
|
|
* The function calls ec_outframe_red() and ec_waitinframe_red().
|
|
|
|
*
|
|
|
|
* @param[in] port = port context struct
|
|
|
|
* @param[in] idx = index of frame
|
|
|
|
* @param[in] timeout = timeout in us
|
|
|
|
* @return Workcounter or EC_NOFRAME
|
|
|
|
*/
|
2020-10-09 22:57:53 +08:00
|
|
|
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
int wkc = EC_NOFRAME;
|
|
|
|
osal_timert timer1, timer2;
|
|
|
|
|
|
|
|
osal_timer_start (&timer1, timeout);
|
|
|
|
do
|
|
|
|
{
|
|
|
|
/* tx frame on primary and if in redundant mode a dummy on secondary */
|
|
|
|
ecx_outframe_red(port, idx);
|
|
|
|
if (timeout < EC_TIMEOUTRET)
|
|
|
|
{
|
|
|
|
osal_timer_start (&timer2, timeout);
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2019-01-29 18:32:32 +08:00
|
|
|
/* normally use partial timeout for rx */
|
2017-07-13 22:40:13 +08:00
|
|
|
osal_timer_start (&timer2, EC_TIMEOUTRET);
|
|
|
|
}
|
|
|
|
/* get frame from primary or if in redundant mode possibly from secondary */
|
|
|
|
wkc = ecx_waitinframe_red(port, idx, &timer2);
|
|
|
|
/* wait for answer with WKC>=0 or otherwise retry until timeout */
|
|
|
|
} while ((wkc <= EC_NOFRAME) && !osal_timer_is_expired (&timer1));
|
|
|
|
|
|
|
|
return wkc;
|
|
|
|
}
|
|
|
|
|
|
|
|
#ifdef EC_VER1
|
|
|
|
int ec_setupnic(const char *ifname, int secondary)
|
|
|
|
{
|
|
|
|
return ecx_setupnic(&ecx_port, ifname, secondary);
|
|
|
|
}
|
|
|
|
|
|
|
|
int ec_closenic(void)
|
|
|
|
{
|
|
|
|
return ecx_closenic(&ecx_port);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
|
|
uint8 ec_getindex(void)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
return ecx_getindex(&ecx_port);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
|
|
void ec_setbufstat(uint8 idx, int bufstat)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
ecx_setbufstat(&ecx_port, idx, bufstat);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
|
|
int ec_outframe(uint8 idx, int stacknumber)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
return ecx_outframe(&ecx_port, idx, stacknumber);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
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int ec_outframe_red(uint8 idx)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
return ecx_outframe_red(&ecx_port, idx);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
|
|
int ec_inframe(uint8 idx, int stacknumber)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
return ecx_inframe(&ecx_port, idx, stacknumber);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
|
|
int ec_waitinframe(uint8 idx, int timeout)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
return ecx_waitinframe(&ecx_port, idx, timeout);
|
|
|
|
}
|
|
|
|
|
2020-10-09 22:57:53 +08:00
|
|
|
int ec_srconfirm(uint8 idx, int timeout)
|
2017-07-13 22:40:13 +08:00
|
|
|
{
|
|
|
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
|
|
|
}
|
|
|
|
#endif
|