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Merge pull request #431 from nakarlsson/master 

EoE and Distributed clock fixes
This commit is contained in:
Hans-Erik Floryd 2020-08-17 09:07:40 +02:00 committed by GitHub
parent 953eb07f8a 33aa7a3c57
commit 08d480cf82
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 16 additions and 20 deletions
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2
soem/ethercatdc.c
View File

@ -270,7 +270,7 @@ boolean ecx_configdc(ecx_contextt *context)
ecx_BWR(context->port, 0, ECT_REG_DCTIME0, sizeof(ht), &ht, EC_TIMEOUTRET); /* latch DCrecvTimeA of all slaves */
mastertime = osal_current_time();
mastertime.sec -= 946684800UL; /* EtherCAT uses 2000-01-01 as epoch start instead of 1970-01-01 */
mastertime64 = (((uint64)mastertime.sec * 1000000) + (uint64)mastertime.usec) * 1000;
mastertime64 = (((uint64)mastertime.sec * 1000000000) + (uint64)mastertime.usec) * 1000;
for (i = 1; i <= *(context->slavecount); i++)
{
context->slavelist[i].consumedports = context->slavelist[i].activeports;

32
soem/ethercateoe.c
View File

@ -94,45 +94,43 @@ int ecx_EOEsetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
EOE_HDR_LAST_FRAGMENT);
EOEp->frameinfo2 = 0;
/* The EoE frame will include "empty" IP/DNS entries, makes wireshark happy.
* Specification say they are optional, TwinCAT include empty entries.
*/
if (ipparam->mac_set)
{
flags |= EOE_PARAM_MAC_INCLUDE;
memcpy(&EOEp->data[data_offset], ipparam->mac.addr, EOE_ETHADDR_LENGTH);
data_offset += EOE_ETHADDR_LENGTH;
}
data_offset += EOE_ETHADDR_LENGTH;
if (ipparam->ip_set)
{
flags |= EOE_PARAM_IP_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->ip, &EOEp->data[data_offset]);
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (ipparam->subnet_set)
{
flags |= EOE_PARAM_SUBNET_IP_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->subnet, &EOEp->data[data_offset]);
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (ipparam->default_gateway_set)
{
flags |= EOE_PARAM_DEFAULT_GATEWAY_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->default_gateway, &EOEp->data[data_offset]);
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (ipparam->dns_ip_set)
{
flags |= EOE_PARAM_DNS_IP_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->dns_ip, &EOEp->data[data_offset]);
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (ipparam->dns_name_set)
{
/* TwinCAT include EOE_DNS_NAME_LENGTH chars even if name is shorter */
flags |= EOE_PARAM_DNS_NAME_INCLUDE;
memcpy(&EOEp->data[data_offset], (void *)ipparam->dns_name, EOE_DNS_NAME_LENGTH);
data_offset += EOE_DNS_NAME_LENGTH;
}
data_offset += EOE_DNS_NAME_LENGTH;
EOEp->mbxheader.length = htoes(EOE_PARAM_OFFSET + data_offset);
EOEp->data[0] = flags;
@ -231,10 +229,6 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
}
else
{
/* The EoE frame will include "empty" IP/DNS entries, makes
* wireshark happy. Specification say they are optional, TwinCAT
* include empty entries.
*/
flags = aEOEp->data[0];
if (flags & EOE_PARAM_MAC_INCLUDE)
{
@ -242,36 +236,36 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
&aEOEp->data[data_offset],
EOE_ETHADDR_LENGTH);
ipparam->mac_set = 1;
data_offset += EOE_ETHADDR_LENGTH;
}
data_offset += EOE_ETHADDR_LENGTH;
if (flags & EOE_PARAM_IP_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->ip);
ipparam->ip_set = 1;
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (flags & EOE_PARAM_SUBNET_IP_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->subnet);
ipparam->subnet_set = 1;
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (flags & EOE_PARAM_DEFAULT_GATEWAY_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->default_gateway);
ipparam->default_gateway_set = 1;
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (flags & EOE_PARAM_DNS_IP_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->dns_ip);
ipparam->dns_ip_set = 1;
data_offset += EOE_IP4_LENGTH;
}
data_offset += 4;
if (flags & EOE_PARAM_DNS_NAME_INCLUDE)
{
uint16_t dns_len;
@ -286,8 +280,8 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
/* Assume ZERO terminated string */
memcpy(ipparam->dns_name, &aEOEp->data[data_offset], dns_len);
ipparam->dns_name_set = 1;
data_offset += EOE_DNS_NAME_LENGTH;
}
data_offset += EOE_DNS_NAME_LENGTH;
/* Something os not correct, flag the error */
if(data_offset > eoedatasize)
{

2
soem/ethercateoe.h
View File

@ -22,6 +22,8 @@ extern "C"
#define EOE_DNS_NAME_LENGTH 32
/** Ethernet address length not including VLAN */
#define EOE_ETHADDR_LENGTH 6
/** IPv4 address length */
#define EOE_IP4_LENGTH sizeof(uint32_t)
#define EOE_MAKEU32(a,b,c,d) (((uint32_t)((a) & 0xff) << 24) | \
((uint32_t)((b) & 0xff) << 16) | \