Add ERIKA Enterprise RTOS support
This patch adds support to SOEM for the ERIKA Enterprise RTOS (erika-enterprise.com). Current requirements for running SOEM on ERIKA RTOS: - x86-64 platform with 2+ cores - Xen hypervisor - Intel i210 PCIe Ethernet controller Signed-off-by: Claudio Scordino <claudio@evidence.eu.com> Signed-off-by: Luca Cuomo <l.cuomo@evidence.eu.com>
This commit is contained in:
Claudio Scordino
nakarlsson
parent
ab89d557d5
commit
29df9ba013
|
|
@ -29,6 +29,11 @@ Linux
|
|||
* `cmake ..`
|
||||
* `make`
|
||||
|
||||
ERIKA Enterprise RTOS
|
||||
---------------------
|
||||
|
||||
* Refer to http://www.erika-enterprise.com/wiki/index.php?title=EtherCAT_Master
|
||||
|
||||
Documentation
|
||||
-------------
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,103 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <time.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <osal.h>
|
||||
|
||||
#include "ee_x86_64_tsc.h"
|
||||
|
||||
#define USECS_PER_SEC 1000000
|
||||
#define NSECS_PER_SEC 1000000000
|
||||
|
||||
uint64_t osEE_x86_64_tsc_read(void);
|
||||
|
||||
void ee_usleep(uint32 usec);
|
||||
|
||||
inline int osal_usleep (uint32 usec)
|
||||
{
|
||||
ee_usleep(usec);
|
||||
return 0;
|
||||
}
|
||||
|
||||
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
|
||||
{
|
||||
uint64_t time = osEE_x86_64_tsc_read();
|
||||
tv->tv_sec = time/NSECS_PER_SEC;
|
||||
tv->tv_sec += 946684800UL; /* EtherCAT uses 2000-01-01 as epoch start */
|
||||
tv->tv_usec = (time%NSECS_PER_SEC)/1000;
|
||||
return 0;
|
||||
}
|
||||
|
||||
ec_timet osal_current_time(void)
|
||||
{
|
||||
struct timeval current_time;
|
||||
ec_timet ret;
|
||||
|
||||
osal_gettimeofday(¤t_time, 0);
|
||||
ret.sec = current_time.tv_sec;
|
||||
ret.usec = current_time.tv_usec;
|
||||
return ret;
|
||||
}
|
||||
|
||||
void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
|
||||
{
|
||||
if (end->usec < start->usec) {
|
||||
diff->sec = end->sec - start->sec - 1;
|
||||
diff->usec = end->usec + USECS_PER_SEC - start->usec;
|
||||
} else {
|
||||
diff->sec = end->sec - start->sec;
|
||||
diff->usec = end->usec - start->usec;
|
||||
}
|
||||
}
|
||||
|
||||
void osal_timer_start(osal_timert *self, uint32 timeout_usec)
|
||||
{
|
||||
struct timeval start_time;
|
||||
struct timeval timeout;
|
||||
struct timeval stop_time;
|
||||
|
||||
osal_gettimeofday(&start_time, 0);
|
||||
timeout.tv_sec = timeout_usec / USECS_PER_SEC;
|
||||
timeout.tv_usec = timeout_usec % USECS_PER_SEC;
|
||||
timeradd(&start_time, &timeout, &stop_time);
|
||||
|
||||
self->stop_time.sec = stop_time.tv_sec;
|
||||
self->stop_time.usec = stop_time.tv_usec;
|
||||
}
|
||||
|
||||
boolean osal_timer_is_expired (osal_timert *self)
|
||||
{
|
||||
struct timeval current_time;
|
||||
struct timeval stop_time;
|
||||
int is_not_yet_expired;
|
||||
|
||||
osal_gettimeofday (¤t_time, 0);
|
||||
stop_time.tv_sec = self->stop_time.sec;
|
||||
stop_time.tv_usec = self->stop_time.usec;
|
||||
is_not_yet_expired = timercmp (¤t_time, &stop_time, <);
|
||||
/* OSEE_PRINT("current: %d:%d -- expire: %d:%d -- result: %d\n", */
|
||||
/* current_time.tv_sec, */
|
||||
/* current_time.tv_usec, */
|
||||
/* stop_time.tv_sec, */
|
||||
/* stop_time.tv_usec, */
|
||||
/* is_not_yet_expired); */
|
||||
|
||||
return is_not_yet_expired == FALSE;
|
||||
}
|
||||
|
||||
void *osal_malloc(size_t size)
|
||||
{
|
||||
return malloc(size);
|
||||
}
|
||||
|
||||
void osal_free(void *ptr)
|
||||
{
|
||||
free(ptr);
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
#include <sys/time.h>
|
||||
#include <stdlib.h>
|
||||
#include <ee.h>
|
||||
|
||||
// define if debug print is needed
|
||||
#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT OSEE_PRINT
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED
|
||||
#define PACKED_BEGIN
|
||||
#define PACKED __attribute__((__packed__))
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
int osal_gettimeofday(struct timeval *tv, struct timezone *tz);
|
||||
void *osal_malloc(size_t size);
|
||||
void osal_free(void *ptr);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,561 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* EtherCAT RAW socket driver.
|
||||
*
|
||||
* Low level interface functions to send and receive EtherCAT packets.
|
||||
* EtherCAT has the property that packets are only send by the master,
|
||||
* and the send packets always return in the receive buffer.
|
||||
* There can be multiple packets "on the wire" before they return.
|
||||
* To combine the received packets with the original send packets a buffer
|
||||
* system is installed. The identifier is put in the index item of the
|
||||
* EtherCAT header. The index is stored and compared when a frame is received.
|
||||
* If there is a match the packet can be combined with the transmit packet
|
||||
* and returned to the higher level function.
|
||||
*
|
||||
* The socket layer can exhibit a reversal in the packet order (rare).
|
||||
* If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer
|
||||
* will reorder the packets automatically.
|
||||
*
|
||||
* The "redundant" option will configure two sockets and two NIC interfaces.
|
||||
* Slaves are connected to both interfaces, one on the IN port and one on the
|
||||
* OUT port. Packets are send via both interfaces. Any one of the connections
|
||||
* (also an interconnect) can be removed and the slaves are still serviced with
|
||||
* packets. The software layer will detect the possible failure modes and
|
||||
* compensate. If needed the packets from interface A are resent through interface B.
|
||||
* This layer if fully transparent for the higher layers.
|
||||
*/
|
||||
|
||||
#include <sys/time.h>
|
||||
#include <time.h>
|
||||
#include <sys/types.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <fcntl.h>
|
||||
#include <string.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include "oshw.h"
|
||||
#include "osal.h"
|
||||
#include "nicdrv.h"
|
||||
#include "ee.h"
|
||||
#include "intel_i210.h"
|
||||
#include "ee_x86_64_tsc.h"
|
||||
|
||||
/** Redundancy modes */
|
||||
enum
|
||||
{
|
||||
/** No redundancy, single NIC mode */
|
||||
ECT_RED_NONE,
|
||||
/** Double redundant NIC connection */
|
||||
ECT_RED_DOUBLE
|
||||
};
|
||||
|
||||
|
||||
/** Primary source MAC address used for EtherCAT.
|
||||
* This address is not the MAC address used from the NIC.
|
||||
* EtherCAT does not care about MAC addressing, but it is used here to
|
||||
* differentiate the route the packet traverses through the EtherCAT
|
||||
* segment. This is needed to find out the packet flow in redundant
|
||||
* configurations. */
|
||||
const uint16 priMAC[3] = { 0x0201, 0x0101, 0x0101 };
|
||||
/** Secondary source MAC address used for EtherCAT. */
|
||||
const uint16 secMAC[3] = { 0x0604, 0x0404, 0x0404 };
|
||||
|
||||
/** second MAC word is used for identification */
|
||||
#define RX_PRIM priMAC[1]
|
||||
/** second MAC word is used for identification */
|
||||
#define RX_SEC secMAC[1]
|
||||
|
||||
void ee_port_lock(void);
|
||||
void ee_port_unlock(void);
|
||||
|
||||
static inline void ecx_clear_rxbufstat(int *rxbufstat)
|
||||
{
|
||||
int i;
|
||||
for(i = 0; i < EC_MAXBUF; i++)
|
||||
rxbufstat[i] = EC_BUF_EMPTY;
|
||||
}
|
||||
|
||||
/** Basic setup to connect NIC to socket.
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] ifname = Name of NIC device, f.e. "eth0"
|
||||
* @param[in] secondary = if >0 then use secondary stack instead of primary
|
||||
* @return >0 if succeeded
|
||||
*/
|
||||
int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
|
||||
{
|
||||
int d;
|
||||
struct eth_device *dev;
|
||||
OSEE_PRINT("ecx_setupnic() searching %s...\n", ifname);
|
||||
|
||||
for (d = 0;; ++d) {
|
||||
dev = eth_get_device(d);
|
||||
|
||||
if (dev == NULL)
|
||||
break; // ERROR: device not found
|
||||
|
||||
if (!strncmp(dev->name, ifname, MAX_DEVICE_NAME)){
|
||||
// Device found
|
||||
int i;
|
||||
|
||||
eth_setup_device(d, 1, 100);
|
||||
port->dev_id = d;
|
||||
|
||||
port->sockhandle = -1;
|
||||
port->lastidx = 0;
|
||||
port->redstate = ECT_RED_NONE;
|
||||
port->stack.sock = &(port->sockhandle);
|
||||
port->stack.txbuf = &(port->txbuf);
|
||||
port->stack.txbuflength = &(port->txbuflength);
|
||||
port->stack.tempbuf = &(port->tempinbuf);
|
||||
port->stack.rxbuf = &(port->rxbuf);
|
||||
port->stack.rxbufstat = &(port->rxbufstat);
|
||||
port->stack.rxsa = &(port->rxsa);
|
||||
ecx_clear_rxbufstat(&(port->rxbufstat[0]));
|
||||
|
||||
/* setup ethernet headers in tx buffers so we don't have to repeat it */
|
||||
for (i = 0; i < EC_MAXBUF; i++)
|
||||
{
|
||||
ec_setupheader(&(port->txbuf[i]));
|
||||
port->rxbufstat[i] = EC_BUF_EMPTY;
|
||||
}
|
||||
ec_setupheader(&(port->txbuf2));
|
||||
|
||||
break; // device found
|
||||
}
|
||||
}
|
||||
|
||||
return (dev != NULL);
|
||||
}
|
||||
|
||||
/** Close sockets used
|
||||
* @param[in] port = port context struct
|
||||
* @return 0
|
||||
*/
|
||||
inline int ecx_closenic(ecx_portt *port)
|
||||
{
|
||||
// Nothing to do
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** Fill buffer with ethernet header structure.
|
||||
* Destination MAC is always broadcast.
|
||||
* Ethertype is always ETH_P_ECAT.
|
||||
* @param[out] p = buffer
|
||||
*/
|
||||
void ec_setupheader(void *p)
|
||||
{
|
||||
ec_etherheadert *bp;
|
||||
bp = p;
|
||||
bp->da0 = oshw_htons(0xffff);
|
||||
bp->da1 = oshw_htons(0xffff);
|
||||
bp->da2 = oshw_htons(0xffff);
|
||||
bp->sa0 = oshw_htons(priMAC[0]);
|
||||
bp->sa1 = oshw_htons(priMAC[1]);
|
||||
bp->sa2 = oshw_htons(priMAC[2]);
|
||||
bp->etype = oshw_htons(ETH_P_ECAT);
|
||||
}
|
||||
|
||||
/** Get new frame identifier index and allocate corresponding rx buffer.
|
||||
* @param[in] port = port context struct
|
||||
* @return new index.
|
||||
*/
|
||||
int ecx_getindex(ecx_portt *port)
|
||||
{
|
||||
int idx;
|
||||
int cnt = 0;
|
||||
|
||||
ee_port_lock();
|
||||
|
||||
idx = port->lastidx + 1;
|
||||
/* index can't be larger than buffer array */
|
||||
if (idx >= EC_MAXBUF)
|
||||
idx = 0;
|
||||
|
||||
/* try to find unused index */
|
||||
while ((port->rxbufstat[idx] != EC_BUF_EMPTY) && (cnt < EC_MAXBUF)) {
|
||||
idx++;
|
||||
cnt++;
|
||||
if (idx >= EC_MAXBUF)
|
||||
idx = 0;
|
||||
}
|
||||
port->rxbufstat[idx] = EC_BUF_ALLOC;
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
port->redport->rxbufstat[idx] = EC_BUF_ALLOC;
|
||||
port->lastidx = idx;
|
||||
|
||||
ee_port_unlock();
|
||||
|
||||
return idx;
|
||||
}
|
||||
|
||||
/** Set rx buffer status.
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index in buffer array
|
||||
* @param[in] bufstat = status to set
|
||||
*/
|
||||
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
|
||||
{
|
||||
port->rxbufstat[idx] = bufstat;
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
port->redport->rxbufstat[idx] = bufstat;
|
||||
}
|
||||
|
||||
/** Transmit buffer over socket (non blocking).
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index in tx buffer array
|
||||
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||
* @return socket send result
|
||||
*/
|
||||
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
|
||||
{
|
||||
int lp;
|
||||
ec_stackT *stack;
|
||||
|
||||
if (!stacknumber)
|
||||
stack = &(port->stack);
|
||||
else
|
||||
stack = &(port->redport->stack);
|
||||
lp = (*stack->txbuflength)[idx];
|
||||
(*stack->rxbufstat)[idx] = EC_BUF_TX;
|
||||
|
||||
eth_send_packet(port->dev_id, (*stack->txbuf)[idx], lp, 1);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/** Transmit buffer over socket (non blocking).
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index in tx buffer array
|
||||
* @return socket send result
|
||||
*/
|
||||
int ecx_outframe_red(ecx_portt *port, int idx)
|
||||
{
|
||||
ec_comt *datagramP;
|
||||
ec_etherheadert *ehp;
|
||||
int rval;
|
||||
|
||||
ehp = (ec_etherheadert *)&(port->txbuf[idx]);
|
||||
/* rewrite MAC source address 1 to primary */
|
||||
ehp->sa1 = oshw_htons(priMAC[1]);
|
||||
/* transmit over primary socket*/
|
||||
rval = ecx_outframe(port, idx, 0);
|
||||
if (port->redstate != ECT_RED_NONE) {
|
||||
ee_port_lock();
|
||||
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 = oshw_htons(secMAC[1]);
|
||||
/* transmit over secondary socket */
|
||||
port->redport->rxbufstat[idx] = EC_BUF_TX;
|
||||
eth_send_packet(port->dev_id, &(port->txbuf2), port->txbuflength2, 1);
|
||||
ee_port_unlock();
|
||||
}
|
||||
|
||||
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 = eth_receive_packet(port->dev_id, (*stack->tempbuf), lp, 1, 0);
|
||||
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.
|
||||
* If a frame was placed in the buffer previously, the function retrieves it
|
||||
* 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.
|
||||
*/
|
||||
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
|
||||
{
|
||||
uint16 l;
|
||||
int rval;
|
||||
int idxf;
|
||||
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 {
|
||||
ee_port_lock();
|
||||
/* non blocking call to retrieve frame from socket */
|
||||
|
||||
|
||||
while (1) {
|
||||
if (ecx_recvpkt(port, stacknumber)) {
|
||||
rval = EC_OTHERFRAME;
|
||||
ehp =(ec_etherheadert*)(stack->tempbuf);
|
||||
/* check if it is an EtherCAT frame */
|
||||
if (ehp->etype == oshw_htons(ETH_P_ECAT)) {
|
||||
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
|
||||
l = etohs(ecp->elength) & 0x0fff;
|
||||
idxf = ecp->index;
|
||||
/* found index equals requested index ? */
|
||||
if (idxf == idx) {
|
||||
/* yes, put it in the buffer array (strip ethernet header) */
|
||||
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
|
||||
/* 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] = oshw_ntohs(ehp->sa1);
|
||||
break;
|
||||
} else 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] = oshw_ntohs(ehp->sa1);
|
||||
break;
|
||||
} else {
|
||||
OSEE_PRINT("ecx_inframe(): WARNING: strange things happened\n");
|
||||
/* strange things happened */
|
||||
}
|
||||
} else {
|
||||
OSEE_PRINT("ecx_inframe(): WARNING it is NOT an EtherCAT frame!\n");
|
||||
}
|
||||
} else {
|
||||
// WARNING: no messages received.
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
ee_port_unlock();
|
||||
|
||||
}
|
||||
|
||||
/* WKC if matching frame found */
|
||||
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.
|
||||
*/
|
||||
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
|
||||
{
|
||||
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) {
|
||||
/* primrx if the received MAC source on primary socket */
|
||||
primrx = 0;
|
||||
if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
|
||||
/* secrx if the received MAC source on psecondary socket */
|
||||
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.
|
||||
*/
|
||||
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||
{
|
||||
int wkc;
|
||||
osal_timert timer;
|
||||
|
||||
osal_timer_start (&timer, timeout);
|
||||
wkc = ecx_waitinframe_red(port, idx, &timer);
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
/** Blocking send and receive frame function. Used for non processdata frames.
|
||||
* 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
|
||||
*/
|
||||
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
|
||||
{
|
||||
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 {
|
||||
/* normally use partial timeout for rx */
|
||||
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);
|
||||
}
|
||||
|
||||
int ec_getindex(void)
|
||||
{
|
||||
return ecx_getindex(&ecx_port);
|
||||
}
|
||||
|
||||
void ec_setbufstat(int idx, int bufstat)
|
||||
{
|
||||
ecx_setbufstat(&ecx_port, idx, bufstat);
|
||||
}
|
||||
|
||||
int ec_outframe(int idx, int stacknumber)
|
||||
{
|
||||
return ecx_outframe(&ecx_port, idx, stacknumber);
|
||||
}
|
||||
|
||||
int ec_outframe_red(int idx)
|
||||
{
|
||||
return ecx_outframe_red(&ecx_port, idx);
|
||||
}
|
||||
|
||||
int ec_inframe(int idx, int stacknumber)
|
||||
{
|
||||
return ecx_inframe(&ecx_port, idx, stacknumber);
|
||||
}
|
||||
|
||||
int ec_waitinframe(int idx, int timeout)
|
||||
{
|
||||
return ecx_waitinframe(&ecx_port, idx, timeout);
|
||||
}
|
||||
|
||||
int ec_srconfirm(int idx, int timeout)
|
||||
{
|
||||
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||
}
|
||||
#endif
|
||||
|
|
@ -0,0 +1,122 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for nicdrv.c
|
||||
*/
|
||||
|
||||
#ifndef _nicdrvh_
|
||||
#define _nicdrvh_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/** socket connection used */
|
||||
int *sock;
|
||||
/** tx buffer */
|
||||
ec_bufT (*txbuf)[EC_MAXBUF];
|
||||
/** tx buffer lengths */
|
||||
int (*txbuflength)[EC_MAXBUF];
|
||||
/** temporary receive buffer */
|
||||
ec_bufT *tempbuf;
|
||||
/** rx buffers */
|
||||
ec_bufT (*rxbuf)[EC_MAXBUF];
|
||||
/** rx buffer status fields */
|
||||
int (*rxbufstat)[EC_MAXBUF];
|
||||
/** received MAC source address (middle word) */
|
||||
int (*rxsa)[EC_MAXBUF];
|
||||
} ec_stackT;
|
||||
|
||||
/** pointer structure to buffers for redundant port */
|
||||
typedef struct
|
||||
{
|
||||
ec_stackT stack;
|
||||
int sockhandle;
|
||||
/** rx buffers */
|
||||
ec_bufT rxbuf[EC_MAXBUF];
|
||||
/** rx buffer status */
|
||||
int rxbufstat[EC_MAXBUF];
|
||||
/** rx MAC source address */
|
||||
int rxsa[EC_MAXBUF];
|
||||
/** temporary rx buffer */
|
||||
ec_bufT tempinbuf;
|
||||
} ecx_redportt;
|
||||
|
||||
/** pointer structure to buffers, vars and mutexes for port instantiation */
|
||||
typedef struct
|
||||
{
|
||||
ec_stackT stack;
|
||||
int sockhandle;
|
||||
/** rx buffers */
|
||||
ec_bufT rxbuf[EC_MAXBUF];
|
||||
/** rx buffer status */
|
||||
int rxbufstat[EC_MAXBUF];
|
||||
/** rx MAC source address */
|
||||
int rxsa[EC_MAXBUF];
|
||||
/** temporary rx buffer */
|
||||
ec_bufT tempinbuf;
|
||||
/** temporary rx buffer status */
|
||||
int tempinbufs;
|
||||
/** transmit buffers */
|
||||
ec_bufT txbuf[EC_MAXBUF];
|
||||
/** transmit buffer lengths */
|
||||
int txbuflength[EC_MAXBUF];
|
||||
/** temporary tx buffer */
|
||||
ec_bufT txbuf2;
|
||||
/** temporary tx buffer length */
|
||||
int txbuflength2;
|
||||
/** last used frame index */
|
||||
int lastidx;
|
||||
/** current redundancy state */
|
||||
int redstate;
|
||||
/** pointer to redundancy port and buffers */
|
||||
ecx_redportt *redport;
|
||||
|
||||
/** Device id in the device pool */
|
||||
int dev_id;
|
||||
|
||||
// TODO: add mutex support
|
||||
} ecx_portt;
|
||||
|
||||
extern const uint16 priMAC[3];
|
||||
extern const uint16 secMAC[3];
|
||||
|
||||
#ifdef EC_VER1
|
||||
extern ecx_portt ecx_port;
|
||||
extern ecx_redportt ecx_redport;
|
||||
|
||||
int ec_setupnic(const char * ifname, int secondary);
|
||||
int ec_closenic(void);
|
||||
void ec_setbufstat(int idx, int bufstat);
|
||||
int ec_getindex(void);
|
||||
int ec_outframe(int idx, int sock);
|
||||
int ec_outframe_red(int idx);
|
||||
int ec_waitinframe(int idx, int timeout);
|
||||
int ec_srconfirm(int idx,int timeout);
|
||||
int ec_inframe(int idx, int stacknumber);
|
||||
#endif
|
||||
|
||||
void ec_setupheader(void *p);
|
||||
int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary);
|
||||
int ecx_closenic(ecx_portt *port);
|
||||
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||
int ecx_getindex(ecx_portt *port);
|
||||
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||
|
||||
int ecx_inframe(ecx_portt *port, int idx, int stacknumber);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,79 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "oshw.h"
|
||||
#include "intel_i210.h"
|
||||
#include "ethercat.h"
|
||||
|
||||
#if !defined(__gnu_linux__)
|
||||
#include <machine/endian.h>
|
||||
#else
|
||||
#include <endian.h>
|
||||
#define __htons(x) htobe16(x)
|
||||
#define __ntohs(x) be16toh(x)
|
||||
#endif
|
||||
|
||||
ec_adaptert adapters [DEVS_MAX_NB];
|
||||
|
||||
/**
|
||||
* Host to Network byte order (i.e. to big endian).
|
||||
*
|
||||
* Note that Ethercat uses little endian byte order, except for the Ethernet
|
||||
* header which is big endian as usual.
|
||||
*/
|
||||
inline uint16 oshw_htons(uint16 host)
|
||||
{
|
||||
// __htons() is provided by the bare-metal x86 compiler
|
||||
return __htons(host);
|
||||
}
|
||||
|
||||
/**
|
||||
* Network (i.e. big endian) to Host byte order.
|
||||
*
|
||||
* Note that Ethercat uses little endian byte order, except for the Ethernet
|
||||
* header which is big endian as usual.
|
||||
*/
|
||||
inline uint16 oshw_ntohs(uint16 network)
|
||||
{
|
||||
// __ntohs() is provided by the bare-metal x86 compiler
|
||||
return __ntohs(network);
|
||||
}
|
||||
|
||||
/** Create list over available network adapters.
|
||||
* @return First element in linked list of adapters
|
||||
*/
|
||||
ec_adaptert* oshw_find_adapters(void)
|
||||
{
|
||||
ec_adaptert *ret = NULL;
|
||||
if (eth_discover_devices() >= 0) {
|
||||
for (int i = 0;; ++i) {
|
||||
struct eth_device *dev = eth_get_device(i);
|
||||
if (dev == NULL) {
|
||||
adapters[i-1].next = NULL;
|
||||
break;
|
||||
}
|
||||
strncpy(adapters[i].name, dev->name, MAX_DEVICE_NAME);
|
||||
adapters[i].next = &adapters[i+1];
|
||||
}
|
||||
ret = &(adapters[0]);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
/** Free memory allocated memory used by adapter collection.
|
||||
* @param[in] adapter = First element in linked list of adapters
|
||||
* EC_NOFRAME.
|
||||
*/
|
||||
void oshw_free_adapters(ec_adaptert *adapter)
|
||||
{
|
||||
}
|
||||
|
||||
extern int ec_slavecount;
|
||||
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for ethercatbase.c
|
||||
*/
|
||||
|
||||
#ifndef _oshw_
|
||||
#define _oshw_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "ethercattype.h"
|
||||
#include "nicdrv.h"
|
||||
#include "ethercatmain.h"
|
||||
|
||||
uint16 oshw_htons(uint16 hostshort);
|
||||
uint16 oshw_ntohs(uint16 networkshort);
|
||||
ec_adaptert* oshw_find_adapters(void);
|
||||
void oshw_free_adapters(ec_adaptert * adapter);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue