diff --git a/README.md b/README.md index 84cc152..875df13 100644 --- a/README.md +++ b/README.md @@ -29,6 +29,11 @@ Linux * `cmake ..` * `make` +ERIKA Enterprise RTOS +--------------------- + + * Refer to http://www.erika-enterprise.com/wiki/index.php?title=EtherCAT_Master + Documentation ------------- diff --git a/osal/erika/osal.c b/osal/erika/osal.c new file mode 100644 index 0000000..a921c5f --- /dev/null +++ b/osal/erika/osal.c @@ -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 +#include +#include +#include +#include +#include + +#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); +} + diff --git a/osal/erika/osal_defs.h b/osal/erika/osal_defs.h new file mode 100644 index 0000000..99d0ac3 --- /dev/null +++ b/osal/erika/osal_defs.h @@ -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 +#include +#include + +// 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 diff --git a/oshw/erika/nicdrv.c b/oshw/erika/nicdrv.c new file mode 100644 index 0000000..bfe4c7c --- /dev/null +++ b/oshw/erika/nicdrv.c @@ -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 +#include +#include +#include +#include +#include +#include +#include + +#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 diff --git a/oshw/erika/nicdrv.h b/oshw/erika/nicdrv.h new file mode 100644 index 0000000..2398040 --- /dev/null +++ b/oshw/erika/nicdrv.h @@ -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 diff --git a/oshw/erika/oshw.c b/oshw/erika/oshw.c new file mode 100644 index 0000000..256c75c --- /dev/null +++ b/oshw/erika/oshw.c @@ -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 +#include +#include +#include + +#include "oshw.h" +#include "intel_i210.h" +#include "ethercat.h" + +#if !defined(__gnu_linux__) +#include +#else +#include +#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; + diff --git a/oshw/erika/oshw.h b/oshw/erika/oshw.h new file mode 100644 index 0000000..03a83c3 --- /dev/null +++ b/oshw/erika/oshw.h @@ -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