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Integrate SOEM with RTEMS

This commit is contained in:
Nick Tsiogkas 2017-07-13 16:40:13 +02:00 committed by
parent 1903d1ff54
commit 3cc1e9739e
10 changed files with 1166 additions and 3 deletions
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9
CMakeLists.txt
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@ -8,6 +8,7 @@ if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
endif() endif()
set(SOEM_INCLUDE_INSTALL_DIR include/soem) set(SOEM_INCLUDE_INSTALL_DIR include/soem)
set(SOEM_LIB_INSTALL_DIR lib)
if(WIN32) if(WIN32)
set(OS "win32") set(OS "win32")
@ -32,6 +33,10 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format") set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group") set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
message("Building for RTEMS")
set(OS "rtems")
set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
endif() endif()
message("OS is ${OS}") message("OS is ${OS}")
@ -56,7 +61,9 @@ add_library(soem STATIC
${OSHW_EXTRA_SOURCES}) ${OSHW_EXTRA_SOURCES})
target_link_libraries(soem ${OS_LIBS}) target_link_libraries(soem ${OS_LIBS})
install(TARGETS soem DESTINATION lib) message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
install(TARGETS soem DESTINATION ${SOEM_LIB_INSTALL_DIR})
install(FILES install(FILES
${SOEM_HEADERS} ${SOEM_HEADERS}
${OSAL_HEADERS} ${OSAL_HEADERS}

22
cmake/Modules/Platform/rtems.cmake Normal file
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@ -0,0 +1,22 @@
message("rtems.cmake")
set(ARCH ${HOST})
set(BSP ${RTEMS_BSP})
set(CMAKE_C_COMPILER_FORCED true)
set(CMAKE_CXX_COMPILER_FORCED true)
set(CMAKE_C_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-gcc)
set(CMAKE_CXX_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-g++)
set(SOEM_INCLUDE_INSTALL_DIR ${INCLUDE_DIR}/soem)
set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${HOST_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${HOST_CXX_FLAGS}")
if(NOT ${HOST_LIBS} STREQUAL "")
set(OS_LIBS "rtemscpu bsd ${HOST_LIBS}")
else()
set(OS_LIBS "-lrtemscpu -lbsd")
endif()

144
osal/rtems/osal.c Normal file
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@ -0,0 +1,144 @@
/*
* 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>
#define USECS_PER_SEC 1000000
int osal_usleep (uint32 usec)
{
struct timespec ts;
ts.tv_sec = usec / USECS_PER_SEC;
ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
/* usleep is depricated, use nanosleep instead */
return nanosleep(&ts, NULL);
}
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
{
struct timespec ts;
int return_value;
(void)tz; /* Not used */
/* Use clock_gettime to prevent possible live-lock.
* Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
* If this function preempts timeadjust and it uses vpage it live-locks.
* Also when using XENOMAI, only clock_gettime is RT safe */
return_value = clock_gettime(CLOCK_MONOTONIC, &ts);
tv->tv_sec = ts.tv_sec;
tv->tv_usec = ts.tv_nsec / 1000;
return return_value;
}
ec_timet osal_current_time(void)
{
struct timeval current_time;
ec_timet return_value;
osal_gettimeofday(&current_time, 0);
return_value.sec = current_time.tv_sec;
return_value.usec = current_time.tv_usec;
return return_value;
}
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 + 1000000 - 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(&current_time, 0);
stop_time.tv_sec = self->stop_time.sec;
stop_time.tv_usec = self->stop_time.usec;
is_not_yet_expired = timercmp(&current_time, &stop_time, <);
return is_not_yet_expired == FALSE;
}
void *osal_malloc(size_t size)
{
return malloc(size);
}
void osal_free(void *ptr)
{
free(ptr);
}
int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
{
int ret;
pthread_attr_t attr;
pthread_t *threadp;
threadp = thandle;
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, stacksize);
ret = pthread_create(threadp, &attr, func, param);
if(ret < 0)
{
return 0;
}
return 1;
}
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
{
int ret;
pthread_attr_t attr;
struct sched_param schparam;
pthread_t *threadp;
threadp = thandle;
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, stacksize);
ret = pthread_create(threadp, &attr, func, param);
pthread_attr_destroy(&attr);
if(ret < 0)
{
return 0;
}
memset(&schparam, 0, sizeof(schparam));
schparam.sched_priority = 40;
ret = pthread_setschedparam(*threadp, SCHED_FIFO, &schparam);
if(ret < 0)
{
return 0;
}
return 1;
}

29
osal/rtems/osal_defs.h Normal file
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@ -0,0 +1,29 @@
/*
* 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
#ifndef PACKED
#define PACKED_BEGIN
#define PACKED __attribute__((__packed__))
#define PACKED_END
#endif
#include <pthread.h>
#define OSAL_THREAD_HANDLE pthread_t *
#define OSAL_THREAD_FUNC void
#define OSAL_THREAD_FUNC_RT void
#ifdef __cplusplus
}
#endif
#endif

2
oshw/linux/nicdrv.c
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@ -158,7 +158,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
r = ioctl(*psock, SIOCGIFFLAGS, &ifr); r = ioctl(*psock, SIOCGIFFLAGS, &ifr);
/* set flags of NIC interface, here promiscuous and broadcast */ /* set flags of NIC interface, here promiscuous and broadcast */
ifr.ifr_flags = ifr.ifr_flags | IFF_PROMISC | IFF_BROADCAST; ifr.ifr_flags = ifr.ifr_flags | IFF_PROMISC | IFF_BROADCAST;
r = ioctl(*psock, SIOCGIFFLAGS, &ifr); r = ioctl(*psock, SIOCSIFFLAGS, &ifr);
/* bind socket to protocol, in this case RAW EtherCAT */ /* bind socket to protocol, in this case RAW EtherCAT */
sll.sll_family = AF_PACKET; sll.sll_family = AF_PACKET;
sll.sll_ifindex = ifindex; sll.sll_ifindex = ifindex;

687
oshw/rtems/nicdrv.c Normal file
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@ -0,0 +1,687 @@
/*
* 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 <sys/ioctl.h>
#include <net/bpf.h>
#include <sys/socket.h>
#include <net/if.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <stdio.h>
#include <fcntl.h>
#include <string.h>
#include <pthread.h>
#include <assert.h>
#include "oshw.h"
#include "osal.h"
/** Redundancy modes */
enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
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]
static 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 i;
int r, rval;
struct timeval timeout;
struct ifreq ifr;
int *bpf;
// const uint8_t bpffnamelen = 12;
char fname[13] = {0};
const int maxbpffile = 1000;
uint true_val = 1;
rval = 0;
if (secondary)
{
/* secondary port struct available? */
if (port->redport)
{
/* when using secondary socket it is automatically a redundant setup */
bpf = &(port->redport->sockhandle);
*bpf = -1;
port->redstate = ECT_RED_DOUBLE;
port->redport->stack.sock = &(port->redport->sockhandle);
port->redport->stack.txbuf = &(port->txbuf);
port->redport->stack.txbuflength = &(port->txbuflength);
port->redport->stack.tempbuf = &(port->redport->tempinbuf);
port->redport->stack.rxbuf = &(port->redport->rxbuf);
port->redport->stack.rxbufstat = &(port->redport->rxbufstat);
port->redport->stack.rxsa = &(port->redport->rxsa);
ecx_clear_rxbufstat(&(port->redport->rxbufstat[0]));
}
else
{
/* fail */
return 0;
}
}
else
{
pthread_mutex_init(&(port->getindex_mutex), NULL);
pthread_mutex_init(&(port->tx_mutex) , NULL);
pthread_mutex_init(&(port->rx_mutex) , NULL);
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]));
bpf = &(port->sockhandle);
}
/* Open a bpf file descriptor */
*bpf = -1;
for(i = 0; *bpf == -1 && i < maxbpffile; ++i)
{
sprintf(fname, "/dev/bpf%i", i);
*bpf = open(fname, O_RDWR);
}
if(*bpf == -1)
{
/* Failed to open bpf */
return 0;
}
/* Need to hand the same buffer size as bpf expects,
force bpf to use our buffer size! */
uint buffer_len = sizeof(ec_bufT);
if (ioctl(*bpf, BIOCSBLEN, &buffer_len) == -1) {
perror("BIOCGBLEN");
}
assert(buffer_len >= 1518);
/* connect bpf to NIC by name */
strcpy(ifr.ifr_name, ifname);
assert(ioctl(*bpf, BIOCSETIF, &ifr) == 0);
/* Set required bpf options */
/* Activate immediate mode */
if (ioctl(*bpf, BIOCIMMEDIATE, &true_val) == -1) {
perror("BIOCIMMEDIATE");
}
/* Set interface in promiscuous mode */
if (ioctl(*bpf, BIOCPROMISC, &true_val) == -1) {
perror("BIOCPROMISC");
}
/* Allow to have custom source address */
if (ioctl(*bpf, BIOCSHDRCMPLT, &true_val) == -1) {
perror("BIOCSHDRCMPLT");
}
/* Listen only to incomming messages */
uint direction = BPF_D_IN;
if (ioctl(*bpf, BIOCSDIRECTION, &direction) == -1) {
perror("BIOCSDIRECTION");
}
/* Set read timeout */
timeout.tv_sec = 0;
timeout.tv_usec = 1;
if (ioctl(*bpf, BIOCSRTIMEOUT, &timeout) == -1) {
perror("BIOCSRTIMEOUT");
}
/* 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));
if (r == 0) rval = 1;
return rval;
}
/** Close sockets used
* @param[in] port = port context struct
* @return 0
*/
int ecx_closenic(ecx_portt *port)
{
if (port->sockhandle >= 0)
close(port->sockhandle);
if ((port->redport) && (port->redport->sockhandle >= 0))
close(port->redport->sockhandle);
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 = htons(0xffff);
bp->da1 = htons(0xffff);
bp->da2 = htons(0xffff);
bp->sa0 = htons(priMAC[0]);
bp->sa1 = htons(priMAC[1]);
bp->sa2 = htons(priMAC[2]);
bp->etype = 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;
pthread_mutex_lock( &(port->getindex_mutex) );
idx = port->lastidx + 1;
/* index can't be larger than buffer array */
if (idx >= EC_MAXBUF)
{
idx = 0;
}
cnt = 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;
pthread_mutex_unlock( &(port->getindex_mutex) );
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, rval;
ec_stackT *stack;
if (!stacknumber)
{
stack = &(port->stack);
}
else
{
stack = &(port->redport->stack);
}
lp = (*stack->txbuflength)[idx];
//rval = send(*stack->sock, (*stack->txbuf)[idx], lp, 0);
rval = write (*stack->sock,(*stack->txbuf)[idx], lp);
(*stack->rxbufstat)[idx] = EC_BUF_TX;
return rval;
}
/** 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 = 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);
write(port->redport->sockhandle, &(port->txbuf2), port->txbuflength2);
pthread_mutex_unlock( &(port->tx_mutex) );
port->redport->rxbufstat[idx] = EC_BUF_TX;
}
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.
* If a frame was placed in the buffer previously, the function retreives 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
{
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;
/* found index equals reqested index ? */
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
{
/* strange things happend */
}
}
}
}
pthread_mutex_unlock( &(port->rx_mutex) );
}
/* WKC if mathing 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 reveived MAC source on primary socket */
primrx = 0;
if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
/* secrx if the reveived 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);
/* if nothing received, clear buffer index status so it can be used again */
if (wkc <= EC_NOFRAME)
{
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
}
return wkc;
}
/** Blocking send and recieve 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 timout 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));
/* if nothing received, clear buffer index status so it can be used again */
if (wkc <= EC_NOFRAME)
{
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
}
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

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/*
* 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
#include <pthread.h>
/** pointer structure to Tx and Rx stacks */
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 lenghts */
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;
pthread_mutex_t getindex_mutex;
pthread_mutex_t tx_mutex;
pthread_mutex_t rx_mutex;
} 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);
#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);
#ifdef __cplusplus
}
#endif
#endif

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
#include <sys/ioctl.h>
#include <net/if.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "oshw.h"
/**
* 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.
*/
uint16 oshw_htons(uint16 host)
{
uint16 network = htons (host);
return network;
}
/**
* 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.
*/
uint16 oshw_ntohs(uint16 network)
{
uint16 host = ntohs (network);
return host;
}
/** Create list over available network adapters.
* @return First element in linked list of adapters
*/
ec_adaptert * oshw_find_adapters(void)
{
int i;
int string_len;
struct if_nameindex *ids;
ec_adaptert * adapter;
ec_adaptert * prev_adapter;
ec_adaptert * ret_adapter = NULL;
/* Iterate all devices and create a local copy holding the name and
* decsription.
*/
ids = if_nameindex ();
for(i = 0; ids[i].if_index != 0; i++)
{
adapter = (ec_adaptert *)malloc(sizeof(ec_adaptert));
/* If we got more than one adapter save link list pointer to previous
* adapter.
* Else save as pointer to return.
*/
if (i)
{
prev_adapter->next = adapter;
}
else
{
ret_adapter = adapter;
}
/* fetch description and name, in linux we use the same on both */
adapter->next = NULL;
if (ids[i].if_name)
{
string_len = strlen(ids[i].if_name);
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
{
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->name, ids[i].if_name,string_len);
adapter->name[string_len] = '\0';
strncpy(adapter->desc, ids[i].if_name,string_len);
adapter->desc[string_len] = '\0';
}
else
{
adapter->name[0] = '\0';
adapter->desc[0] = '\0';
}
prev_adapter = adapter;
}
if_freenameindex (ids);
return ret_adapter;
}
/** 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)
{
ec_adaptert * next_adapter;
/* Iterate the linked list and free all elemnts holding
* adapter information
*/
if(adapter)
{
next_adapter = adapter->next;
free (adapter);
while (next_adapter)
{
adapter = next_adapter;
next_adapter = adapter->next;
free (adapter);
}
}
}

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/*
* 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