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Merge pull request #256 from claudioscordino/upstream-new 

Clean up comments, EC_PRINT and thread usage.
This commit is contained in:
ArthurKetels 2019-02-14 11:54:19 +01:00 committed by GitHub
parent 037a629839 e0d880d7bd
commit 8832ef0f2f
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
38 changed files with 184 additions and 130 deletions
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1
.gitignore vendored
View File

@ -3,3 +3,4 @@ install
*~
/doc/latex
/doc/html
tags

6
README.md
View File

@ -29,6 +29,12 @@ Linux
* `cmake ..`
* `make`
Documentation
-------------
See https://openethercatsociety.github.io/doc/soem/
Want to contribute to SOEM or SOES?
-----------------------------------

8
doc/soem.dox
View File

@ -10,7 +10,7 @@
* how an EtherCAT master functions and how it interacts with EtherCAT slaves.
*
* As all applications are different SOEM tries to not impose any design architecture.
* Under Linux it can be used in generic user mode, PREEMPT_RT or Xenomai. under Windows
* Under Linux it can be used in generic user mode, PREEMPT_RT or Xenomai. Under Windows
* it can be used as user mode program.
*
* Preconditions Linux:
@ -45,7 +45,7 @@
* - Distributed Clock (DC) support.
* - Automatic configuration of DC slaves.
* - Automatic sync of clocks with process data exchange.
* - Flexible settting of sync0 and sync1 firing per slave.
* - Flexible setting of sync0 and sync1 firing per slave.
* - Access to slave functions through one slave structure.
* - EEPROM read / write.
* - Local cache for EEPROM access with automatic 4/8 byte reading.
@ -63,7 +63,7 @@
* - SYNC1 generation supported.
*
* Features as of 1.2.0 :
* - Changed license to GPLv2 only. Adresses leagal concerns about master licensing.
* - Changed license to GPLv2 only. Addresses legal concerns about master licensing.
* - Slave init and process data mapping is split in two functions. This allows
* dynamic user reconfiguration of PDO mapping.
* - Eeprom transfer to and from PDI
@ -93,7 +93,7 @@
* Features as of 1.2.8 :
* - Changed directory structure.
* - Changed make file.
* - Moved hardware / OS dependend part in separate directories.
* - Moved hardware / OS dependent part in separate directories.
* - Added firm_update tool to upload firmware to slaves in Boot state, use with care.
* - Added DC for LRD/LWR case.
* - Separated expectedWKC to inputsWKC and outputsWKC.

9
osal/intime/osal_defs.h
View File

@ -11,6 +11,15 @@ extern "C"
{
#endif
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
#ifndef PACKED
#ifdef _MSC_VER
#define PACKED_BEGIN __pragma(pack(push, 1))

2
osal/linux/osal.c
View File

@ -17,7 +17,7 @@ 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 */
/* usleep is deprecated, use nanosleep instead */
return nanosleep(&ts, NULL);
}

9
osal/linux/osal_defs.h
View File

@ -11,6 +11,15 @@ extern "C"
{
#endif
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
#ifndef PACKED
#define PACKED_BEGIN
#define PACKED __attribute__((__packed__))

2
osal/rtems/osal.c
View File

@ -17,7 +17,7 @@ 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 */
/* usleep is deprecated, use nanosleep instead */
return nanosleep(&ts, NULL);
}

9
osal/rtems/osal_defs.h
View File

@ -11,6 +11,15 @@ extern "C"
{
#endif
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
#ifndef PACKED
#define PACKED_BEGIN
#define PACKED __attribute__((__packed__))

9
osal/rtk/osal_defs.h
View File

@ -11,6 +11,15 @@ extern "C"
{
#endif
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
#ifndef PACKED
#define PACKED_BEGIN
#define PACKED __attribute__((__packed__))

9
osal/vxworks/osal_defs.h
View File

@ -6,6 +6,15 @@
#ifndef _osal_defs_
#define _osal_defs_
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
#ifndef PACKED
#define PACKED_BEGIN
#define PACKED __attribute__((__packed__))

9
osal/win32/osal_defs.h
View File

@ -11,6 +11,15 @@ extern "C"
{
#endif
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
#ifndef PACKED
#define PACKED_BEGIN __pragma(pack(push, 1))
#define PACKED

22
oshw/intime/nicdrv.c
View File

@ -8,10 +8,10 @@
* 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.
* EtherCAT has the property that packets are only sent by the master,
* and the sent 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
* To combine the received packets with the original sent 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
@ -46,7 +46,7 @@ enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
/** Double redundant NIC connection */
ECT_RED_DOUBLE
};
@ -246,7 +246,7 @@ int ecx_closenic(ecx_portt *port)
return 0;
}
/** Fill buffer with ethernet header structure.
/** Fill buffer with Ethernet header structure.
* Destination MAC is always broadcast.
* Ethertype is always ETH_P_ECAT.
* @param[out] p = buffer
@ -459,7 +459,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
/** 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
* 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
@ -515,7 +515,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
/* found index equals requested index ? */
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
@ -545,7 +545,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
ReleaseRtControl();
}
/* WKC if mathing frame found */
/* WKC if matching frame found */
return rval;
}
@ -591,10 +591,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *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 if the received 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 if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
@ -670,7 +670,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
return wkc;
}
/** Blocking send and recieve frame function. Used for non processdata frames.
/** 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.

2
oshw/intime/nicdrv.h
View File

@ -67,7 +67,7 @@ typedef struct
int tempinbufs;
/** transmit buffers */
ec_bufT txbuf[EC_MAXBUF];
/** transmit buffer lenghts */
/** transmit buffer lengths */
int txbuflength[EC_MAXBUF];
/** temporary tx buffer */
ec_bufT txbuf2;

18
oshw/linux/nicdrv.c
View File

@ -52,7 +52,7 @@ enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
/** Double redundant NIC connection */
ECT_RED_DOUBLE
};
@ -357,7 +357,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
/** 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
* 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
@ -413,7 +413,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
/* found index equals requested index ? */
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
@ -439,7 +439,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
else
{
/* strange things happend */
/* strange things happened */
}
}
}
@ -448,7 +448,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
/* WKC if mathing frame found */
/* WKC if matching frame found */
return rval;
}
@ -491,10 +491,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *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 if the received 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 if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
@ -563,7 +563,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
return wkc;
}
/** Blocking send and recieve frame function. Used for non processdata frames.
/** 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.
@ -591,7 +591,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
}
else
{
/* normally use partial timout for rx */
/* normally use partial timeout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
}
/* get frame from primary or if in redundant mode possibly from secondary */

2
oshw/linux/nicdrv.h
View File

@ -69,7 +69,7 @@ typedef struct
int tempinbufs;
/** transmit buffers */
ec_bufT txbuf[EC_MAXBUF];
/** transmit buffer lenghts */
/** transmit buffer lengths */
int txbuflength[EC_MAXBUF];
/** temporary tx buffer */
ec_bufT txbuf2;

6
oshw/linux/oshw.c
View File

@ -50,7 +50,7 @@ ec_adaptert * oshw_find_adapters(void)
/* Iterate all devices and create a local copy holding the name and
* decsription.
* description.
*/
ids = if_nameindex ();
@ -70,7 +70,7 @@ ec_adaptert * oshw_find_adapters(void)
ret_adapter = adapter;
}
/* fetch description and name, in linux we use the same on both */
/* fetch description and name, in Linux we use the same on both */
adapter->next = NULL;
if (ids[i].if_name)
@ -106,7 +106,7 @@ ec_adaptert * oshw_find_adapters(void)
void oshw_free_adapters(ec_adaptert * adapter)
{
ec_adaptert * next_adapter;
/* Iterate the linked list and free all elemnts holding
/* Iterate the linked list and free all elements holding
* adapter information
*/
if(adapter)

18
oshw/rtems/nicdrv.c
View File

@ -53,7 +53,7 @@ enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
/** Double redundant NIC connection */
ECT_RED_DOUBLE
};
@ -405,7 +405,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
/** 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
* 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
@ -464,7 +464,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
ecp =(ec_comt*)(&ehp[1]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
/* found index equals requested index ? */
if (idxf == idx)
{
/* yes, put it in the buffer array (strip headers) */
@ -490,7 +490,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
else
{
/* strange things happend */
/* strange things happened */
}
}
}
@ -499,7 +499,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
/* WKC if mathing frame found */
/* WKC if matching frame found */
return rval;
}
@ -542,10 +542,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *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 if the received 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 if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
@ -614,7 +614,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
return wkc;
}
/** Blocking send and recieve frame function. Used for non processdata frames.
/** 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.
@ -642,7 +642,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
}
else
{
/* normally use partial timout for rx */
/* normally use partial timeout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
}
/* get frame from primary or if in redundant mode possibly from secondary */

2
oshw/rtems/nicdrv.h
View File

@ -69,7 +69,7 @@ typedef struct
int tempinbufs;
/** transmit buffers */
ec_bufT txbuf[EC_MAXBUF];
/** transmit buffer lenghts */
/** transmit buffer lengths */
int txbuflength[EC_MAXBUF];
/** temporary tx buffer */
ec_bufT txbuf2;

6
oshw/rtems/oshw.c
View File

@ -50,7 +50,7 @@ ec_adaptert * oshw_find_adapters(void)
/* Iterate all devices and create a local copy holding the name and
* decsription.
* description.
*/
ids = if_nameindex ();
@ -70,7 +70,7 @@ ec_adaptert * oshw_find_adapters(void)
ret_adapter = adapter;
}
/* fetch description and name, in linux we use the same on both */
/* fetch description and name, in Linux we use the same on both */
adapter->next = NULL;
if (ids[i].if_name)
@ -106,7 +106,7 @@ ec_adaptert * oshw_find_adapters(void)
void oshw_free_adapters(ec_adaptert * adapter)
{
ec_adaptert * next_adapter;
/* Iterate the linked list and free all elemnts holding
/* Iterate the linked list and free all elements holding
* adapter information
*/
if(adapter)

16
oshw/rtk/nicdrv.c
View File

@ -51,7 +51,7 @@ enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
/** Double redundant NIC connection */
ECT_RED_DOUBLE
};
@ -334,7 +334,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
/** 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
* 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
@ -390,7 +390,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
/* found index equals requested index ? */
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
@ -416,7 +416,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
else
{
/* strange things happend */
/* strange things happened */
}
}
}
@ -425,7 +425,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
/* WKC if mathing frame found */
/* WKC if matching frame found */
return rval;
}
@ -471,13 +471,13 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert 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 if the received 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 if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME)
{
@ -550,7 +550,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
return wkc;
}
/** Blocking send and recieve frame function. Used for non processdata frames.
/** 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.

2
oshw/rtk/nicdrv.h
View File

@ -62,7 +62,7 @@ typedef struct
int tempinbufs;
/** transmit buffers */
ec_bufT txbuf[EC_MAXBUF];
/** transmit buffer lenghts */
/** transmit buffer lengths */
int txbuflength[EC_MAXBUF];
/** temporary tx buffer */
ec_bufT txbuf2;

28
oshw/vxworks/nicdrv.c
View File

@ -13,14 +13,14 @@
* 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 recieved.
* 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.
*
* If EtherCAT is run in parallel with normal IP traffic and EtherCAT have a
* dedicated NIC, instatiate an extra tNetX task and redirect the NIC workQ
* dedicated NIC, instantiate an extra tNetX task and redirect the NIC workQ
* to be handle by the extra tNetX task, if needed raise the tNetX task prio.
* This prevents from having tNet0 becoming a bootleneck.
* This prevents from having tNet0 becoming a bottleneck.
*
* The "redundant" option will configure two Mux drivers and two NIC interfaces.
* Slaves are connected to both interfaces, one on the IN port and one on the
@ -76,7 +76,7 @@ enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
/** Double redundant NIC connection */
ECT_RED_DOUBLE
};
@ -126,7 +126,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
int unit_no = -1;
ETHERCAT_PKT_DEV * pPktDev;
/* Make refrerece to packet device struct, keep track if the packet
/* Make reference to packet device struct, keep track if the packet
* device is the redundant or not.
*/
if (secondary)
@ -308,8 +308,8 @@ int ecx_closenic(ecx_portt *port)
}
/** Fill buffer with ethernet header structure.
* Destination MAC is allways broadcast.
* Ethertype is allways ETH_P_ECAT.
* Destination MAC is always broadcast.
* Ethertype is always ETH_P_ECAT.
* @param[out] p = buffer
*/
void ec_setupheader(void *p)
@ -529,11 +529,11 @@ int ecx_outframe_red(ecx_portt *port, int idx)
/** Call back routine registered as hook with mux layer 2 driver
* @param[in] pCookie = Mux cookie
* @param[in] type = recived type
* @param[in] type = received type
* @param[in] pMblk = the received packet reference
* @param[in] llHdrInfo = header info
* @param[in] muxUserArg = assigned reference to packet device when init called
* @return TRUE if frame was succesfully read and passed to MsgQ
* @return TRUE if frame was successfully read and passed to MsgQ
*/
static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg)
{
@ -668,7 +668,7 @@ static int ecx_recvpkt(ecx_portt *port, int idx, int stacknumber, M_BLK_ID * pMb
* task tNet0 (default), tNet0 fetch what frame index and store a reference to the
* received frame in matching MsgQ. The stack user tasks fetch the frame
* reference and copies the frame the the RX buffer, when done it free
* the frame buffer alloctaed by the Mux.
* the frame buffer allocated by the Mux.
*
* @param[in] port = port context struct
* @param[in] idx = requested index of frame
@ -774,10 +774,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer, int
/* only do redundant functions when in redundant mode */
if (port->redstate != ECT_RED_NONE)
{
/* primrx if the reveived MAC source on primary socket */
/* primrx if the received 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 if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
@ -841,7 +841,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
return wkc;
}
/** Blocking send and recieve frame function. Used for non processdata frames.
/** 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.
@ -869,7 +869,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
}
else
{
/* normally use partial timout for rx */
/* normally use partial timeout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
}
/* get frame from primary or if in redundant mode possibly from secondary */

2
oshw/vxworks/nicdrv.h
View File

@ -78,7 +78,7 @@ typedef struct ecx_port
int rxsa[EC_MAXBUF];
/** transmit buffers */
ec_bufT txbuf[EC_MAXBUF];
/** transmit buffer lenghts */
/** transmit buffer lengths */
int txbuflength[EC_MAXBUF];
/** temporary tx buffer */
ec_bufT txbuf2;

20
oshw/win32/nicdrv.c
View File

@ -51,7 +51,7 @@ enum
{
/** No redundancy, single NIC mode */
ECT_RED_NONE,
/** Double redundant NIC connecetion */
/** Double redundant NIC connection */
ECT_RED_DOUBLE
};
@ -60,7 +60,7 @@ enum
* 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 fund out the packet flow in redundant
* confihurations. */
* configurations. */
const uint16 priMAC[3] = { 0x0101, 0x0101, 0x0101 };
/** Secondary source MAC address used for EtherCAT. */
const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 };
@ -358,7 +358,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
/** 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
* 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
@ -414,7 +414,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
/* found index equals requested index ? */
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
@ -440,7 +440,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
else
{
/* strange things happend */
/* strange things happened */
}
}
}
@ -449,7 +449,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
/* WKC if mathing frame found */
/* WKC if matching frame found */
return rval;
}
@ -492,10 +492,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *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 if the received 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 if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
@ -559,7 +559,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
return wkc;
}
/** Blocking send and recieve frame function. Used for non processdata frames.
/** 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.
@ -587,7 +587,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
}
else
{
/* normally use partial timout for rx */
/* normally use partial timeout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
}
/* get frame from primary or if in redundant mode possibly from secondary */

2
oshw/win32/nicdrv.h
View File

@ -72,7 +72,7 @@ typedef struct
int tempinbufs;
/** transmit buffers */
ec_bufT txbuf[EC_MAXBUF];
/** transmit buffer lenghts */
/** transmit buffer lengths */
int txbuflength[EC_MAXBUF];
/** temporary tx buffer */
ec_bufT txbuf2;

6
oshw/win32/oshw.c
View File

@ -51,7 +51,7 @@ ec_adaptert * oshw_find_adapters (void)
return (NULL);
}
/* Iterate all devices and create a local copy holding the name and
* decsription.
* description.
*/
for(d= alldevs; d != NULL; d= d->next)
{
@ -69,7 +69,7 @@ ec_adaptert * oshw_find_adapters (void)
ret_adapter = adapter;
}
/* fetch description and name of the divice from libpcap */
/* fetch description and name of the device from libpcap */
adapter->next = NULL;
if (d->name)
{
@ -115,7 +115,7 @@ ec_adaptert * oshw_find_adapters (void)
void oshw_free_adapters (ec_adaptert * adapter)
{
ec_adaptert * next_adapter;
/* Iterate the linked list and free all elemnts holding
/* Iterate the linked list and free all elements holding
* adapter information
*/
if(adapter)

2
oshw/win32/wpcap/Include/Packet32.h
View File

@ -284,7 +284,7 @@ struct _PACKET_OID_DATA {
ULONG Oid; ///< OID code. See the Microsoft DDK documentation or the file ntddndis.h
///< for a complete list of valid codes.
ULONG Length; ///< Length of the data field
UCHAR Data[1]; ///< variable-lenght field that contains the information passed to or received
UCHAR Data[1]; ///< variable-length field that contains the information passed to or received
///< from the adapter.
};
typedef struct _PACKET_OID_DATA PACKET_OID_DATA, *PPACKET_OID_DATA;

2
oshw/win32/wpcap/Include/remote-ext.h
View File

@ -395,7 +395,7 @@ struct pcap_samp
//! Maximum lenght of an host name (needed for the RPCAP active mode)
//! Maximum length of an host name (needed for the RPCAP active mode)
#define RPCAP_HOSTLIST_SIZE 1024

2
soem/ethercatbase.c
View File

@ -207,7 +207,7 @@ int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
/** APRD "auto increment address read" primitive. Blocking.
*
* @param[in] port = port context struct
* @param[in] ADP = Address Position, each slave ++, slave that has 0 excecutes
* @param[in] ADP = Address Position, each slave ++, slave that has 0 executes
* @param[in] ADO = Address Offset, slave memory address
* @param[in] length = length of databuffer
* @param[out] data = databuffer to put slave data in

18
soem/ethercatcoe.c
View File

@ -131,7 +131,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
boolean NotLast;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOt *)&MbxIn;
@ -226,7 +226,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
SDOp->ldata[0] = 0;
/* send segmented upload request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
/* is mailbox transfered to slave ? */
/* is mailbox transferred to slave ? */
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
@ -246,7 +246,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
{ /* last segment */
NotLast = FALSE;
if (Framedatasize == 7)
/* substract unused bytes from frame */
/* subtract unused bytes from frame */
Framedatasize = Framedatasize - ((aSDOp->Command & 0x0e) >> 1);
/* copy to parameter buffer */
memcpy(hp, &(aSDOp->Index), Framedatasize);
@ -258,7 +258,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
/* increment buffer pointer */
hp += Framedatasize;
}
/* update parametersize */
/* update parameter size */
*psize += Framedatasize;
}
/* unexpected frame returned from slave */
@ -339,7 +339,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
uint8 *hp;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOt *)&MbxIn;
@ -558,7 +558,7 @@ int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize
uint16 framedatasize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
SDOp = (ec_SDOt *)&MbxOut;
@ -605,7 +605,7 @@ int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psi
uint16 framedatasize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOt *)&MbxIn;
@ -805,7 +805,7 @@ int ecx_readPDOassignCA(ecx_contextt *context, uint16 Slave, int Thread_n,
* @param[in] Slave = Slave number
* @param[out] Osize = Size in bits of output mapping (rxPDO) found
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping succesful.
* @return >0 if mapping successful.
*/
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
{
@ -905,7 +905,7 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
* @param[in] Thread_n = Calling thread index
* @param[out] Osize = Size in bits of output mapping (rxPDO) found
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping succesful.
* @return >0 if mapping successful.
*/
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize)
{

31
soem/ethercatconfig.c
View File

@ -22,14 +22,6 @@
#include "ethercatsoe.h"
#include "ethercatconfig.h"
// define if debug printf is needed
//#define EC_DEBUG
#ifdef EC_DEBUG
#define EC_PRINT printf
#else
#define EC_PRINT(...) do {} while (0)
#endif
typedef struct
{
@ -40,7 +32,9 @@ typedef struct
} ecx_mapt_t;
ecx_mapt_t ecx_mapt[EC_MAX_MAPT];
#if EC_MAX_MAPT > 1
OSAL_THREAD_HANDLE ecx_threadh[EC_MAX_MAPT];
#endif
#ifdef EC_VER1
/** Slave configuration structure */
@ -330,7 +324,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
ADPh = (uint16)(1 - slave);
val16 = ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3); /* read interface type of slave */
context->slavelist[slave].Itype = etohs(val16);
/* a node offset is used to improve readibility of network frames */
/* a node offset is used to improve readability of network frames */
/* this has no impact on the number of addressable slaves (auto wrap around) */
ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
if (slave == 1)
@ -793,6 +787,7 @@ static int ecx_map_sm(ecx_contextt *context, uint16 slave)
return 1;
}
#if EC_MAX_MAPT > 1
OSAL_THREAD_FUNC ecx_mapper_thread(void *param)
{
ecx_mapt_t *maptp;
@ -818,6 +813,7 @@ static int ecx_find_mapt(void)
return -1;
}
}
#endif
static int ecx_get_threadcount(void)
{
@ -844,13 +840,7 @@ static void ecx_config_find_mappings(ecx_contextt *context, uint8 group)
{
if (!group || (group == context->slavelist[slave].group))
{
if (EC_MAX_MAPT <= 1)
{
/* serialised version */
ecx_map_coe_soe(context, slave, 0);
}
else
{
#if EC_MAX_MAPT > 1
/* multi-threaded version */
while ((thrn = ecx_find_mapt()) < 0)
{
@ -862,7 +852,10 @@ static void ecx_config_find_mappings(ecx_contextt *context, uint8 group)
ecx_mapt[thrn].running = 1;
osal_thread_create(&(ecx_threadh[thrn]), 128000,
&ecx_mapper_thread, &(ecx_mapt[thrn]));
}
#else
/* serialised version */
ecx_map_coe_soe(context, slave, 0);
#endif
}
}
/* wait for all threads to finish */
@ -931,7 +924,7 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
{
SMc++;
}
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
/* if addresses from more SM connect use one FMMU otherwise break up in multiple FMMU */
if (etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr)
{
break;
@ -1052,7 +1045,7 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
{
SMc++;
}
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
/* if addresses from more SM connect use one FMMU otherwise break up in multiple FMMU */
if (etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr)
{
break;

2
soem/ethercatconfiglist.h
View File

@ -5,7 +5,7 @@
/** \file
* \brief
* DEPRICATED Configuration list of known EtherCAT slave devices.
* DEPRECATED Configuration list of known EtherCAT slave devices.
*
* If a slave is found in this list it is configured according to the parameters
* in the list. Otherwise the configuration info is read directly from the slave

4
soem/ethercatdc.c
View File

@ -56,7 +56,7 @@ void ecx_dcsync0(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclTi
/* Calculate first trigger time, always a whole multiple of CyclTime rounded up
plus the shifttime (can be negative)
This insures best sychronisation between slaves, slaves with the same CyclTime
This insures best synchronization between slaves, slaves with the same CyclTime
will sync at the same moment (you can use CyclShift to shift the sync) */
if (CyclTime > 0)
{
@ -119,7 +119,7 @@ void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclT
/* Calculate first trigger time, always a whole multiple of TrueCyclTime rounded up
plus the shifttime (can be negative)
This insures best sychronisation between slaves, slaves with the same CyclTime
This insures best synchronization between slaves, slaves with the same CyclTime
will sync at the same moment (you can use CyclShift to shift the sync) */
if (CyclTime0 > 0)
{

4
soem/ethercatfoe.c
View File

@ -81,7 +81,7 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
buffersize = *psize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aFOEp = (ec_FOEt *)&MbxIn;
@ -209,7 +209,7 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
int tsize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aFOEp = (ec_FOEt *)&MbxIn;

8
soem/ethercatmain.c
View File

@ -324,7 +324,7 @@ void ecx_close(ecx_contextt *context)
/** Read one byte from slave EEPROM via cache.
* If the cache location is empty then a read request is made to the slave.
* Depending on the slave capabillities the request is 4 or 8 bytes.
* Depending on the slave capabilities the request is 4 or 8 bytes.
* @param[in] context = context struct
* @param[in] slave = slave number
* @param[in] address = eeprom address in bytes (slave uses words)
@ -728,7 +728,7 @@ int ecx_readstate(ecx_contextt *context)
boolean allslavespresent = FALSE;
int wkc;
/* Try to establish the state of all slaves sending only one broadcast datargam.
/* Try to establish the state of all slaves sending only one broadcast datagram.
* This way a number of datagrams equal to the number of slaves will be sent only if needed.*/
rval = 0;
wkc = ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET);
@ -855,7 +855,7 @@ int ecx_writestate(ecx_contextt *context, uint16 slave)
* @param[in] context = context struct
* @param[in] slave = Slave number, 0 = all slaves (only the "slavelist[0].state" is refreshed)
* @param[in] reqstate = Requested state
* @param[in] timeout = Timout value in us
* @param[in] timeout = Timeout value in us
* @return Requested state, or found state after timeout.
*/
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout)
@ -2152,7 +2152,7 @@ int ec_writestate(uint16 slave)
* This is a blocking function.
* @param[in] slave = Slave number, 0 = all slaves
* @param[in] reqstate = Requested state
* @param[in] timeout = Timout value in us
* @param[in] timeout = Timeout value in us
* @return Requested state, or found state after timeout.
* @see ecx_statecheck
*/

6
soem/ethercatmain.h
View File

@ -252,7 +252,7 @@ typedef struct ec_group
int16 Ebuscurrent;
/** if >0 block use of LRW in processdata */
uint8 blockLRW;
/** IO segegments used */
/** IO segments used */
uint16 nsegments;
/** 1st input segment */
uint16 Isegment;
@ -287,9 +287,9 @@ typedef struct ec_eepromSM
uint16 PhStart;
uint16 Plength;
uint8 Creg;
uint8 Sreg; /* dont care */
uint8 Sreg; /* don't care */
uint8 Activate;
uint8 PDIctrl; /* dont care */
uint8 PDIctrl; /* don't care */
} ec_eepromSMt;
/** record to store rxPDO and txPDO table from eeprom */

4
soem/ethercatprint.c
View File

@ -8,7 +8,7 @@
* Module to convert EtherCAT errors to readable messages.
*
* SDO abort messages and AL status codes are used to relay slave errors to
* the user application. This module converts the binary codes to readble text.
* the user application. This module converts the binary codes to readable text.
* For the defined error codes see the EtherCAT protocol documentation.
*/
@ -215,7 +215,7 @@ const ec_mbxerrorlist_t ec_mbxerrorlist[] = {
{0x0005, "Invalid mailbox header"},
{0x0006, "Length of received mailbox data is too short"},
{0x0007, "No more memory in slave"},
{0x0008, "The lenght of data is inconsistent"},
{0x0008, "The length of data is inconsistent"},
{0xffff, "Unknown"}
};

6
soem/ethercatsoe.c
View File

@ -68,7 +68,7 @@ void ecx_SoEerror(ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] driveNo = Drive number in slave
* @param[in] elementflags = Flags to select what properties of IDN are to be transfered.
* @param[in] elementflags = Flags to select what properties of IDN are to be transferred.
* @param[in] idn = IDN.
* @param[in,out] psize = Size in bytes of parameter buffer, returns bytes read from SoE.
* @param[out] p = Pointer to parameter buffer
@ -190,7 +190,7 @@ int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elemen
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] driveNo = Drive number in slave
* @param[in] elementflags = Flags to select what properties of IDN are to be transfered.
* @param[in] elementflags = Flags to select what properties of IDN are to be transferred.
* @param[in] idn = IDN.
* @param[in] psize = Size in bytes of parameter buffer.
* @param[out] p = Pointer to parameter buffer
@ -307,7 +307,7 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
* @param[in] slave = Slave number
* @param[out] Osize = Size in bits of output mapping (MTD) found
* @param[out] Isize = Size in bits of input mapping (AT) found
* @return >0 if mapping succesful.
* @return >0 if mapping successful.
*/
int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
{