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vxworks 

Add VxWorks reference driver, interrupt driven Mux driver.
This commit is contained in:
nakarlsson 2017-01-10 10:06:36 +01:00
parent ea931518a1
commit addb1204b4
6 changed files with 1549 additions and 0 deletions
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217
osal/vxworks/osal.c Normal file
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/*
* Simple Open EtherCAT Master Library
*
* File : osal.c
* Version : 1.3.1
* Date : 10-01-2017
* Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2017 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2012-2017 rt-labs AB , Sweden
*
* SOEM is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
#include <time.h>
#include <sys/time.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include <osal.h>
#include <vxWorks.h>
#include <taskLib.h>
#define timercmp(a, b, CMP) \
(((a)->tv_sec == (b)->tv_sec) ? \
((a)->tv_usec CMP (b)->tv_usec) : \
((a)->tv_sec CMP (b)->tv_sec))
#define timeradd(a, b, result) \
do { \
(result)->tv_sec = (a)->tv_sec + (b)->tv_sec; \
(result)->tv_usec = (a)->tv_usec + (b)->tv_usec; \
if ((result)->tv_usec >= 1000000) \
{ \
++(result)->tv_sec; \
(result)->tv_usec -= 1000000; \
} \
} while (0)
#define timersub(a, b, result) \
do { \
(result)->tv_sec = (a)->tv_sec - (b)->tv_sec; \
(result)->tv_usec = (a)->tv_usec - (b)->tv_usec; \
if ((result)->tv_usec < 0) { \
--(result)->tv_sec; \
(result)->tv_usec += 1000000; \
} \
} while (0)
#define USECS_PER_SEC 1000000
/* OBS! config worker threads must have higher prio that task running ec_configuration */
#define ECAT_TASK_PRIO_HIGH 20 /* Priority for high performance network task */
#define ECAT_TASK_PRIO_LOW 80 /* Priority for high performance network task */
#define ECAT_STACK_SIZE 10000 /* Stack size for high performance task */
static int ecatTaskOptions = VX_SUPERVISOR_MODE | VX_UNBREAKABLE;
static int ecatTaskIndex = 0;
#ifndef use_task_delay
#define use_task_delay 1
#endif
int osal_usleep (uint32 usec)
{
#if (use_task_delay == 1)
/* Task delay 0 only yields */
taskDelay(usec / 1000);
return 0;
#else
/* The suspension may be longer than requested due to the rounding up of
* the request to the timer's resolution or to other scheduling activities
* (e.g., a higher priority task intervenes).
*/
struct timespec ts;
ts.tv_sec = usec / USECS_PER_SEC;
ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
return nanosleep(&ts, NULL);
#endif
}
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
{
int return_value;
return_value = gettimeofday(tv, tz);
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)
{
diff->sec = end->sec - start->sec;
diff->usec = end->usec - start->usec;
if (diff->usec < 0) {
--diff->sec;
diff->usec += 1000000;
}
}
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)
{
char task_name[20];
TASK_ID * tid = (TASK_ID *)thandle;
FUNCPTR func_ptr = func;
_Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
snprintf(task_name,sizeof(task_name),"worker_%d",ecatTaskIndex++);
*tid = taskSpawn (task_name, ECAT_TASK_PRIO_LOW,
ecatTaskOptions, ECAT_STACK_SIZE,
func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
if(*tid == TASK_ID_ERROR)
{
return 0;
}
return 1;
}
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
{
char task_name[20];
TASK_ID * tid = (TASK_ID *)thandle;
FUNCPTR func_ptr = func;
_Vx_usr_arg_t arg1 = (_Vx_usr_arg_t)param;
snprintf(task_name,sizeof(task_name),"worker_rt_%d",ecatTaskIndex++);
*tid = taskSpawn (task_name, ECAT_TASK_PRIO_HIGH,
ecatTaskOptions, ECAT_STACK_SIZE,
func_ptr, arg1, 0, 0, 0, 0, 0, 0, 0, 0, 0);
if(*tid == TASK_ID_ERROR)
{
return 0;
}
return 1;
}

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osal/vxworks/osal_defs.h Normal file
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/*
* Simple Open EtherCAT Master Library
*
* File : osal_defs.h
* Version : 1.3.1
* Date : 10-01-2017
* Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2017 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2012-2017 rt-labs AB , Sweden
*
* SOEM is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
#ifndef _osal_defs_
#define _osal_defs_
#ifndef PACKED
#define PACKED_BEGIN
#define PACKED __attribute__((__packed__))
#define PACKED_END
#endif
#define OSAL_THREAD_HANDLE TASK_ID
#define OSAL_THREAD_FUNC void
#define OSAL_THREAD_FUNC_RT void
#endif

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oshw/vxworks/nicdrv.c Normal file
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/*
* Simple Open EtherCAT Master Library
*
* File : nicdrv.c
* Version : 1.3.1
* Date : 10-01-2017
* Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2017 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2014-2017 rt-labs AB , Sweden
*
* SOEM is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
/** \file
* \brief
* EtherCAT VxWorks SNARF Mux 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 recieved.
* 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
* to be handle by the extra tNetX task, if needed raise the tNetX task prio.
* This prevents from having tNet0 becoming a bootleneck.
*
* 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
* 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 resend through interface B.
* This layer if fully transparent for the higher layers.
*/
#include <ctype.h>
#include <string.h>
#include <ipProto.h>
#include <vxWorks.h>
#include <wvLib.h>
#include "oshw.h"
#include "osal.h"
#include "nicdrv.h"
#define NIC_DEBUG /* Print debugging info? */
// wvEvent flags
#define ECAT_RECV_FAILED 0x664
#define ECAT_RECV_OK 0x665
#define ECAT_RECV_RETRY_OK 0x666
#define ECAT_STACK_RECV 0x667
#define ECAT_SEND_START 0x675
#define ECAT_SEND_COMPLETE 0x676
#define ECAT_SEND_FAILED 0x677
#ifdef NIC_DEBUG
#define NIC_LOGMSG(x,a,b,c,d,e,f) \
do { \
logMsg (x,a,b,c,d,e,f); \
} while (0)
#define NIC_WVEVENT(a,b,c) \
do { \
wvEvent(a, b, c); \
} while (0)
#else
#define NIC_LOGMSG(x,a,b,c,d,e,f)
#define NIC_WVEVENT(a,b,c)
#endif /* NIC_DEBUG */
#define IF_NAME_SIZE 8
/** 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] = { 0x0101, 0x0101, 0x0101 };
/** Secondary source MAC address used for EtherCAT. */
const uint16 secMAC[3] = { 0x0404, 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]
/** Receive hook called by Mux driver. */
static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg);
static void ecx_clear_rxbufstat(int *rxbufstat)
{
int i;
for(i = 0; i < EC_MAXBUF; i++)
{
rxbufstat[i] = EC_BUF_EMPTY;
}
}
void print_nicversion(void)
{
printf("Generic is used\n");
}
/** Basic setup to connect NIC to socket.
* @param[in] port = port context struct
* @param[in] ifname = Name of NIC device, f.e. "gei0"
* @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;
char ifn[IF_NAME_SIZE];
int unit_no = -1;
ETHERCAT_PKT_DEV * pPktDev;
/* Make refrerece to packet device struct, keep track if the packet
* device is the redundant or not.
*/
if (secondary)
{
pPktDev = &(port->redport->pktDev);
pPktDev->redundant = 1;
}
else
{
pPktDev = &(port->pktDev);
pPktDev->redundant = 0;
}
/* Clear frame counters*/
pPktDev->tx_count = 0;
pPktDev->rx_count = 0;
pPktDev->overrun_count = 0;
/* Create multi-thread support semaphores */
port->sem_get_index = semBCreate(SEM_Q_FIFO, SEM_FULL);
/* Get the dev name and unit from ifname
* We assume form gei1, fei0...
*/
memset(ifn,0x0,sizeof(ifn));
for(i=0; i < strlen(ifname);i++)
{
if(isdigit(ifname[i]))
{
strncpy(ifn, ifname, i);
unit_no = atoi(&ifname[i]);
break;
}
}
/* Detach IP stack */
//ipDetach(pktDev.unit,pktDev.name);
pPktDev->port = port;
/* Bind to mux driver for given interface, include ethercat driver pointer
* as user reference
*/
/* Bind to mux */
pPktDev->pCookie = muxBind(ifn, unit_no, mux_rx_callback, NULL, NULL, NULL, MUX_PROTO_SNARF, "ECAT SNARF", pPktDev);
if (pPktDev->pCookie == NULL)
{
/* fail */
NIC_LOGMSG("ecx_setupnic: muxBind init for gei: %d failed\n", unit_no, 2, 3, 4, 5, 6);
goto exit;
}
/* Get reference tp END obje */
pPktDev->endObj = endFindByName(ifn, unit_no);
if (port->pktDev.endObj == NULL)
{
/* fail */
NIC_LOGMSG("error_hook: endFindByName failed, device gei: %d not found\n",
unit_no, 2, 3, 4, 5, 6);
goto exit;
}
if (secondary)
{
/* secondary port struct available? */
if (port->redport)
{
port->redstate = ECT_RED_DOUBLE;
port->redport->stack.txbuf = &(port->txbuf);
port->redport->stack.txbuflength = &(port->txbuflength);
port->redport->stack.rxbuf = &(port->redport->rxbuf);
port->redport->stack.rxbufstat = &(port->redport->rxbufstat);
port->redport->stack.rxsa = &(port->redport->rxsa);
/* Create mailboxes for each potential EtherCAT frame index */
for (i = 0; i < EC_MAXBUF; i++)
{
port->redport->msgQId[i] = msgQCreate(1, sizeof(M_BLK_ID), MSG_Q_FIFO);
if (port->redport->msgQId[i] == MSG_Q_ID_NULL)
{
NIC_LOGMSG("ecx_setupnic: Failed to create redundant MsgQ[%d]",
i, 2, 3, 4, 5, 6);
goto exit;
}
}
ecx_clear_rxbufstat(&(port->redport->rxbufstat[0]));
}
else
{
/* fail */
NIC_LOGMSG("ecx_setupnic: Redundant port not allocated",
unit_no, 2, 3, 4, 5, 6);
goto exit;
}
}
else
{
port->lastidx = 0;
port->redstate = ECT_RED_NONE;
port->stack.txbuf = &(port->txbuf);
port->stack.txbuflength = &(port->txbuflength);
port->stack.rxbuf = &(port->rxbuf);
port->stack.rxbufstat = &(port->rxbufstat);
port->stack.rxsa = &(port->rxsa);
/* Create mailboxes for each potential EtherCAT frame index */
for (i = 0; i < EC_MAXBUF; i++)
{
port->msgQId[i] = msgQCreate(1, sizeof(M_BLK_ID), MSG_Q_FIFO);
if (port->msgQId[i] == MSG_Q_ID_NULL)
{
NIC_LOGMSG("ecx_setupnic: Failed to create MsgQ[%d]",
i, 2, 3, 4, 5, 6);
goto exit;
}
}
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));
return 1;
exit:
return 0;
}
/** Close sockets used
* @param[in] port = port context struct
* @return 0
*/
int ecx_closenic(ecx_portt *port)
{
int i;
ETHERCAT_PKT_DEV * pPktDev;
pPktDev = &(port->pktDev);
for (i = 0; i < EC_MAXBUF; i++)
{
if (port->msgQId[i] != MSG_Q_ID_NULL)
{
msgQDelete(port->msgQId[i]);
}
}
if (pPktDev->pCookie != NULL)
{
muxUnbind(pPktDev->pCookie, MUX_PROTO_SNARF, mux_rx_callback);
}
/* Clean redundant resources if available*/
if (port->redport)
{
pPktDev = &(port->redport->pktDev);
for (i = 0; i < EC_MAXBUF; i++)
{
if (port->redport->msgQId[i] != MSG_Q_ID_NULL)
{
msgQDelete(port->redport->msgQId[i]);
}
}
if (pPktDev->pCookie != NULL)
{
muxUnbind(pPktDev->pCookie, MUX_PROTO_SNARF, mux_rx_callback);
}
}
return 0;
}
/** Fill buffer with ethernet header structure.
* Destination MAC is allways broadcast.
* Ethertype is allways 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;
MSG_Q_ID msgQId;
M_BLK_ID trash_can;
semTake(port->sem_get_index, WAIT_FOREVER);
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;
/* Clean up any abandoned frames */
msgQId = port->msgQId[idx];
if (msgQReceive(msgQId, (char *)&trash_can, sizeof(M_BLK_ID), NO_WAIT) == OK)
{
/* Free resources */
netMblkClChainFree(trash_can);
}
if (port->redstate != ECT_RED_NONE)
{
port->redport->rxbufstat[idx] = EC_BUF_ALLOC;
/* Clean up any abandoned frames */
msgQId = port->redport->msgQId[idx];
if (msgQReceive(msgQId, (char *)&trash_can, sizeof(M_BLK_ID), NO_WAIT) == OK)
{
/* Free resources */
netMblkClChainFree(trash_can);
}
}
port->lastidx = idx;
semGive(port->sem_get_index);
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;
}
/** Low level transmit buffer over mux layer 2 driver
*
* @param[in] pPktDev = packet device to send buffer over
* @param[in] buf = buff to send
* @param[in] len = bytes to send
* @return driver send result
*/
static int ec_outfram_send(ETHERCAT_PKT_DEV * pPktDev, void * buf, int len)
{
STATUS status = OK;
M_BLK_ID pPacket;
int rval = 0;
/* Allocate m_blk to send */
if ((pPacket = netTupleGet(pPktDev->endObj->pNetPool,
len,
M_DONTWAIT,
MT_DATA,
TRUE)) == NULL)
{
NIC_LOGMSG("ec_outfram_send: Could not allocate MBLK memory!\n", 1, 2, 3, 4, 5, 6);
return ERROR;
}
pPacket->mBlkHdr.mLen = len;
pPacket->mBlkHdr.mFlags |= M_HEADER;
pPacket->mBlkHdr.mData = pPacket->pClBlk->clNode.pClBuf;
netMblkFromBufCopy(pPacket, buf, 0, pPacket->mBlkHdr.mLen, M_DONTWAIT, NULL);
status = muxTkSend(pPktDev->pCookie, pPacket, NULL, htons(ETH_P_ECAT), NULL);
if (status == OK)
{
rval = len;
NIC_WVEVENT(ECAT_SEND_COMPLETE, (char *)&rval, sizeof(rval));
}
else
{
netMblkClChainFree(pPacket);
/* fail */
static int print_once;
if (print_once == 0)
{
NIC_LOGMSG("ec_outfram_send: failed\n",
1, 2, 3, 4, 5, 6);
print_once = 1;
}
NIC_WVEVENT(ECAT_SEND_FAILED, (char *)&rval, sizeof(rval));
}
return rval;
}
/** High level transmit buffer over mux layer 2 driver, passing buffer
* and packet device to send on as arguments
* @param[in] port = port context holding reference to packet device
* @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 rval = 0;
ec_stackT *stack;
ETHERCAT_PKT_DEV * pPktDev;
if (!stacknumber)
{
stack = &(port->stack);
pPktDev = &(port->pktDev);
}
else
{
stack = &(port->redport->stack);
pPktDev = &(port->redport->pktDev);
}
rval = ec_outfram_send(pPktDev, (char*)(*stack->txbuf)[idx],
(*stack->txbuflength)[idx]);
if (rval > 0)
{
(*stack->rxbufstat)[idx] = EC_BUF_TX;
port->pktDev.tx_count++;
}
return rval;
}
/** High level transmit frame to send as index.
* @param[in] port = port context
* @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)
{
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 interface */
rval = ec_outfram_send(&(port->redport->pktDev), &(port->txbuf2), port->txbuflength2);
port->redport->rxbufstat[idx] = EC_BUF_TX;
}
return rval;
}
/** Call back routine registered as hook with mux layer 2 driver
* @param[in] pCookie = Mux cookie
* @param[in] type = recived 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
*/
static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg)
{
BOOL ret = FALSE;
int idxf;
ec_comt *ecp;
ec_bufT * tempbuf;
ecx_portt * port;
MSG_Q_ID msgQId;
ETHERCAT_PKT_DEV * pPktDev;
int length;
/* check if it is an EtherCAT frame */
if (type == ETH_P_ECAT)
{
length = pMblk->mBlkHdr.mLen;
tempbuf = (ec_bufT *)pMblk->mBlkHdr.mData;
pPktDev = (ETHERCAT_PKT_DEV *)muxUserArg;
port = pPktDev->port;
/* Get ethercat frame header */
ecp = (ec_comt*)&(*tempbuf)[ETH_HEADERSIZE];
idxf = ecp->index;
if (idxf >= EC_MAXBUF)
{
NIC_LOGMSG("mux_rx_callback: idx %d out of bounds\n", idxf,
2, 3, 4, 5, 6);
return ret;
}
/* Check if it is the redundant port or not */
if (pPktDev->redundant == 1)
{
msgQId = port->redport->msgQId[idxf];
}
else
{
msgQId = port->msgQId[idxf];
}
if (length > 0)
{
/* Post the frame to the reqceive Q for the EtherCAT stack */
STATUS status;
status = msgQSend(msgQId, (char *)&pMblk, sizeof(M_BLK_ID),
NO_WAIT, MSG_PRI_NORMAL);
if (status == OK)
{
NIC_WVEVENT(ECAT_RECV_OK, (char *)&length, sizeof(length));
ret = TRUE;
}
else if ((status == ERROR) && (errno == S_objLib_OBJ_UNAVAILABLE))
{
/* Try to empty the MSGQ since we for some strange reason
* already have a frame in the MsqQ,
* is it due to timeout when receiving?
* We want the latest received frame in the buffer
*/
port->pktDev.overrun_count++;
NIC_LOGMSG("mux_rx_callback: idx %d MsgQ overrun\n", idxf,
2, 3, 4, 5, 6);
M_BLK_ID trash_can;
if (msgQReceive(msgQId, (char *)&trash_can,
sizeof(M_BLK_ID), NO_WAIT) == OK)
{
/* Free resources */
netMblkClChainFree(trash_can);
}
status = msgQSend(msgQId, (char *)&pMblk, sizeof(M_BLK_ID),
NO_WAIT, MSG_PRI_NORMAL);
if (status == OK)
{
NIC_WVEVENT(ECAT_RECV_RETRY_OK, (char *)&length, sizeof(length));
ret = TRUE;
}
}
else
{
NIC_WVEVENT(ECAT_RECV_FAILED, (char *)&length, sizeof(length));
}
}
}
return ret;
}
/** Non blocking or blocking read, if we use timeout we pass minimum 1 tick.
* @param[in] port = port context struct
* @param[in] pMblk = mBlk for received frame
* @param[in] timeout = timeout in us
* @return >0 if frame is available and read
*/
static int ecx_recvpkt(ecx_portt *port, int idx, int stacknumber, M_BLK_ID * pMblk, int timeout)
{
int bytesrx = 0;
MSG_Q_ID msgQId;
int tick_timeout = max((timeout / 1000), 1);
if (stacknumber == 1)
{
msgQId = port->redport->msgQId[idx];
}
else
{
msgQId = port->msgQId[idx];
}
if (timeout == 0)
{
bytesrx = msgQReceive(msgQId, (void *)pMblk,
sizeof(M_BLK_ID), NO_WAIT);
}
else
{
bytesrx = msgQReceive(msgQId, (void *)pMblk,
sizeof(M_BLK_ID), tick_timeout);
}
if (bytesrx > 0)
{
bytesrx = (*pMblk)->mBlkHdr.mLen;
NIC_WVEVENT(ECAT_STACK_RECV, (char *)&bytesrx, sizeof(bytesrx));
}
return (bytesrx > 0);
}
/** Non blocking receive frame function. Uses RX buffer and index to combine
* read frame with transmitted frame. Frames are received by separate receiver
* 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.
*
* @param[in] port = port context struct
* @param[in] idx = requested index of frame
* @param[in] stacknumber = 0=primary 1=secondary stack
* @param[in] timeout = timeout in us
* @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, int timeout)
{
uint16 l;
int rval;
ec_etherheadert *ehp;
ec_comt *ecp;
ec_stackT *stack;
ec_bufT *rxbuf;
ec_bufT *tempinbuf;
M_BLK_ID pMblk;
if (!stacknumber)
{
stack = &(port->stack);
}
else
{
stack = &(port->redport->stack);
}
rval = EC_NOFRAME;
rxbuf = &(*stack->rxbuf)[idx];
/* (non-) blocking call to retrieve frame from Muxlayer */
if (ecx_recvpkt(port, idx, stacknumber, &pMblk, timeout))
{
rval = EC_OTHERFRAME;
/* Get pointer to the frame */
tempinbuf = (ec_bufT *)pMblk->mBlkHdr.mData;
/* Get pointer to the Ethernet header */
ehp = (ec_etherheadert*)tempinbuf;
/* Get pointer to the EtherCAT frame as ethernet payload */
ecp = (ec_comt*)&(*tempinbuf)[ETH_HEADERSIZE];
l = etohs(ecp->elength) & 0x0fff;
/* yes, put it in the buffer array (strip ethernet header) */
netMblkOffsetToBufCopy(pMblk, ETH_HEADERSIZE,(void *) rxbuf,
(*stack->txbuflength)[idx] - ETH_HEADERSIZE, NULL);
/* 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);
netMblkClChainFree(pMblk);
port->pktDev.rx_count++;
}
/* 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
* @param[in] timeout = timeout in us
* @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, int timeout)
{
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, timeout);
}
/* 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, timeout);
}
}
/* 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, timeout);
} 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, timeout);
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, timeout);
/* 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

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/*
* Simple Open EtherCAT Master Library
*
* File : nicdrv.h
* Version : 1.3.1
* Date : 10-01-2017
* Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2017 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2014-2017 rt-labs AB , Sweden
*
* SOEM is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
/** \file
* \brief
* Headerfile for nicdrv.c
*/
#ifndef _nicdrvh_
#define _nicdrvh_
#ifdef __cplusplus
extern "C"
{
#endif
#include <vxWorks.h>
#include <muxLib.h>
/** structure to connect EtherCAT stack and VxWorks device */
typedef struct ETHERCAT_PKT_DEV
{
struct ecx_port *port;
void *pCookie;
END_OBJ *endObj;
UINT32 redundant;
UINT32 tx_count;
UINT32 rx_count;
UINT32 overrun_count;
}ETHERCAT_PKT_DEV;
/** pointer structure to Tx and Rx stacks */
typedef struct
{
/** tx buffer */
ec_bufT (*txbuf)[EC_MAXBUF];
/** tx buffer lengths */
int (*txbuflength)[EC_MAXBUF];
/** 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 ecx_redport
{
/** Stack reference */
ec_stackT stack;
/** Packet device instance */
ETHERCAT_PKT_DEV pktDev;
/** rx buffers */
ec_bufT rxbuf[EC_MAXBUF];
/** rx buffer status */
int rxbufstat[EC_MAXBUF];
/** rx MAC source address */
int rxsa[EC_MAXBUF];
/** MSG Q for receive callbacks to post into */
MSG_Q_ID msgQId[EC_MAXBUF];
} ecx_redportt;
/** pointer structure to buffers, vars and mutexes for port instantiation */
typedef struct ecx_port
{
/** Stack reference */
ec_stackT stack;
/** Packet device instance */
ETHERCAT_PKT_DEV pktDev;
/** rx buffers */
ec_bufT rxbuf[EC_MAXBUF];
/** rx buffer status */
int rxbufstat[EC_MAXBUF];
/** rx MAC source address */
int rxsa[EC_MAXBUF];
/** 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;
/** Semaphore to protect single resources */
SEM_ID sem_get_index;
/** MSG Q for receive callbacks to post into */
MSG_Q_ID msgQId[EC_MAXBUF];
} 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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/*
* Simple Open EtherCAT Master Library
*
* File : oshw.c
* Version : 1.3.1
* Date : 10-01-2017
* Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2017 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2012-2017 rt-labs AB , Sweden
*
* SOEM is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
#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 <assert.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)
{
ec_adaptert * ret_adapter = NULL;
/* Not implemented */
assert(0);
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)
{
/* Not implemented */
assert(0);
}

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/*
* Simple Open EtherCAT Master Library
*
* File : oshw.h
* Version : 1.3.1
* Date : 10-01-2017
* Copyright (C) 2005-2017 Speciaal Machinefabriek Ketels v.o.f.
* Copyright (C) 2005-2017 Arthur Ketels
* Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven
* Copyright (C) 2012-2017 rt-labs AB , Sweden
*
* SOEM is free software; you can redistribute it and/or modify it under
* the terms of the GNU General Public License version 2 as published by the Free
* Software Foundation.
*
* SOEM is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* As a special exception, if other files instantiate templates or use macros
* or inline functions from this file, or you compile this file and link it
* with other works to produce a work based on this file, this file does not
* by itself cause the resulting work to be covered by the GNU General Public
* License. However the source code for this file must still be made available
* in accordance with section (3) of the GNU General Public License.
*
* This exception does not invalidate any other reasons why a work based on
* this file might be covered by the GNU General Public License.
*
* The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
* property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
* the sole purpose of creating, using and/or selling or otherwise distributing
* an EtherCAT network master provided that an EtherCAT Master License is obtained
* from Beckhoff Automation GmbH.
*
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
*/
/** \file
* \brief
* Headerfile for oshw.c
*/
#ifndef _oshw_
#define _oshw_
#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);
#endif