Merge pull request #143 from lounick/integrate-with-RTEMS
Integrate with RTEMS
This commit is contained in:
Hans-Erik Floryd
GitHub
commit
cd243dedcc
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@ -8,6 +8,7 @@ if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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endif()
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endif()
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set(SOEM_INCLUDE_INSTALL_DIR include/soem)
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set(SOEM_INCLUDE_INSTALL_DIR include/soem)
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set(SOEM_LIB_INSTALL_DIR lib)
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if(WIN32)
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if(WIN32)
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set(OS "win32")
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set(OS "win32")
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@ -32,6 +33,10 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
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set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
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set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
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elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
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message("Building for RTEMS")
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set(OS "rtems")
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set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
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endif()
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endif()
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message("OS is ${OS}")
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message("OS is ${OS}")
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@ -56,7 +61,9 @@ add_library(soem STATIC
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${OSHW_EXTRA_SOURCES})
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${OSHW_EXTRA_SOURCES})
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target_link_libraries(soem ${OS_LIBS})
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target_link_libraries(soem ${OS_LIBS})
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install(TARGETS soem DESTINATION lib)
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message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
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install(TARGETS soem DESTINATION ${SOEM_LIB_INSTALL_DIR})
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install(FILES
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install(FILES
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${SOEM_HEADERS}
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${SOEM_HEADERS}
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${OSAL_HEADERS}
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${OSAL_HEADERS}
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@ -0,0 +1,22 @@
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message("rtems.cmake")
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set(ARCH ${HOST})
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set(BSP ${RTEMS_BSP})
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set(CMAKE_C_COMPILER_FORCED true)
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set(CMAKE_CXX_COMPILER_FORCED true)
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set(CMAKE_C_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-gcc)
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set(CMAKE_CXX_COMPILER ${RTEMS_TOOLS_PATH}/bin/${ARCH}-g++)
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set(SOEM_INCLUDE_INSTALL_DIR ${INCLUDE_DIR}/soem)
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set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${HOST_C_FLAGS}")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${HOST_CXX_FLAGS}")
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if(NOT ${HOST_LIBS} STREQUAL "")
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set(OS_LIBS "rtemscpu bsd ${HOST_LIBS}")
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else()
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set(OS_LIBS "-lrtemscpu -lbsd")
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endif()
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@ -0,0 +1,144 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <time.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <osal.h>
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#define USECS_PER_SEC 1000000
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int osal_usleep (uint32 usec)
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{
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struct timespec ts;
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ts.tv_sec = usec / USECS_PER_SEC;
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ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
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/* usleep is depricated, use nanosleep instead */
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return nanosleep(&ts, NULL);
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}
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
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{
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struct timespec ts;
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int return_value;
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(void)tz; /* Not used */
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/* Use clock_gettime to prevent possible live-lock.
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* Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
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* If this function preempts timeadjust and it uses vpage it live-locks.
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* Also when using XENOMAI, only clock_gettime is RT safe */
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return_value = clock_gettime(CLOCK_MONOTONIC, &ts);
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tv->tv_sec = ts.tv_sec;
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tv->tv_usec = ts.tv_nsec / 1000;
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return return_value;
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}
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ec_timet osal_current_time(void)
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{
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struct timeval current_time;
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ec_timet return_value;
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osal_gettimeofday(¤t_time, 0);
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return_value.sec = current_time.tv_sec;
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return_value.usec = current_time.tv_usec;
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return return_value;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + 1000000 - start->usec;
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}
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else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start(osal_timert * self, uint32 timeout_usec)
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{
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struct timeval start_time;
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struct timeval timeout;
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struct timeval stop_time;
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osal_gettimeofday(&start_time, 0);
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timeout.tv_sec = timeout_usec / USECS_PER_SEC;
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timeout.tv_usec = timeout_usec % USECS_PER_SEC;
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timeradd(&start_time, &timeout, &stop_time);
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self->stop_time.sec = stop_time.tv_sec;
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self->stop_time.usec = stop_time.tv_usec;
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}
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boolean osal_timer_is_expired (osal_timert * self)
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{
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struct timeval current_time;
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struct timeval stop_time;
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int is_not_yet_expired;
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osal_gettimeofday(¤t_time, 0);
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stop_time.tv_sec = self->stop_time.sec;
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp(¤t_time, &stop_time, <);
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return is_not_yet_expired == FALSE;
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}
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void *osal_malloc(size_t size)
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{
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return malloc(size);
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}
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void osal_free(void *ptr)
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{
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free(ptr);
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}
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int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
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{
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int ret;
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pthread_attr_t attr;
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pthread_t *threadp;
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threadp = thandle;
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pthread_attr_init(&attr);
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pthread_attr_setstacksize(&attr, stacksize);
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ret = pthread_create(threadp, &attr, func, param);
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if(ret < 0)
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{
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return 0;
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}
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return 1;
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}
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int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
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{
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int ret;
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pthread_attr_t attr;
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struct sched_param schparam;
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pthread_t *threadp;
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threadp = thandle;
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pthread_attr_init(&attr);
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pthread_attr_setstacksize(&attr, stacksize);
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ret = pthread_create(threadp, &attr, func, param);
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pthread_attr_destroy(&attr);
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if(ret < 0)
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{
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return 0;
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}
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memset(&schparam, 0, sizeof(schparam));
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schparam.sched_priority = 40;
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ret = pthread_setschedparam(*threadp, SCHED_FIFO, &schparam);
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if(ret < 0)
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{
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return 0;
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}
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return 1;
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}
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@ -0,0 +1,29 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef _osal_defs_
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#define _osal_defs_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#ifndef PACKED
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#define PACKED_BEGIN
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#define PACKED __attribute__((__packed__))
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#define PACKED_END
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#endif
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#include <pthread.h>
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#define OSAL_THREAD_HANDLE pthread_t *
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#define OSAL_THREAD_FUNC void
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#define OSAL_THREAD_FUNC_RT void
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#ifdef __cplusplus
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}
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#endif
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#endif
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@ -158,7 +158,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
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r = ioctl(*psock, SIOCGIFFLAGS, &ifr);
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r = ioctl(*psock, SIOCGIFFLAGS, &ifr);
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/* set flags of NIC interface, here promiscuous and broadcast */
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/* set flags of NIC interface, here promiscuous and broadcast */
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ifr.ifr_flags = ifr.ifr_flags | IFF_PROMISC | IFF_BROADCAST;
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ifr.ifr_flags = ifr.ifr_flags | IFF_PROMISC | IFF_BROADCAST;
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r = ioctl(*psock, SIOCGIFFLAGS, &ifr);
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r = ioctl(*psock, SIOCSIFFLAGS, &ifr);
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/* bind socket to protocol, in this case RAW EtherCAT */
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/* bind socket to protocol, in this case RAW EtherCAT */
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sll.sll_family = AF_PACKET;
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sll.sll_family = AF_PACKET;
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sll.sll_ifindex = ifindex;
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sll.sll_ifindex = ifindex;
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@ -0,0 +1,687 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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||||||
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*/
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/** \file
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* \brief
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* EtherCAT RAW socket driver.
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*
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* Low level interface functions to send and receive EtherCAT packets.
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* EtherCAT has the property that packets are only send by the master,
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* and the send packets always return in the receive buffer.
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* There can be multiple packets "on the wire" before they return.
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* To combine the received packets with the original send packets a buffer
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* system is installed. The identifier is put in the index item of the
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* EtherCAT header. The index is stored and compared when a frame is received.
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* If there is a match the packet can be combined with the transmit packet
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* and returned to the higher level function.
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*
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* The socket layer can exhibit a reversal in the packet order (rare).
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* If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer
|
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* will reorder the packets automatically.
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*
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||||||
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* The "redundant" option will configure two sockets and two NIC interfaces.
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* Slaves are connected to both interfaces, one on the IN port and one on the
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* OUT port. Packets are send via both interfaces. Any one of the connections
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* (also an interconnect) can be removed and the slaves are still serviced with
|
||||||
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* packets. The software layer will detect the possible failure modes and
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* compensate. If needed the packets from interface A are resent through interface B.
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||||||
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* This layer if fully transparent for the higher layers.
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||||||
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*/
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#include <sys/time.h>
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||||||
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#include <time.h>
|
||||||
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#include <sys/types.h>
|
||||||
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#include <sys/ioctl.h>
|
||||||
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#include <net/bpf.h>
|
||||||
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#include <sys/socket.h>
|
||||||
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#include <net/if.h>
|
||||||
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#include <unistd.h>
|
||||||
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#include <arpa/inet.h>
|
||||||
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#include <stdio.h>
|
||||||
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#include <fcntl.h>
|
||||||
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#include <string.h>
|
||||||
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#include <pthread.h>
|
||||||
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#include <assert.h>
|
||||||
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|
||||||
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#include "oshw.h"
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||||||
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#include "osal.h"
|
||||||
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||||||
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/** Redundancy modes */
|
||||||
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enum
|
||||||
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{
|
||||||
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/** No redundancy, single NIC mode */
|
||||||
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ECT_RED_NONE,
|
||||||
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/** Double redundant NIC connecetion */
|
||||||
|
ECT_RED_DOUBLE
|
||||||
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};
|
||||||
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|
||||||
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|
||||||
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/** 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
|
||||||
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* differentiate the route the packet traverses through the EtherCAT
|
||||||
|
* segment. This is needed to find out the packet flow in redundant
|
||||||
|
* configurations. */
|
||||||
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const uint16 priMAC[3] = { 0x0201, 0x0101, 0x0101 };
|
||||||
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/** Secondary source MAC address used for EtherCAT. */
|
||||||
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const uint16 secMAC[3] = { 0x0604, 0x0404, 0x0404 };
|
||||||
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|
||||||
|
/** 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
|
||||||
|
|
@ -0,0 +1,120 @@
|
||||||
|
/*
|
||||||
|
* 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
|
||||||
|
|
@ -0,0 +1,123 @@
|
||||||
|
/*
|
||||||
|
* 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);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,31 @@
|
||||||
|
/*
|
||||||
|
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||||
|
* LICENSE file in the project root for full license information
|
||||||
|
*/
|
||||||
|
|
||||||
|
/** \file
|
||||||
|
* \brief
|
||||||
|
* Headerfile for ethercatbase.c
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _oshw_
|
||||||
|
#define _oshw_
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#include "ethercattype.h"
|
||||||
|
#include "nicdrv.h"
|
||||||
|
#include "ethercatmain.h"
|
||||||
|
|
||||||
|
uint16 oshw_htons(uint16 hostshort);
|
||||||
|
uint16 oshw_ntohs(uint16 networkshort);
|
||||||
|
ec_adaptert * oshw_find_adapters(void);
|
||||||
|
void oshw_free_adapters(ec_adaptert * adapter);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
||||||
Loading…
Reference in New Issue