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SOEM/oshw/vxworks/nicdrv.c

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/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* 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 received.
* If there is a match the packet can be combined with the transmit packet
* and returned to the higher level function.
*
* If EtherCAT is run in parallel with normal IP traffic and EtherCAT have a
* dedicated NIC, instantiate an extra tNetX task and redirect the NIC workQ
* to be handle by the extra tNetX task, if needed raise the tNetX task prio.
* This prevents from having tNet0 becoming a bottleneck.
*
* The "redundant" option will configure two Mux drivers and two NIC interfaces.
* Slaves are connected to both interfaces, one on the IN port and one on the
* 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 <vxWorks.h>
#include <ctype.h>
#include <string.h>
#include <stdio.h>
#include <muxLib.h>
#include <ipProto.h>
#include <wvLib.h>
#include <sysLib.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 connection */
ECT_RED_DOUBLE
};
/** Primary source MAC address used for EtherCAT.
* This address is not the MAC address used from the NIC.
* EtherCAT does not care about MAC addressing, but it is used here to
* differentiate the route the packet traverses through the EtherCAT
* segment. This is needed to find out the packet flow in redundant
* configurations. */
const uint16 priMAC[3] = { 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]
/* usec per tick for timeconversion, default to 1kHz */
#define USECS_PER_SEC 1000000
static unsigned int usec_per_tick = 1000;
/** 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;
/* Get systick info, sysClkRateGet return ticks per second */
usec_per_tick = USECS_PER_SEC / sysClkRateGet();
/* Don't allow 0 since it is used in DIV */
if(usec_per_tick == 0)
usec_per_tick = 1;
/* Make reference 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 = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE);
/* 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;
M_BLK_ID trash_can;
pPktDev = &(port->pktDev);
for (i = 0; i < EC_MAXBUF; i++)
{
if (port->msgQId[i] != MSG_Q_ID_NULL)
{
if (msgQReceive(port->msgQId[i],
(char *)&trash_can,
sizeof(M_BLK_ID),
NO_WAIT) != ERROR)
{
NIC_LOGMSG("ecx_closenic: idx %d MsgQ close\n", i,
2, 3, 4, 5, 6);
/* Free resources */
netMblkClChainFree(trash_can);
}
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)
{
if (msgQReceive(port->redport->msgQId[i],
(char *)&trash_can,
sizeof(M_BLK_ID),
NO_WAIT) != ERROR)
{
NIC_LOGMSG("ecx_closenic: idx %d MsgQ close\n", i,
2, 3, 4, 5, 6);
/* Free resources */
netMblkClChainFree(trash_can);
}
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 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.
*/
uint8 ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
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;
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, uint8 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] idx = index in tx buffer array
* @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, uint8 idx, void * buf, int len)
{
STATUS status = OK;
M_BLK_ID pPacket = NULL;
int rval = 0;
END_OBJ *endObj = (END_OBJ *)pPktDev->endObj;
MSG_Q_ID msgQId;
/* Clean up any abandoned frames and re-use the allocated buffer*/
msgQId = pPktDev->port->msgQId[idx];
if(msgQNumMsgs(msgQId) > 0)
{
pPktDev->abandoned_count++;
NIC_LOGMSG("ec_outfram_send: idx %d MsgQ abandoned\n", idx,
2, 3, 4, 5, 6);
if (msgQReceive(msgQId,
(char *)&pPacket,
sizeof(M_BLK_ID),
NO_WAIT) == ERROR)
{
pPacket = NULL;
NIC_LOGMSG("ec_outfram_send: idx %d MsgQ mBlk handled by receiver\n", idx,
2, 3, 4, 5, 6);
}
}
if (pPacket == NULL)
{
/* Allocate m_blk to send */
if ((pPacket = netTupleGet(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_PKTHDR;
pPacket->mBlkHdr.mData = pPacket->pClBlk->clNode.pClBuf;
pPacket->mBlkPktHdr.len = pPacket->m_len;
netMblkFromBufCopy(pPacket, buf, 0, pPacket->mBlkHdr.mLen, M_DONTWAIT, NULL);
status = muxSend(endObj, pPacket);
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, uint8 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);
}
(*stack->rxbufstat)[idx] = EC_BUF_TX;
rval = ec_outfram_send(pPktDev, idx, (char*)(*stack->txbuf)[idx],
(*stack->txbuflength)[idx]);
if (rval > 0)
{
port->pktDev.tx_count++;
}
else
{
(*stack->rxbufstat)[idx] = EC_BUF_EMPTY;
}
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, uint8 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 */
port->redport->rxbufstat[idx] = EC_BUF_TX;
rval = ec_outfram_send(&(port->redport->pktDev), idx, &(port->txbuf2), port->txbuflength2);
if (rval <= 0)
{
port->redport->rxbufstat[idx] = EC_BUF_EMPTY;
}
}
return rval;
}
/** Call back routine registered as hook with mux layer 2 driver
* @param[in] pCookie = Mux cookie
* @param[in] type = received type
* @param[in] pMblk = the received packet reference
* @param[in] llHdrInfo = header info
* @param[in] muxUserArg = assigned reference to packet device when init called
* @return TRUE if frame was successfully read and passed to MsgQ
*/
static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg)
{
BOOL ret = FALSE;
uint8 idxf;
ec_comt *ecp;
ec_bufT * tempbuf;
ecx_portt * port;
MSG_Q_ID msgQId;
ETHERCAT_PKT_DEV * pPktDev;
int length;
int bufstat;
/* 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)
{
bufstat = port->redport->rxbufstat[idxf];
msgQId = port->redport->msgQId[idxf];
}
else
{
bufstat = port->rxbufstat[idxf];
msgQId = port->msgQId[idxf];
}
/* Check length and if someone expects the frame */
if (length > 0 && bufstat == EC_BUF_TX)
{
/* Post the frame to the receive 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) != ERROR)
{
/* 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, uint8 idx, int stacknumber, M_BLK_ID * pMblk, int timeout)
{
int bytesrx = 0;
MSG_Q_ID msgQId;
int tick_timeout = max((timeout / usec_per_tick), 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 allocated 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, uint8 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, uint8 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 received MAC source on primary socket */
primrx = 0;
if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
/* secrx if the received MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
/* primary socket got secondary frame and secondary socket got primary frame */
/* normal situation in redundant mode */
if ( ((primrx == RX_SEC) && (secrx == RX_PRIM)) )
{
/* copy secondary buffer to primary */
memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
wkc = wkc2;
}
/* primary socket got nothing or primary frame, and secondary socket got secondary frame */
/* we need to resend TX packet */
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
{
/* If both primary and secondary have partial connection retransmit the primary received
* frame over the secondary socket. The result from the secondary received frame is a combined
* frame that traversed all slaves in standard order. */
if ( (primrx == RX_PRIM) && (secrx == RX_SEC) )
{
/* copy primary rx to tx buffer */
memcpy(&(port->txbuf[idx][ETH_HEADERSIZE]), &(port->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
}
osal_timer_start (&timer2, EC_TIMEOUTRET);
/* resend secondary tx */
ecx_outframe(port, idx, 1);
do
{
/* retrieve frame */
wkc2 = ecx_inframe(port, idx, 1, 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, uint8 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 receive frame function. Used for non processdata frames.
* A datagram is build into a frame and transmitted via this function. It waits
* for an answer and returns the workcounter. The function retries if time is
* left and the result is WKC=0 or no frame received.
*
* The function calls ec_outframe_red() and ec_waitinframe_red().
*
* @param[in] port = port context struct
* @param[in] idx = index of frame
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
osal_timer_start (&timer1, timeout);
do
{
/* tx frame on primary and if in redundant mode a dummy on secondary */
ecx_outframe_red(port, idx);
if (timeout < EC_TIMEOUTRET)
{
osal_timer_start (&timer2, timeout);
}
else
{
/* normally use partial timeout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
}
/* get frame from primary or if in redundant mode possibly from secondary */
wkc = ecx_waitinframe_red(port, idx, &timer2, 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);
}
uint8 ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber, int timeout)
{
return ecx_inframe(&ecx_port, idx, stacknumber, timeout);
}
int ec_waitinframe(uint8 idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}
#endif
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