2017-01-10 10:06:36 +01:00
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/*
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2017-03-29 07:16:44 +02:00
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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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2017-01-10 10:06:36 +01:00
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*/
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/** \file
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* \brief
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* EtherCAT VxWorks SNARF Mux 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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2019-01-29 11:32:32 +01:00
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* EtherCAT header. The index is stored and compared when a frame is received.
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2017-01-10 10:06:36 +01:00
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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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* If EtherCAT is run in parallel with normal IP traffic and EtherCAT have a
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2019-01-29 11:32:32 +01:00
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* dedicated NIC, instantiate an extra tNetX task and redirect the NIC workQ
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2017-01-10 10:06:36 +01:00
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* to be handle by the extra tNetX task, if needed raise the tNetX task prio.
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2019-01-29 11:32:32 +01:00
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* This prevents from having tNet0 becoming a bottleneck.
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2017-01-10 10:06:36 +01:00
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*
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* The "redundant" option will configure two Mux drivers 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 resend through interface B.
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* This layer if fully transparent for the higher layers.
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*/
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2019-05-24 13:58:41 +02:00
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#include <vxWorks.h>
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2017-01-10 10:06:36 +01:00
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#include <ctype.h>
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#include <string.h>
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2019-05-24 13:58:41 +02:00
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#include <stdio.h>
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#include <muxLib.h>
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2017-01-10 10:06:36 +01:00
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#include <ipProto.h>
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#include <wvLib.h>
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#include "oshw.h"
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#include "osal.h"
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#include "nicdrv.h"
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#define NIC_DEBUG /* Print debugging info? */
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// wvEvent flags
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#define ECAT_RECV_FAILED 0x664
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#define ECAT_RECV_OK 0x665
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#define ECAT_RECV_RETRY_OK 0x666
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#define ECAT_STACK_RECV 0x667
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#define ECAT_SEND_START 0x675
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#define ECAT_SEND_COMPLETE 0x676
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#define ECAT_SEND_FAILED 0x677
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#ifdef NIC_DEBUG
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#define NIC_LOGMSG(x,a,b,c,d,e,f) \
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do { \
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logMsg (x,a,b,c,d,e,f); \
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} while (0)
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#define NIC_WVEVENT(a,b,c) \
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do { \
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wvEvent(a, b, c); \
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} while (0)
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#else
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#define NIC_LOGMSG(x,a,b,c,d,e,f)
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#define NIC_WVEVENT(a,b,c)
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#endif /* NIC_DEBUG */
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#define IF_NAME_SIZE 8
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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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2019-01-29 11:32:32 +01:00
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/** Double redundant NIC connection */
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2017-01-10 10:06:36 +01:00
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ECT_RED_DOUBLE
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};
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/** Primary source MAC address used for EtherCAT.
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* This address is not the MAC address used from the NIC.
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* 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
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* segment. This is needed to find out the packet flow in redundant
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* configurations. */
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const uint16 priMAC[3] = { 0x0101, 0x0101, 0x0101 };
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/** Secondary source MAC address used for EtherCAT. */
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const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 };
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/** second MAC word is used for identification */
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#define RX_PRIM priMAC[1]
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/** second MAC word is used for identification */
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#define RX_SEC secMAC[1]
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/** Receive hook called by Mux driver. */
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static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg);
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static void ecx_clear_rxbufstat(int *rxbufstat)
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{
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int i;
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for(i = 0; i < EC_MAXBUF; i++)
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{
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rxbufstat[i] = EC_BUF_EMPTY;
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}
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}
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void print_nicversion(void)
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{
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printf("Generic is used\n");
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}
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/** Basic setup to connect NIC to socket.
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* @param[in] port = port context struct
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* @param[in] ifname = Name of NIC device, f.e. "gei0"
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* @param[in] secondary = if >0 then use secondary stack instead of primary
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* @return >0 if succeeded
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*/
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int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
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{
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int i;
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char ifn[IF_NAME_SIZE];
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int unit_no = -1;
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ETHERCAT_PKT_DEV * pPktDev;
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2019-01-29 11:32:32 +01:00
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/* Make reference to packet device struct, keep track if the packet
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2017-01-10 10:06:36 +01:00
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* device is the redundant or not.
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*/
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if (secondary)
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{
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pPktDev = &(port->redport->pktDev);
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pPktDev->redundant = 1;
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}
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else
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{
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pPktDev = &(port->pktDev);
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pPktDev->redundant = 0;
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}
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/* Clear frame counters*/
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pPktDev->tx_count = 0;
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pPktDev->rx_count = 0;
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pPktDev->overrun_count = 0;
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/* Create multi-thread support semaphores */
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2019-05-24 13:58:41 +02:00
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port->sem_get_index = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE);
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2017-01-10 10:06:36 +01:00
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/* Get the dev name and unit from ifname
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* We assume form gei1, fei0...
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*/
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memset(ifn,0x0,sizeof(ifn));
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for(i=0; i < strlen(ifname);i++)
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{
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if(isdigit(ifname[i]))
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{
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strncpy(ifn, ifname, i);
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unit_no = atoi(&ifname[i]);
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break;
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}
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}
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/* Detach IP stack */
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//ipDetach(pktDev.unit,pktDev.name);
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pPktDev->port = port;
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/* Bind to mux driver for given interface, include ethercat driver pointer
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* as user reference
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*/
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/* Bind to mux */
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2019-05-24 13:58:41 +02:00
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pPktDev->pCookie = muxBind(ifn,
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unit_no,
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mux_rx_callback,
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NULL,
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NULL,
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NULL,
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MUX_PROTO_SNARF,
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"ECAT SNARF",
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pPktDev);
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2017-01-10 10:06:36 +01:00
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if (pPktDev->pCookie == NULL)
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{
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2019-05-24 13:58:41 +02:00
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/* fail */
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NIC_LOGMSG("ecx_setupnic: muxBind init for gei: %d failed\n",
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unit_no, 2, 3, 4, 5, 6);
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goto exit;
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2017-01-10 10:06:36 +01:00
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}
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/* Get reference tp END obje */
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pPktDev->endObj = endFindByName(ifn, unit_no);
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if (port->pktDev.endObj == NULL)
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{
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2019-05-24 13:58:41 +02:00
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/* fail */
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NIC_LOGMSG("error_hook: endFindByName failed, device gei: %d not found\n",
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unit_no, 2, 3, 4, 5, 6);
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goto exit;
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}
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2017-01-10 10:06:36 +01:00
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if (secondary)
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{
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/* secondary port struct available? */
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if (port->redport)
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{
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port->redstate = ECT_RED_DOUBLE;
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port->redport->stack.txbuf = &(port->txbuf);
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port->redport->stack.txbuflength = &(port->txbuflength);
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port->redport->stack.rxbuf = &(port->redport->rxbuf);
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port->redport->stack.rxbufstat = &(port->redport->rxbufstat);
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port->redport->stack.rxsa = &(port->redport->rxsa);
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/* Create mailboxes for each potential EtherCAT frame index */
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for (i = 0; i < EC_MAXBUF; i++)
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{
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port->redport->msgQId[i] = msgQCreate(1, sizeof(M_BLK_ID), MSG_Q_FIFO);
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if (port->redport->msgQId[i] == MSG_Q_ID_NULL)
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{
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NIC_LOGMSG("ecx_setupnic: Failed to create redundant MsgQ[%d]",
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i, 2, 3, 4, 5, 6);
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goto exit;
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}
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}
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ecx_clear_rxbufstat(&(port->redport->rxbufstat[0]));
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}
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else
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{
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/* fail */
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NIC_LOGMSG("ecx_setupnic: Redundant port not allocated",
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unit_no, 2, 3, 4, 5, 6);
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goto exit;
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}
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}
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else
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{
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port->lastidx = 0;
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port->redstate = ECT_RED_NONE;
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port->stack.txbuf = &(port->txbuf);
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port->stack.txbuflength = &(port->txbuflength);
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port->stack.rxbuf = &(port->rxbuf);
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port->stack.rxbufstat = &(port->rxbufstat);
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port->stack.rxsa = &(port->rxsa);
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/* Create mailboxes for each potential EtherCAT frame index */
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for (i = 0; i < EC_MAXBUF; i++)
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{
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2019-05-24 13:58:41 +02:00
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port->msgQId[i] = msgQCreate(1, sizeof(M_BLK_ID), MSG_Q_FIFO);
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if (port->msgQId[i] == MSG_Q_ID_NULL)
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{
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NIC_LOGMSG("ecx_setupnic: Failed to create MsgQ[%d]",
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i, 2, 3, 4, 5, 6);
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goto exit;
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}
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2017-01-10 10:06:36 +01:00
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}
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ecx_clear_rxbufstat(&(port->rxbufstat[0]));
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}
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/* setup ethernet headers in tx buffers so we don't have to repeat it */
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for (i = 0; i < EC_MAXBUF; i++)
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{
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ec_setupheader(&(port->txbuf[i]));
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port->rxbufstat[i] = EC_BUF_EMPTY;
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}
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ec_setupheader(&(port->txbuf2));
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return 1;
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exit:
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return 0;
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}
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/** Close sockets used
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* @param[in] port = port context struct
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* @return 0
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*/
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int ecx_closenic(ecx_portt *port)
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{
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int i;
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ETHERCAT_PKT_DEV * pPktDev;
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2019-05-24 13:58:41 +02:00
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M_BLK_ID trash_can;
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2017-01-10 10:06:36 +01:00
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pPktDev = &(port->pktDev);
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for (i = 0; i < EC_MAXBUF; i++)
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{
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2019-05-24 13:58:41 +02:00
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if (port->msgQId[i] != MSG_Q_ID_NULL)
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{
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if (msgQReceive(port->msgQId[i],
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(char *)&trash_can,
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sizeof(M_BLK_ID),
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NO_WAIT) != ERROR)
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{
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NIC_LOGMSG("ecx_closenic: idx %d MsgQ close\n", i,
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2, 3, 4, 5, 6);
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/* Free resources */
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netMblkClChainFree(trash_can);
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}
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msgQDelete(port->msgQId[i]);
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2017-01-10 10:06:36 +01:00
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}
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}
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if (pPktDev->pCookie != NULL)
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{
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2019-05-24 13:58:41 +02:00
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muxUnbind(pPktDev->pCookie, MUX_PROTO_SNARF, mux_rx_callback);
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2017-01-10 10:06:36 +01:00
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}
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/* Clean redundant resources if available*/
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if (port->redport)
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{
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pPktDev = &(port->redport->pktDev);
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for (i = 0; i < EC_MAXBUF; i++)
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{
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if (port->redport->msgQId[i] != MSG_Q_ID_NULL)
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{
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2019-05-24 13:58:41 +02:00
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if (msgQReceive(port->redport->msgQId[i],
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(char *)&trash_can,
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sizeof(M_BLK_ID),
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NO_WAIT) != ERROR)
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{
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NIC_LOGMSG("ecx_closenic: idx %d MsgQ close\n", i,
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2, 3, 4, 5, 6);
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/* Free resources */
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netMblkClChainFree(trash_can);
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}
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2017-01-10 10:06:36 +01:00
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msgQDelete(port->redport->msgQId[i]);
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}
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}
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if (pPktDev->pCookie != NULL)
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{
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muxUnbind(pPktDev->pCookie, MUX_PROTO_SNARF, mux_rx_callback);
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}
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}
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return 0;
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}
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/** Fill buffer with ethernet header structure.
|
2019-01-29 11:32:32 +01:00
|
|
|
* Destination MAC is always broadcast.
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|
* Ethertype is always ETH_P_ECAT.
|
2017-01-10 10:06:36 +01:00
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* @param[out] p = buffer
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|
|
*/
|
|
|
|
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;
|
|
|
|
|
|
|
|
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, 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
|
|
|
|
*
|
2019-05-24 13:58:41 +02:00
|
|
|
* @param[in] pPktDev = packet device to send buffer over
|
|
|
|
* @param[in] idx = index in tx buffer array
|
2017-01-10 10:06:36 +01:00
|
|
|
* @param[in] buf = buff to send
|
|
|
|
* @param[in] len = bytes to send
|
|
|
|
* @return driver send result
|
|
|
|
*/
|
2019-05-24 13:58:41 +02:00
|
|
|
static int ec_outfram_send(ETHERCAT_PKT_DEV * pPktDev, int idx, void * buf, int len)
|
2017-01-10 10:06:36 +01:00
|
|
|
{
|
2019-05-24 13:58:41 +02:00
|
|
|
STATUS status = OK;
|
|
|
|
M_BLK_ID pPacket = NULL;
|
|
|
|
int rval = 0;
|
|
|
|
END_OBJ *endObj = (END_OBJ *)pPktDev->endObj;
|
|
|
|
MSG_Q_ID msgQId;
|
2017-01-10 10:06:36 +01:00
|
|
|
|
2019-05-24 13:58:41 +02:00
|
|
|
/* 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)
|
2017-01-10 10:06:36 +01:00
|
|
|
{
|
2019-05-24 13:58:41 +02:00
|
|
|
/* 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;
|
|
|
|
}
|
2017-01-10 10:06:36 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
pPacket->mBlkHdr.mLen = len;
|
2019-05-24 13:58:41 +02:00
|
|
|
pPacket->mBlkHdr.mFlags |= M_PKTHDR;
|
2017-01-10 10:06:36 +01:00
|
|
|
pPacket->mBlkHdr.mData = pPacket->pClBlk->clNode.pClBuf;
|
2019-05-24 13:58:41 +02:00
|
|
|
pPacket->mBlkPktHdr.len = pPacket->m_len;
|
2017-01-10 10:06:36 +01:00
|
|
|
|
|
|
|
netMblkFromBufCopy(pPacket, buf, 0, pPacket->mBlkHdr.mLen, M_DONTWAIT, NULL);
|
2019-05-24 13:58:41 +02:00
|
|
|
status = muxSend(endObj, pPacket);
|
2017-01-10 10:06:36 +01:00
|
|
|
|
|
|
|
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);
|
|
|
|
}
|
|
|
|
|
2018-08-23 07:36:56 +02:00
|
|
|
(*stack->rxbufstat)[idx] = EC_BUF_TX;
|
2019-05-24 13:58:41 +02:00
|
|
|
rval = ec_outfram_send(pPktDev, idx, (char*)(*stack->txbuf)[idx],
|
2017-01-10 10:06:36 +01:00
|
|
|
(*stack->txbuflength)[idx]);
|
|
|
|
if (rval > 0)
|
|
|
|
{
|
|
|
|
port->pktDev.tx_count++;
|
|
|
|
}
|
2018-08-23 07:36:56 +02:00
|
|
|
else
|
|
|
|
{
|
|
|
|
(*stack->rxbufstat)[idx] = EC_BUF_EMPTY;
|
|
|
|
}
|
2017-01-10 10:06:36 +01:00
|
|
|
|
|
|
|
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 */
|
|
|
|
port->redport->rxbufstat[idx] = EC_BUF_TX;
|
2019-05-24 13:58:41 +02:00
|
|
|
rval = ec_outfram_send(&(port->redport->pktDev), idx, &(port->txbuf2), port->txbuflength2);
|
2018-08-23 07:36:56 +02:00
|
|
|
if (rval <= 0)
|
|
|
|
{
|
2019-04-01 09:50:14 +02:00
|
|
|
port->redport->rxbufstat[idx] = EC_BUF_EMPTY;
|
2018-08-23 07:36:56 +02:00
|
|
|
}
|
2019-05-24 13:58:41 +02:00
|
|
|
}
|
2017-01-10 10:06:36 +01:00
|
|
|
|
|
|
|
return rval;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/** Call back routine registered as hook with mux layer 2 driver
|
|
|
|
* @param[in] pCookie = Mux cookie
|
2019-01-29 11:32:32 +01:00
|
|
|
* @param[in] type = received type
|
2017-01-10 10:06:36 +01:00
|
|
|
* @param[in] pMblk = the received packet reference
|
|
|
|
* @param[in] llHdrInfo = header info
|
|
|
|
* @param[in] muxUserArg = assigned reference to packet device when init called
|
2019-01-29 11:32:32 +01:00
|
|
|
* @return TRUE if frame was successfully read and passed to MsgQ
|
2017-01-10 10:06:36 +01:00
|
|
|
*/
|
|
|
|
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;
|
2019-05-24 13:58:41 +02:00
|
|
|
int bufstat;
|
2017-01-10 10:06:36 +01:00
|
|
|
|
|
|
|
/* check if it is an EtherCAT frame */
|
|
|
|
if (type == ETH_P_ECAT)
|
|
|
|
{
|
2019-05-24 13:58:41 +02:00
|
|
|
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,
|
2017-01-10 10:06:36 +01:00
|
|
|
2, 3, 4, 5, 6);
|
2019-05-24 13:58:41 +02:00
|
|
|
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);
|
2017-01-10 10:06:36 +01:00
|
|
|
}
|
2019-05-24 13:58:41 +02:00
|
|
|
status = msgQSend(msgQId,
|
|
|
|
(char *)&pMblk,
|
|
|
|
sizeof(M_BLK_ID),
|
|
|
|
NO_WAIT,
|
|
|
|
MSG_PRI_NORMAL);
|
|
|
|
if (status == OK)
|
2017-01-10 10:06:36 +01:00
|
|
|
{
|
2019-05-24 13:58:41 +02:00
|
|
|
NIC_WVEVENT(ECAT_RECV_RETRY_OK, (char *)&length, sizeof(length));
|
|
|
|
ret = TRUE;
|
2017-01-10 10:06:36 +01:00
|
|
|
}
|
2019-05-24 13:58:41 +02:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
NIC_WVEVENT(ECAT_RECV_FAILED, (char *)&length, sizeof(length));
|
|
|
|
}
|
|
|
|
}
|
2017-01-10 10:06:36 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
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
|
2019-01-29 11:32:32 +01:00
|
|
|
* the frame buffer allocated by the Mux.
|
2017-01-10 10:06:36 +01:00
|
|
|
*
|
|
|
|
* @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)
|
|
|
|
{
|
2019-01-29 11:32:32 +01:00
|
|
|
/* primrx if the received MAC source on primary socket */
|
2017-01-10 10:06:36 +01:00
|
|
|
primrx = 0;
|
|
|
|
if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
|
2019-01-29 11:32:32 +01:00
|
|
|
/* secrx if the received MAC source on psecondary socket */
|
2017-01-10 10:06:36 +01:00
|
|
|
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;
|
|
|
|
}
|
|
|
|
|
2019-01-29 11:32:32 +01:00
|
|
|
/** Blocking send and receive frame function. Used for non processdata frames.
|
2017-01-10 10:06:36 +01:00
|
|
|
* 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
|
|
|
|
{
|
2019-01-29 11:32:32 +01:00
|
|
|
/* normally use partial timeout for rx */
|
2017-01-10 10:06:36 +01:00
|
|
|
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);
|
|
|
|
}
|
|
|
|
|
2019-05-24 13:58:41 +02:00
|
|
|
int ec_inframe(int idx, int stacknumber, int timeout)
|
2017-01-10 10:06:36 +01:00
|
|
|
{
|
2019-05-24 13:58:41 +02:00
|
|
|
return ecx_inframe(&ecx_port, idx, stacknumber, timeout);
|
2017-01-10 10:06:36 +01:00
|
|
|
}
|
|
|
|
|
|
|
|
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
|