Merge 11b461f7f5 into 812403783c
thepyper
GitHub
commit
268b736443
|
|
@ -0,0 +1,3 @@
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|||
[submodule "libs/circle-stdlib"]
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path = libs/circle-stdlib
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url = https://github.com/smuehlst/circle-stdlib.git
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@ -1,6 +1,6 @@
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|||
cmake_minimum_required(VERSION 2.8.4)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules")
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project(SOEM C)
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project(SOEM C CXX)
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if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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# Default to installing in SOEM source directory
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@ -48,13 +48,23 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
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set(OS "rtems")
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set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
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set(BUILD_TESTS FALSE)
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elseif(${CMAKE_SYSTEM_NAME} MATCHES "circle")
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set(OS "circle")
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set(CMAKE_C_COMPILER arm-none-eabi-gcc)
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set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DAARCH=32 -march=armv8-a -mtune=cortex-a53 -marm -mfpu=neon-fp-armv8 -mfloat-abi=hard")
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||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DAARCH=32 -march=armv8-a -mtune=cortex-a53 -marm -mfpu=neon-fp-armv8 -mfloat-abi=hard")
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include_directories(./libs/circle-stdlib/libs/circle/include)
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include_directories(./libs/circle-stdlib/libs/circle-newlib/include)
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include_directories(./libs/circle-stdlib/libs/circle-newlib/newlib/libc/include)
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include_directories(./libs/circle-stdlib/libs/circle-newlib/newlib/libm/include)
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endif()
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message("OS is ${OS}")
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file(GLOB SOEM_SOURCES soem/*.c)
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file(GLOB OSAL_SOURCES osal/${OS}/*.c)
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file(GLOB OSHW_SOURCES oshw/${OS}/*.c)
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file(GLOB OSAL_SOURCES osal/${OS}/*.c osal/${OS}/*.cpp)
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file(GLOB OSHW_SOURCES oshw/${OS}/*.c oshw/${OS}/*.cpp)
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file(GLOB SOEM_HEADERS soem/*.h)
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file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
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@ -81,7 +91,9 @@ install(FILES
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${OSHW_HEADERS}
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DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})
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if(BUILD_TESTS)
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if(${OS} MATCHES "circle")
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elseif(BUILD_TESTS)
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add_subdirectory(test/linux/slaveinfo)
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add_subdirectory(test/linux/eepromtool)
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add_subdirectory(test/linux/simple_test)
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|
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@ -0,0 +1,26 @@
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#execute in a MSYS2-MINGW32 shell, with arm-none-eabi-gcc already in path.
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#export PATH=$PATH:/h/Qt/gcc-arm-none-eabi-8-2018-q4-major-win32/bin
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|
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if [ "$1" == "" ]; then
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#/h/Qt/gcc-arm-none-eabi-8-2018-q4-major-win32/lib/gcc/arm-none-eabi/8.2.1/include
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echo "Usage: build_rpi_3.sh <path to stddef.h>"
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exit
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fi
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export HOMEDIR=$PWD
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cd $HOMEDIR/libs/circle-stdlib
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./configure -r 3 -s $1
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make
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cd $HOMEDIR
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mkdir build
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cd build
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cmake -D CMAKE_SYSTEM_NAME=circle ../
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make
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@ -0,0 +1 @@
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Subproject commit dda16112cdb5470240cd51fb33bf72b311634340
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@ -0,0 +1,137 @@
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#include "cethercatmaster.h"
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#include <circle/sched/scheduler.h>
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#include <circle/synchronize.h>
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#include <circle/timer.h>
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#include <circle/types.h>
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#include <circle/alloc.h>
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#include <assert.h>
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#include <osal.h>
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#include <time.h>
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CEtherCATMaster *_instance = 0L;
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CEtherCATMaster::CEtherCATMaster(bool use_scheduler)
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: _use_scheduler(use_scheduler)
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{
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// Cannot create more than one instance
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assert(_instance == 0L);
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|
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_instance = this;
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}
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bool CEtherCATMaster::IsSchedulerFriendly() const
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{
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return _use_scheduler;
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}
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bool CEtherCATMaster::IsActive()
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{
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return (_instance != 0L);
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}
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|
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CEtherCATMaster *CEtherCATMaster::Get()
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{
|
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assert(_instance != 0L);
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|
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return _instance;
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}
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||||
|
||||
int osal_usleep(uint32 usec)
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{
|
||||
if (!CScheduler::IsActive()) {
|
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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} else if (!CEtherCATMaster::IsActive()) {
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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} else if (!CEtherCATMaster::Get()->IsSchedulerFriendly()) {
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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||||
} else {
|
||||
// Scheduler-friendly sleep
|
||||
CScheduler::Get()->usSleep(usec);
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}
|
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return 0;
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||||
}
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||||
|
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static long long get_monotonic_clock()
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{
|
||||
// Copied from circle's timer, using both words to get 64bit monotonic clock
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InstructionSyncBarrier();
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|
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u32 nCNTPCTLow, nCNTPCTHigh;
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asm volatile ("mrrc p15, 0, %0, %1, c14" : "=r" (nCNTPCTLow), "=r" (nCNTPCTHigh));
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return (((long long)nCNTPCTHigh) << 32) | nCNTPCTLow;
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}
|
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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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long long usec = get_monotonic_clock();
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|
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tv->tv_sec = usec / 1000000LL;
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||||
tv->tv_usec = usec % 1000000LL;
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return 0;
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}
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||||
|
||||
ec_timet osal_current_time(void)
|
||||
{
|
||||
struct timeval current_time;
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ec_timet return_value;
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|
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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)
|
||||
{
|
||||
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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||||
} else {
|
||||
diff->sec = end->sec - start->sec;
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||||
diff->usec = end->usec - start->usec;
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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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long long stop_time_usec = get_monotonic_clock() + (long long)timeout_usec;
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|
||||
self->stop_time.sec = stop_time_usec / 1000000LL;
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self->stop_time.usec = stop_time_usec % 1000000LL;
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}
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||||
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||||
boolean osal_timer_is_expired(osal_timert * self)
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||||
{
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long long now_usec = get_monotonic_clock();
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long long stop_time_usec = self->stop_time.sec * 1000000LL + self->stop_time.usec;
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return (now_usec >= stop_time_usec);
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}
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||||
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void *osal_malloc(size_t size)
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||||
{
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||||
// Use circle's malloc
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||||
return malloc(size);
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||||
}
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||||
|
||||
void osal_free(void *ptr)
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{
|
||||
// Use circle's free
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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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||||
{
|
||||
// Not supported
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||||
return 0;
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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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||||
{
|
||||
// Not supported
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||||
return 0;
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||||
}
|
||||
|
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@ -0,0 +1,19 @@
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#ifndef CETHERCATMASTER_H
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#define CETHERCATMASTER_H
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class CEtherCATMaster
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{
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public:
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CEtherCATMaster(bool use_scheduler);
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bool IsSchedulerFriendly() const;
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|
||||
static bool IsActive();
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static CEtherCATMaster* Get();
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private:
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bool _use_scheduler;
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};
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#endif // CETHERCATMASTER_H
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@ -0,0 +1,102 @@
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#include <circle/sched/scheduler.h>
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#include <circle/synchronize.h>
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#include <circle/timer.h>
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#include <circle/types.h>
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#include <circle/alloc.h>
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#include <assert.h>
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#include <osal.h>
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#include <time.h>
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||||
|
||||
int osal_usleep(uint32 usec)
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||||
{
|
||||
if (CScheduler::IsActive()) {
|
||||
// Scheduler-friendly sleep
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||||
CScheduler::Get()->usSleep(usec);
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||||
} else {
|
||||
// Busy-waiting sleep
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||||
CTimer::SimpleusDelay(usec);
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||||
}
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||||
return 0;
|
||||
}
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||||
|
||||
static long long get_monotonic_clock()
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||||
{
|
||||
// Copied from circle's timer, using both words to get 64bit monotonic clock
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InstructionSyncBarrier();
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||||
|
||||
u32 nCNTPCTLow, nCNTPCTHigh;
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asm volatile ("mrrc p15, 0, %0, %1, c14" : "=r" (nCNTPCTLow), "=r" (nCNTPCTHigh));
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|
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return (((long long)nCNTPCTHigh) << 32) | nCNTPCTLow;
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||||
}
|
||||
|
||||
int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
|
||||
{
|
||||
long long usec = get_monotonic_clock();
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|
||||
tv->tv_sec = usec / 1000000LL;
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||||
tv->tv_usec = usec % 1000000LL;
|
||||
return 0;
|
||||
}
|
||||
|
||||
ec_timet osal_current_time(void)
|
||||
{
|
||||
struct timeval current_time;
|
||||
ec_timet return_value;
|
||||
|
||||
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;
|
||||
return return_value;
|
||||
}
|
||||
|
||||
void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
|
||||
{
|
||||
if (end->usec < start->usec) {
|
||||
diff->sec = end->sec - start->sec - 1;
|
||||
diff->usec = end->usec + 1000000 - start->usec;
|
||||
} else {
|
||||
diff->sec = end->sec - start->sec;
|
||||
diff->usec = end->usec - start->usec;
|
||||
}
|
||||
}
|
||||
|
||||
void osal_timer_start(osal_timert * self, uint32 timeout_usec)
|
||||
{
|
||||
long long stop_time_usec = get_monotonic_clock() + (long long)timeout_usec;
|
||||
|
||||
self->stop_time.sec = stop_time_usec / 1000000LL;
|
||||
self->stop_time.usec = stop_time_usec % 1000000LL;
|
||||
}
|
||||
|
||||
boolean osal_timer_is_expired(osal_timert * self)
|
||||
{
|
||||
long long now_usec = get_monotonic_clock();
|
||||
long long stop_time_usec = self->stop_time.sec * 1000000LL + self->stop_time.usec;
|
||||
|
||||
return (now_usec >= stop_time_usec);
|
||||
}
|
||||
|
||||
void *osal_malloc(size_t size)
|
||||
{
|
||||
// Use circle's malloc
|
||||
return malloc(size);
|
||||
}
|
||||
|
||||
void osal_free(void *ptr)
|
||||
{
|
||||
// Use circle's free
|
||||
free(ptr);
|
||||
}
|
||||
|
||||
int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
|
||||
{
|
||||
// Not supported
|
||||
return 0;
|
||||
}
|
||||
|
||||
int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
|
||||
{
|
||||
// Not supported
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#ifndef _osal_defs_
|
||||
#define _osal_defs_
|
||||
|
||||
#include <circle/types.h>
|
||||
#include <circle/macros.h>
|
||||
|
||||
#define _osal_defs_circle_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// define if debug printf is needed
|
||||
//#define EC_DEBUG
|
||||
|
||||
#ifdef EC_DEBUG
|
||||
#define EC_PRINT printf
|
||||
#else
|
||||
#define EC_PRINT(...) do {} while (0)
|
||||
#endif
|
||||
|
||||
#ifndef PACKED_BEGIN
|
||||
#define PACKED_BEGIN
|
||||
#endif
|
||||
|
||||
#ifndef PACKED_END
|
||||
#define PACKED_END
|
||||
#endif
|
||||
|
||||
#define OSAL_THREAD_HANDLE void *
|
||||
#define OSAL_THREAD_FUNC void
|
||||
#define OSAL_THREAD_FUNC_RT void
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -15,9 +15,12 @@ extern "C"
|
|||
#include <stdint.h>
|
||||
|
||||
/* General types */
|
||||
#ifndef _osal_defs_circle_
|
||||
typedef uint8_t boolean;
|
||||
#define TRUE 1
|
||||
#define FALSE 0
|
||||
#endif // _osal_defs_circle_
|
||||
|
||||
typedef int8_t int8;
|
||||
typedef int16_t int16;
|
||||
typedef int32_t int32;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,579 @@
|
|||
/*
|
||||
* 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 RAW socket driver.
|
||||
*
|
||||
* Low level interface functions to send and receive EtherCAT packets.
|
||||
* EtherCAT has the property that packets are only send by the master,
|
||||
* and the send packets always return in the receive buffer.
|
||||
* 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.
|
||||
*
|
||||
* The socket layer can exhibit a reversal in the packet order (rare).
|
||||
* If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer
|
||||
* will reorder the packets automatically.
|
||||
*
|
||||
* The "redundant" option will configure two sockets 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 resent through interface B.
|
||||
* This layer if fully transparent for the higher layers.
|
||||
*/
|
||||
|
||||
#include "osal.h"
|
||||
#include "oshw.h"
|
||||
#include "ethercattype.h"
|
||||
#include <circle/devicenameservice.h>
|
||||
#include <circle/usb/netdevice.h>
|
||||
#include <string.h>
|
||||
|
||||
/** Redundancy modes */
|
||||
enum
|
||||
{
|
||||
/** No redundancy, single NIC mode */
|
||||
ECT_RED_NONE,
|
||||
/** Double redundant NIC connecetion */
|
||||
ECT_RED_DOUBLE
|
||||
};
|
||||
|
||||
static void ecx_clear_rxbufstat(int *rxbufstat)
|
||||
{
|
||||
int i;
|
||||
for(i = 0; i < EC_MAXBUF; i++)
|
||||
{
|
||||
rxbufstat[i] = EC_BUF_EMPTY;
|
||||
}
|
||||
}
|
||||
|
||||
/** 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]
|
||||
|
||||
/** 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;
|
||||
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(CDeviceNameService::Get()->GetDevice(ifname, FALSE));
|
||||
if (!nd)
|
||||
return 0;
|
||||
|
||||
// TODO any support for redundancy make sense? rpi has 1 native port, then now no support.
|
||||
if (secondary)
|
||||
return 0;
|
||||
|
||||
port->device = nd;
|
||||
port->lastidx = 0;
|
||||
port->redstate = ECT_RED_NONE;
|
||||
port->stack.device = &(port->device);
|
||||
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]));
|
||||
|
||||
/* we use RAW packet socket, with packet type ETH_P_ECAT */
|
||||
/* set flags of NIC interface, here promiscuous and broadcast */
|
||||
//TODO ifr.ifr_flags = ifr.ifr_flags | IFF_PROMISC | IFF_BROADCAST;
|
||||
|
||||
/* 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;
|
||||
}
|
||||
|
||||
/** Close sockets used
|
||||
* @param[in] port = port context struct
|
||||
* @return 0
|
||||
*/
|
||||
int ecx_closenic(ecx_portt *port)
|
||||
{
|
||||
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 = reinterpret_cast< ec_etherheadert* >(p);
|
||||
bp->da0 = oshw_htons(0xffff);
|
||||
bp->da1 = oshw_htons(0xffff);
|
||||
bp->da2 = oshw_htons(0xffff);
|
||||
bp->sa0 = oshw_htons(priMAC[0]);
|
||||
bp->sa1 = oshw_htons(priMAC[1]);
|
||||
bp->sa2 = oshw_htons(priMAC[2]);
|
||||
bp->etype = oshw_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;
|
||||
|
||||
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;
|
||||
|
||||
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;
|
||||
ec_stackT *stack;
|
||||
|
||||
if (!stacknumber)
|
||||
{
|
||||
stack = &(port->stack);
|
||||
}
|
||||
else
|
||||
{
|
||||
stack = &(port->redport->stack);
|
||||
}
|
||||
lp = (*stack->txbuflength)[idx];
|
||||
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(*stack->device);
|
||||
boolean rval = nd->SendFrame((*stack->txbuf)[idx], lp);
|
||||
(*stack->rxbufstat)[idx] = EC_BUF_TX;
|
||||
|
||||
return rval ? lp : -1;
|
||||
}
|
||||
|
||||
/** 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 = oshw_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 = oshw_htons(secMAC[1]);
|
||||
/* transmit over secondary socket */
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(port->redport->device);
|
||||
nd->SendFrame(&(port->txbuf2), port->txbuflength2);
|
||||
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;
|
||||
unsigned bytesrx;
|
||||
ec_stackT *stack;
|
||||
|
||||
if (!stacknumber)
|
||||
{
|
||||
stack = &(port->stack);
|
||||
}
|
||||
else
|
||||
{
|
||||
stack = &(port->redport->stack);
|
||||
}
|
||||
lp = sizeof(port->tempinbuf);
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(*stack->device);
|
||||
boolean rval = nd->ReceiveFrame((*stack->tempbuf), &bytesrx);
|
||||
port->tempinbufs = bytesrx;
|
||||
|
||||
return rval && (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_buf_circleT *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
|
||||
{
|
||||
/* non blocking call to retrieve frame from socket */
|
||||
if (ecx_recvpkt(port, stacknumber))
|
||||
{
|
||||
rval = EC_OTHERFRAME;
|
||||
ehp =(ec_etherheadert*)(stack->tempbuf);
|
||||
/* check if it is an EtherCAT frame */
|
||||
if (ehp->etype == oshw_htons(ETH_P_ECAT))
|
||||
{
|
||||
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
|
||||
l = etohs(ecp->elength) & 0x0fff;
|
||||
idxf = ecp->index;
|
||||
/* found index equals reqested index ? */
|
||||
if (idxf == idx)
|
||||
{
|
||||
/* yes, put it in the buffer array (strip ethernet header) */
|
||||
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
|
||||
/* 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] = oshw_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] = oshw_ntohs(ehp->sa1);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* strange things happend */
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* 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.cpp
|
||||
*/
|
||||
|
||||
#ifndef _nicdrvh_
|
||||
#define _nicdrvh_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// CNetDevice requires buffer size 1600
|
||||
#define FRAME_BUFFER_SIZE 1600
|
||||
|
||||
typedef uint8 ec_buf_circleT[FRAME_BUFFER_SIZE];
|
||||
|
||||
/** pointer structure to Tx and Rx stacks */
|
||||
typedef struct
|
||||
{
|
||||
/** socket connection used */
|
||||
void **device;
|
||||
/** tx buffer */
|
||||
ec_buf_circleT (*txbuf)[EC_MAXBUF];
|
||||
/** tx buffer lengths */
|
||||
int (*txbuflength)[EC_MAXBUF];
|
||||
/** temporary receive buffer */
|
||||
ec_buf_circleT *tempbuf;
|
||||
/** rx buffers */
|
||||
ec_buf_circleT (*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;
|
||||
void *device;
|
||||
/** rx buffers */
|
||||
ec_buf_circleT rxbuf[EC_MAXBUF];
|
||||
/** rx buffer status */
|
||||
int rxbufstat[EC_MAXBUF];
|
||||
/** rx MAC source address */
|
||||
int rxsa[EC_MAXBUF];
|
||||
/** temporary rx buffer */
|
||||
ec_buf_circleT tempinbuf;
|
||||
} ecx_redportt;
|
||||
|
||||
/** pointer structure to buffers, vars and mutexes for port instantiation */
|
||||
typedef struct
|
||||
{
|
||||
ec_stackT stack;
|
||||
void *device;
|
||||
/** rx buffers */
|
||||
ec_buf_circleT rxbuf[EC_MAXBUF];
|
||||
/** rx buffer status */
|
||||
int rxbufstat[EC_MAXBUF];
|
||||
/** rx MAC source address */
|
||||
int rxsa[EC_MAXBUF];
|
||||
/** temporary rx buffer */
|
||||
ec_buf_circleT tempinbuf;
|
||||
/** temporary rx buffer status */
|
||||
int tempinbufs;
|
||||
/** transmit buffers */
|
||||
ec_buf_circleT txbuf[EC_MAXBUF];
|
||||
/** transmit buffer lenghts */
|
||||
int txbuflength[EC_MAXBUF];
|
||||
/** temporary tx buffer */
|
||||
ec_buf_circleT 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;
|
||||
} 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 +1,56 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <machine/endian.h>
|
||||
#include <osal.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)
|
||||
{
|
||||
// TODO might use devicenameservice.h to check if eth1,eth2,ethX exist!
|
||||
// TODO should return a copy of this, const-ness not guaranteed!
|
||||
static ec_adaptert _s_native_eth = {
|
||||
"eth0",
|
||||
"native ethernet",
|
||||
0L
|
||||
};
|
||||
|
||||
return &_s_native_eth;
|
||||
}
|
||||
|
||||
/** 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)
|
||||
{
|
||||
}
|
||||
|
|
@ -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
|
||||
|
|
@ -0,0 +1,13 @@
|
|||
TESTING SAMPLES ON RASPBERRY PI 3
|
||||
|
||||
To test a sample on Raspberry Pi 3, for example "slaveinfo", you need to:
|
||||
|
||||
- compile the slaveinfo sample, using "make",
|
||||
you need arm-none-eabi- toolchain being in your PATH;
|
||||
this will generate the kernel8-32.img file.
|
||||
|
||||
- copy all content of the "boot/" directory into an empty SD-card;
|
||||
|
||||
- copy "kernel8-32.img" into the SD-card;
|
||||
|
||||
Now your SD-card should be bootable.
|
||||
|
|
@ -0,0 +1,30 @@
|
|||
Copyright (c) 2006, Broadcom Corporation.
|
||||
Copyright (c) 2015, Raspberry Pi (Trading) Ltd
|
||||
All rights reserved.
|
||||
|
||||
Redistribution. Redistribution and use in binary form, without
|
||||
modification, are permitted provided that the following conditions are
|
||||
met:
|
||||
|
||||
* This software may only be used for the purposes of developing for,
|
||||
running or using a Raspberry Pi device.
|
||||
* Redistributions must reproduce the above copyright notice and the
|
||||
following disclaimer in the documentation and/or other materials
|
||||
provided with the distribution.
|
||||
* Neither the name of Broadcom Corporation nor the names of its suppliers
|
||||
may be used to endorse or promote products derived from this software
|
||||
without specific prior written permission.
|
||||
|
||||
DISCLAIMER. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
|
||||
CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
|
||||
BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
|
||||
FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
|
||||
TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
|
||||
USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
|
||||
DAMAGE.
|
||||
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
#
|
||||
# Download the firmware files to be required for boot (requires wget)
|
||||
#
|
||||
# These files must be copied along with the generated kernel.img
|
||||
# onto a SD(HC) card with FAT file system.
|
||||
#
|
||||
|
||||
all: clean
|
||||
wget -q -O LICENCE.broadcom https://github.com/raspberrypi/firmware/blob/master/boot/LICENCE.broadcom?raw=true
|
||||
wget -q -O bootcode.bin https://github.com/raspberrypi/firmware/blob/master/boot/bootcode.bin?raw=true
|
||||
wget -q -O fixup.dat https://github.com/raspberrypi/firmware/blob/master/boot/fixup.dat?raw=true
|
||||
wget -q -O start.elf https://github.com/raspberrypi/firmware/blob/master/boot/start.elf?raw=true
|
||||
|
||||
clean:
|
||||
rm -f bootcode.bin fixup.dat start.elf LICENCE.broadcom
|
||||
Binary file not shown.
|
|
@ -0,0 +1,5 @@
|
|||
kernel=kernel8-32.img
|
||||
kernel_address=0x00000000
|
||||
enable_uart=1
|
||||
init_uart_baud=115200
|
||||
init_uart_clock=3000000
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,2 @@
|
|||
*.o
|
||||
kernel8*
|
||||
|
|
@ -0,0 +1,27 @@
|
|||
#
|
||||
# Makefile
|
||||
#
|
||||
|
||||
CIRCLEHOME = ../../../libs/circle-stdlib/libs/circle
|
||||
NEWLIBDIR = ../../../libs/circle-stdlib/install/arm-none-circle
|
||||
SOEMBUILDDIR = ../../../build
|
||||
SOEMSRCDIR = ../../../
|
||||
|
||||
OBJS = main.o kernel.o
|
||||
|
||||
include $(CIRCLEHOME)/Rules.mk
|
||||
|
||||
CFLAGS += -I "$(NEWLIBDIR)/include" -I $(STDDEF_INCPATH) \
|
||||
-I $(SOEMSRCDIR)/soem \
|
||||
-I $(SOEMSRCDIR)/osal -I $(SOEMSRCDIR)/osal/circle \
|
||||
-I $(SOEMSRCDIR)/oshw -I $(SOEMSRCDIR)/oshw/circle
|
||||
LIBS := $(SOEMBUILDDIR)/libsoem.a \
|
||||
"$(NEWLIBDIR)/lib/libm.a" "$(NEWLIBDIR)/lib/libc.a" "$(NEWLIBDIR)/lib/libcirclenewlib.a" \
|
||||
$(CIRCLEHOME)/addon/SDCard/libsdcard.a \
|
||||
$(CIRCLEHOME)/lib/usb/libusb.a \
|
||||
$(CIRCLEHOME)/lib/input/libinput.a \
|
||||
$(CIRCLEHOME)/lib/fs/fat/libfatfs.a \
|
||||
$(CIRCLEHOME)/lib/fs/libfs.a \
|
||||
$(CIRCLEHOME)/lib/net/libnet.a \
|
||||
$(CIRCLEHOME)/lib/sched/libsched.a \
|
||||
$(CIRCLEHOME)/lib/libcircle.a
|
||||
|
|
@ -0,0 +1,724 @@
|
|||
//
|
||||
// kernel.cpp
|
||||
//
|
||||
// This program is free software: you can redistribute it and/or modify
|
||||
// it under the terms of the GNU General Public License as published by
|
||||
// the Free Software Foundation, either version 3 of the License, or
|
||||
// (at your option) any later version.
|
||||
//
|
||||
// This program is distributed in the hope that it will be useful,
|
||||
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
// GNU General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the GNU General Public License
|
||||
// along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
//
|
||||
#include "kernel.h"
|
||||
#include <circle/usb/usb.h>
|
||||
#include <circle/usb/netdevice.h>
|
||||
#include <circle/usb/macaddress.h>
|
||||
#include <circle/string.h>
|
||||
#include <circle/macros.h>
|
||||
#include <circle/debug.h>
|
||||
#include <assert.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <math.h>
|
||||
#include <stdlib.h>
|
||||
#include <errno.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "ethercat.h"
|
||||
|
||||
char IOmap[4096];
|
||||
ec_ODlistt ODlist;
|
||||
ec_OElistt OElist;
|
||||
boolean printSDO = FALSE;
|
||||
boolean printMAP = FALSE;
|
||||
char usdo[128];
|
||||
char hstr[1024];
|
||||
|
||||
char* dtype2string(uint16 dtype)
|
||||
{
|
||||
switch(dtype)
|
||||
{
|
||||
case ECT_BOOLEAN:
|
||||
sprintf(hstr, "BOOLEAN");
|
||||
break;
|
||||
case ECT_INTEGER8:
|
||||
sprintf(hstr, "INTEGER8");
|
||||
break;
|
||||
case ECT_INTEGER16:
|
||||
sprintf(hstr, "INTEGER16");
|
||||
break;
|
||||
case ECT_INTEGER32:
|
||||
sprintf(hstr, "INTEGER32");
|
||||
break;
|
||||
case ECT_INTEGER24:
|
||||
sprintf(hstr, "INTEGER24");
|
||||
break;
|
||||
case ECT_INTEGER64:
|
||||
sprintf(hstr, "INTEGER64");
|
||||
break;
|
||||
case ECT_UNSIGNED8:
|
||||
sprintf(hstr, "UNSIGNED8");
|
||||
break;
|
||||
case ECT_UNSIGNED16:
|
||||
sprintf(hstr, "UNSIGNED16");
|
||||
break;
|
||||
case ECT_UNSIGNED32:
|
||||
sprintf(hstr, "UNSIGNED32");
|
||||
break;
|
||||
case ECT_UNSIGNED24:
|
||||
sprintf(hstr, "UNSIGNED24");
|
||||
break;
|
||||
case ECT_UNSIGNED64:
|
||||
sprintf(hstr, "UNSIGNED64");
|
||||
break;
|
||||
case ECT_REAL32:
|
||||
sprintf(hstr, "REAL32");
|
||||
break;
|
||||
case ECT_REAL64:
|
||||
sprintf(hstr, "REAL64");
|
||||
break;
|
||||
case ECT_BIT1:
|
||||
sprintf(hstr, "BIT1");
|
||||
break;
|
||||
case ECT_BIT2:
|
||||
sprintf(hstr, "BIT2");
|
||||
break;
|
||||
case ECT_BIT3:
|
||||
sprintf(hstr, "BIT3");
|
||||
break;
|
||||
case ECT_BIT4:
|
||||
sprintf(hstr, "BIT4");
|
||||
break;
|
||||
case ECT_BIT5:
|
||||
sprintf(hstr, "BIT5");
|
||||
break;
|
||||
case ECT_BIT6:
|
||||
sprintf(hstr, "BIT6");
|
||||
break;
|
||||
case ECT_BIT7:
|
||||
sprintf(hstr, "BIT7");
|
||||
break;
|
||||
case ECT_BIT8:
|
||||
sprintf(hstr, "BIT8");
|
||||
break;
|
||||
case ECT_VISIBLE_STRING:
|
||||
sprintf(hstr, "VISIBLE_STRING");
|
||||
break;
|
||||
case ECT_OCTET_STRING:
|
||||
sprintf(hstr, "OCTET_STRING");
|
||||
break;
|
||||
default:
|
||||
sprintf(hstr, "Type 0x%4.4X", dtype);
|
||||
}
|
||||
return hstr;
|
||||
}
|
||||
|
||||
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
|
||||
{
|
||||
int l = sizeof(usdo) - 1, i;
|
||||
uint8 *u8;
|
||||
int8 *i8;
|
||||
uint16 *u16;
|
||||
int16 *i16;
|
||||
uint32 *u32;
|
||||
int32 *i32;
|
||||
uint64 *u64;
|
||||
int64 *i64;
|
||||
float *sr;
|
||||
double *dr;
|
||||
char es[32];
|
||||
|
||||
memset(&usdo, 0, 128);
|
||||
ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
|
||||
if (EcatError)
|
||||
{
|
||||
return ec_elist2string();
|
||||
}
|
||||
else
|
||||
{
|
||||
switch(dtype)
|
||||
{
|
||||
case ECT_BOOLEAN:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
if (*u8) sprintf(hstr, "TRUE");
|
||||
else sprintf(hstr, "FALSE");
|
||||
break;
|
||||
case ECT_INTEGER8:
|
||||
i8 = (int8*) &usdo[0];
|
||||
sprintf(hstr, "0x%2.2x %d", *i8, *i8);
|
||||
break;
|
||||
case ECT_INTEGER16:
|
||||
i16 = (int16*) &usdo[0];
|
||||
sprintf(hstr, "0x%4.4x %d", *i16, *i16);
|
||||
break;
|
||||
case ECT_INTEGER32:
|
||||
case ECT_INTEGER24:
|
||||
i32 = (int32*) &usdo[0];
|
||||
sprintf(hstr, "0x%8.8x %d", *i32, *i32);
|
||||
break;
|
||||
case ECT_INTEGER64:
|
||||
i64 = (int64*) &usdo[0];
|
||||
sprintf(hstr, "0x%16.16" PRIx64 " %" PRId64, *i64, *i64);
|
||||
break;
|
||||
case ECT_UNSIGNED8:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
|
||||
break;
|
||||
case ECT_UNSIGNED16:
|
||||
u16 = (uint16*) &usdo[0];
|
||||
sprintf(hstr, "0x%4.4x %u", *u16, *u16);
|
||||
break;
|
||||
case ECT_UNSIGNED32:
|
||||
case ECT_UNSIGNED24:
|
||||
u32 = (uint32*) &usdo[0];
|
||||
sprintf(hstr, "0x%8.8x %u", *u32, *u32);
|
||||
break;
|
||||
case ECT_UNSIGNED64:
|
||||
u64 = (uint64*) &usdo[0];
|
||||
sprintf(hstr, "0x%16.16" PRIx64 " %" PRIu64, *u64, *u64);
|
||||
break;
|
||||
case ECT_REAL32:
|
||||
sr = (float*) &usdo[0];
|
||||
sprintf(hstr, "%f", *sr);
|
||||
break;
|
||||
case ECT_REAL64:
|
||||
dr = (double*) &usdo[0];
|
||||
sprintf(hstr, "%f", *dr);
|
||||
break;
|
||||
case ECT_BIT1:
|
||||
case ECT_BIT2:
|
||||
case ECT_BIT3:
|
||||
case ECT_BIT4:
|
||||
case ECT_BIT5:
|
||||
case ECT_BIT6:
|
||||
case ECT_BIT7:
|
||||
case ECT_BIT8:
|
||||
u8 = (uint8*) &usdo[0];
|
||||
sprintf(hstr, "0x%x", *u8);
|
||||
break;
|
||||
case ECT_VISIBLE_STRING:
|
||||
strcpy(hstr, usdo);
|
||||
break;
|
||||
case ECT_OCTET_STRING:
|
||||
hstr[0] = 0x00;
|
||||
for (i = 0 ; i < l ; i++)
|
||||
{
|
||||
sprintf(es, "0x%2.2x ", usdo[i]);
|
||||
strcat( hstr, es);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sprintf(hstr, "Unknown type");
|
||||
}
|
||||
return hstr;
|
||||
}
|
||||
}
|
||||
|
||||
/** Read PDO assign structure */
|
||||
int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
|
||||
{
|
||||
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
|
||||
uint8 subcnt;
|
||||
int wkc, bsize = 0, rdl;
|
||||
int32 rdat2;
|
||||
uint8 bitlen, obj_subidx;
|
||||
uint16 obj_idx;
|
||||
int abs_offset, abs_bit;
|
||||
|
||||
rdl = sizeof(rdat); rdat = 0;
|
||||
/* read PDO assign subindex 0 ( = number of PDO's) */
|
||||
wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
|
||||
rdat = etohs(rdat);
|
||||
/* positive result from slave ? */
|
||||
if ((wkc > 0) && (rdat > 0))
|
||||
{
|
||||
/* number of available sub indexes */
|
||||
nidx = rdat;
|
||||
bsize = 0;
|
||||
/* read all PDO's */
|
||||
for (idxloop = 1; idxloop <= nidx; idxloop++)
|
||||
{
|
||||
rdl = sizeof(rdat); rdat = 0;
|
||||
/* read PDO assign */
|
||||
wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
|
||||
/* result is index of PDO */
|
||||
idx = etohl(rdat);
|
||||
if (idx > 0)
|
||||
{
|
||||
rdl = sizeof(subcnt); subcnt = 0;
|
||||
/* read number of subindexes of PDO */
|
||||
wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
|
||||
subidx = subcnt;
|
||||
/* for each subindex */
|
||||
for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
|
||||
{
|
||||
rdl = sizeof(rdat2); rdat2 = 0;
|
||||
/* read SDO that is mapped in PDO */
|
||||
wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
|
||||
rdat2 = etohl(rdat2);
|
||||
/* extract bitlength of SDO */
|
||||
bitlen = LO_BYTE(rdat2);
|
||||
bsize += bitlen;
|
||||
obj_idx = (uint16)(rdat2 >> 16);
|
||||
obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
ODlist.Slave = slave;
|
||||
ODlist.Index[0] = obj_idx;
|
||||
OElist.Entries = 0;
|
||||
wkc = 0;
|
||||
/* read object entry from dictionary if not a filler (0x0000:0x00) */
|
||||
if(obj_idx || obj_subidx)
|
||||
wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
if((wkc > 0) && OElist.Entries)
|
||||
{
|
||||
printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
|
||||
}
|
||||
else
|
||||
printf("\n");
|
||||
bitoffset += bitlen;
|
||||
};
|
||||
};
|
||||
};
|
||||
};
|
||||
/* return total found bitlength (PDO) */
|
||||
return bsize;
|
||||
}
|
||||
|
||||
int si_map_sdo(int slave)
|
||||
{
|
||||
int wkc, rdl;
|
||||
int retVal = 0;
|
||||
uint8 nSM, iSM, tSM;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
uint8 SMt_bug_add;
|
||||
|
||||
printf("PDO mapping according to CoE :\n");
|
||||
SMt_bug_add = 0;
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
rdl = sizeof(nSM); nSM = 0;
|
||||
/* read SyncManager Communication Type object count */
|
||||
wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
|
||||
/* positive result from slave ? */
|
||||
if ((wkc > 0) && (nSM > 2))
|
||||
{
|
||||
/* make nSM equal to number of defined SM */
|
||||
nSM--;
|
||||
/* limit to maximum number of SM defined, if true the slave can't be configured */
|
||||
if (nSM > EC_MAXSM)
|
||||
nSM = EC_MAXSM;
|
||||
/* iterate for every SM type defined */
|
||||
for (iSM = 2 ; iSM <= nSM ; iSM++)
|
||||
{
|
||||
rdl = sizeof(tSM); tSM = 0;
|
||||
/* read SyncManager Communication Type */
|
||||
wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
|
||||
if (wkc > 0)
|
||||
{
|
||||
if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
|
||||
{
|
||||
SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
|
||||
printf("Activated SM type workaround, possible incorrect mapping.\n");
|
||||
}
|
||||
if(tSM)
|
||||
tSM += SMt_bug_add; // only add if SMt > 0
|
||||
|
||||
if (tSM == 3) // outputs
|
||||
{
|
||||
/* read the assign RXPDO */
|
||||
printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
|
||||
Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
}
|
||||
if (tSM == 4) // inputs
|
||||
{
|
||||
/* read the assign TXPDO */
|
||||
printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
|
||||
Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
|
||||
{
|
||||
uint16 a , w, c, e, er, Size;
|
||||
uint8 eectl;
|
||||
uint16 obj_idx;
|
||||
uint8 obj_subidx;
|
||||
uint8 obj_name;
|
||||
uint8 obj_datatype;
|
||||
uint8 bitlen;
|
||||
int totalsize;
|
||||
ec_eepromPDOt eepPDO;
|
||||
ec_eepromPDOt *PDO;
|
||||
int abs_offset, abs_bit;
|
||||
char str_name[EC_MAXNAME + 1];
|
||||
|
||||
eectl = ec_slave[slave].eep_pdi;
|
||||
Size = 0;
|
||||
totalsize = 0;
|
||||
PDO = &eepPDO;
|
||||
PDO->nPDO = 0;
|
||||
PDO->Length = 0;
|
||||
PDO->Index[1] = 0;
|
||||
for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;
|
||||
if (t > 1)
|
||||
t = 1;
|
||||
PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
|
||||
if (PDO->Startpos > 0)
|
||||
{
|
||||
a = PDO->Startpos;
|
||||
w = ec_siigetbyte(slave, a++);
|
||||
w += (ec_siigetbyte(slave, a++) << 8);
|
||||
PDO->Length = w;
|
||||
c = 1;
|
||||
/* traverse through all PDOs */
|
||||
do
|
||||
{
|
||||
PDO->nPDO++;
|
||||
PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
|
||||
PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
|
||||
PDO->BitSize[PDO->nPDO] = 0;
|
||||
c++;
|
||||
/* number of entries in PDO */
|
||||
e = ec_siigetbyte(slave, a++);
|
||||
PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
|
||||
a++;
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
a += 2;
|
||||
c += 2;
|
||||
if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
|
||||
{
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
if (t)
|
||||
printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
else
|
||||
printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
printf(" addr b index: sub bitl data_type name\n");
|
||||
/* read all entries defined in PDO */
|
||||
for (er = 1; er <= e; er++)
|
||||
{
|
||||
c += 4;
|
||||
obj_idx = ec_siigetbyte(slave, a++);
|
||||
obj_idx += (ec_siigetbyte(slave, a++) << 8);
|
||||
obj_subidx = ec_siigetbyte(slave, a++);
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
obj_datatype = ec_siigetbyte(slave, a++);
|
||||
bitlen = ec_siigetbyte(slave, a++);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
|
||||
PDO->BitSize[PDO->nPDO] += bitlen;
|
||||
a += 2;
|
||||
|
||||
/* skip entry if filler (0x0000:0x00) */
|
||||
if(obj_idx || obj_subidx)
|
||||
{
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
|
||||
}
|
||||
bitoffset += bitlen;
|
||||
totalsize += bitlen;
|
||||
}
|
||||
PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
|
||||
Size += PDO->BitSize[PDO->nPDO];
|
||||
c++;
|
||||
}
|
||||
else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
|
||||
{
|
||||
c += 4 * e;
|
||||
a += 8 * e;
|
||||
c++;
|
||||
}
|
||||
if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; /* limit number of PDO entries in buffer */
|
||||
}
|
||||
while (c < PDO->Length);
|
||||
}
|
||||
if (eectl) ec_eeprom2pdi(slave); /* if eeprom control was previously pdi then restore */
|
||||
return totalsize;
|
||||
}
|
||||
|
||||
|
||||
int si_map_sii(int slave)
|
||||
{
|
||||
int retVal = 0;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
|
||||
printf("PDO mapping according to SII :\n");
|
||||
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
/* read the assign RXPDOs */
|
||||
Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
/* read the assign TXPDOs */
|
||||
Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
void si_sdo(int cnt)
|
||||
{
|
||||
int i, j;
|
||||
|
||||
ODlist.Entries = 0;
|
||||
memset(&ODlist, 0, sizeof(ODlist));
|
||||
if( ec_readODlist(cnt, &ODlist))
|
||||
{
|
||||
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
|
||||
for( i = 0 ; i < ODlist.Entries ; i++)
|
||||
{
|
||||
ec_readODdescription(i, &ODlist);
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
|
||||
ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
|
||||
memset(&OElist, 0, sizeof(OElist));
|
||||
ec_readOE(i, &ODlist, &OElist);
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
|
||||
{
|
||||
if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
|
||||
{
|
||||
printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
|
||||
j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
|
||||
if ((OElist.ObjAccess[j] & 0x0007))
|
||||
{
|
||||
printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
}
|
||||
}
|
||||
|
||||
void slaveinfo(const char *ifname)
|
||||
{
|
||||
int cnt, i, j, nSM;
|
||||
uint16 ssigen;
|
||||
int expectedWKC;
|
||||
|
||||
printf("Starting slaveinfo\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config(FALSE, &IOmap) > 0 )
|
||||
{
|
||||
ec_configdc();
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
|
||||
if (ec_slave[0].state != EC_STATE_SAFE_OP )
|
||||
{
|
||||
printf("Not all slaves reached safe operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("Slave %d State=%2x StatusCode=%4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ec_readstate();
|
||||
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
|
||||
printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x02) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x04) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x08) > 0 );
|
||||
printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
|
||||
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
|
||||
for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
|
||||
{
|
||||
if(ec_slave[cnt].SM[nSM].StartAddr > 0)
|
||||
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength,
|
||||
(int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
|
||||
}
|
||||
for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
|
||||
{
|
||||
printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
|
||||
(int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
|
||||
ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
|
||||
ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
|
||||
}
|
||||
printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
|
||||
ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
|
||||
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);
|
||||
ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
|
||||
/* SII general section */
|
||||
if (ssigen)
|
||||
{
|
||||
ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
|
||||
ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
|
||||
ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
|
||||
ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
|
||||
if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
|
||||
{
|
||||
ec_slave[cnt].blockLRW = 1;
|
||||
ec_slave[0].blockLRW++;
|
||||
}
|
||||
ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
|
||||
ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
|
||||
ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
|
||||
}
|
||||
printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
|
||||
ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
|
||||
printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
|
||||
ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
|
||||
if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
|
||||
si_sdo(cnt);
|
||||
if(printMAP)
|
||||
{
|
||||
if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
|
||||
si_map_sdo(cnt);
|
||||
else
|
||||
si_map_sii(cnt);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End slaveinfo, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
char ifbuf[1024];
|
||||
|
||||
namespace
|
||||
{
|
||||
char const FromKernel[] = "kernel";
|
||||
}
|
||||
|
||||
CKernel::CKernel (void)
|
||||
: m_Screen (m_Options.GetWidth (), m_Options.GetHeight ()),
|
||||
m_Timer (&m_Interrupt),
|
||||
m_Logger (m_Options.GetLogLevel (), &m_Timer),
|
||||
m_DWHCI (&m_Interrupt, &m_Timer)
|
||||
{
|
||||
m_ActLED.Blink (5); // show we are alive
|
||||
}
|
||||
|
||||
CKernel::~CKernel (void)
|
||||
{
|
||||
}
|
||||
|
||||
boolean CKernel::Initialize (void)
|
||||
{
|
||||
boolean bOK = TRUE;
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Screen.Initialize ();
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Serial.Initialize (115200);
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
CDevice *pTarget = m_DeviceNameService.GetDevice (m_Options.GetLogDevice (), FALSE);
|
||||
if (pTarget == 0)
|
||||
{
|
||||
pTarget = &m_Screen;
|
||||
}
|
||||
|
||||
bOK = m_Logger.Initialize (pTarget);
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Interrupt.Initialize ();
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Timer.Initialize ();
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_DWHCI.Initialize ();
|
||||
}
|
||||
|
||||
return bOK;
|
||||
}
|
||||
|
||||
TShutdownMode CKernel::Run (void)
|
||||
{
|
||||
m_Logger.Write (FromKernel, LogNotice, "Compile time: " __DATE__ " " __TIME__);
|
||||
|
||||
CNetDevice *pEth0 = (CNetDevice *) m_DeviceNameService.GetDevice ("eth0", FALSE);
|
||||
if (pEth0 == 0)
|
||||
{
|
||||
m_Logger.Write (FromKernel, LogError, "Net device not found");
|
||||
|
||||
return ShutdownHalt;
|
||||
}
|
||||
|
||||
// wait for Ethernet PHY to come up
|
||||
m_Timer.MsDelay (2000);
|
||||
|
||||
m_Logger.Write (FromKernel, LogNotice, "EtherCAT Master Demo");
|
||||
|
||||
printSDO = TRUE;
|
||||
printMAP = TRUE;
|
||||
slaveinfo("eth0");
|
||||
|
||||
m_Logger.Write (FromKernel, LogNotice, "EtherCAT Master Demo finished");
|
||||
|
||||
return ShutdownHalt;
|
||||
}
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
//
|
||||
// kernel.h
|
||||
//
|
||||
// This program is free software: you can redistribute it and/or modify
|
||||
// it under the terms of the GNU General Public License as published by
|
||||
// the Free Software Foundation, either version 3 of the License, or
|
||||
// (at your option) any later version.
|
||||
//
|
||||
// This program is distributed in the hope that it will be useful,
|
||||
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
// GNU General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the GNU General Public License
|
||||
// along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
//
|
||||
#ifndef _kernel_h
|
||||
#define _kernel_h
|
||||
|
||||
#include <circle/memory.h>
|
||||
#include <circle/actled.h>
|
||||
#include <circle/koptions.h>
|
||||
#include <circle/devicenameservice.h>
|
||||
#include <circle/screen.h>
|
||||
#include <circle/serial.h>
|
||||
#include <circle/exceptionhandler.h>
|
||||
#include <circle/interrupt.h>
|
||||
#include <circle/timer.h>
|
||||
#include <circle/logger.h>
|
||||
#include <circle/usb/dwhcidevice.h>
|
||||
#include <circle/types.h>
|
||||
|
||||
enum TShutdownMode
|
||||
{
|
||||
ShutdownNone,
|
||||
ShutdownHalt,
|
||||
ShutdownReboot
|
||||
};
|
||||
|
||||
class CKernel
|
||||
{
|
||||
public:
|
||||
CKernel (void);
|
||||
~CKernel (void);
|
||||
|
||||
boolean Initialize (void);
|
||||
|
||||
TShutdownMode Run (void);
|
||||
|
||||
private:
|
||||
// do not change this order
|
||||
CMemorySystem m_Memory;
|
||||
CActLED m_ActLED;
|
||||
CKernelOptions m_Options;
|
||||
CDeviceNameService m_DeviceNameService;
|
||||
CScreenDevice m_Screen;
|
||||
CSerialDevice m_Serial;
|
||||
CExceptionHandler m_ExceptionHandler;
|
||||
CInterruptSystem m_Interrupt;
|
||||
CTimer m_Timer;
|
||||
CLogger m_Logger;
|
||||
CDWHCIDevice m_DWHCI;
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
//
|
||||
// main.c
|
||||
//
|
||||
// This program is free software: you can redistribute it and/or modify
|
||||
// it under the terms of the GNU General Public License as published by
|
||||
// the Free Software Foundation, either version 3 of the License, or
|
||||
// (at your option) any later version.
|
||||
//
|
||||
// This program is distributed in the hope that it will be useful,
|
||||
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
// GNU General Public License for more details.
|
||||
//
|
||||
// You should have received a copy of the GNU General Public License
|
||||
// along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
//
|
||||
#include "kernel.h"
|
||||
#include <circle/startup.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
// cannot return here because some destructors used in CKernel are not implemented
|
||||
|
||||
CKernel Kernel;
|
||||
if (!Kernel.Initialize ())
|
||||
{
|
||||
halt ();
|
||||
return EXIT_HALT;
|
||||
}
|
||||
|
||||
TShutdownMode ShutdownMode = Kernel.Run ();
|
||||
|
||||
switch (ShutdownMode)
|
||||
{
|
||||
case ShutdownReboot:
|
||||
reboot ();
|
||||
return EXIT_REBOOT;
|
||||
|
||||
case ShutdownHalt:
|
||||
default:
|
||||
halt ();
|
||||
return EXIT_HALT;
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue