ln-dotnet
/
SOEM
3
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Remove trailing whitespace.

pull/15/head
Albert Hofkamp 2015-11-04 13:02:33 +01:00
parent 0b677f832b
commit 5239968d0d
67 changed files with 1302 additions and 1302 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
osal/intime/osal.c
View File

@ -47,7 +47,7 @@ static int64_t sysfrequency;
static double qpc2usec;
#define USECS_PER_SEC 1000000
int osal_gettimeofday (struct timeval *tv, struct timezone *tz)
{
return gettimeofday (tv, tz);
@ -101,24 +101,24 @@ int osal_usleep(uint32 usec)
/* Mutex is not needed when running single threaded */
void osal_mtx_lock(osal_mutex_t * mtx)
{
void osal_mtx_lock(osal_mutex_t * mtx)
{
/* RtWaitForSingleObject((HANDLE)mtx, INFINITE); */
}
void osal_mtx_unlock(osal_mutex_t * mtx)
{
}
void osal_mtx_unlock(osal_mutex_t * mtx)
{
/* RtReleaseMutex((HANDLE)mtx); */
}
int osal_mtx_lock_timeout(osal_mutex_t * mtx, uint32_t time_ms)
{
}
int osal_mtx_lock_timeout(osal_mutex_t * mtx, uint32_t time_ms)
{
/* return RtWaitForSingleObject((HANDLE)mtx, time_ms); */
return 0;
}
osal_mutex_t * osal_mtx_create(void)
{
}
osal_mutex_t * osal_mtx_create(void)
{
/* return (void*)RtCreateMutex(NULL, FALSE, NULL); */
return (void *)0;
}

2
osal/intime/osal_defs.h
View File

@ -45,7 +45,7 @@
#ifndef PACKED
#ifdef _MSC_VER
#define PACKED_BEGIN __pragma(pack(push, 1))
#define PACKED
#define PACKED
#define PACKED_END __pragma(pack(pop))
#elif defined(__GNUC__)
#define PACKED_BEGIN

30
osal/linux/osal.c
View File

@ -61,7 +61,7 @@ int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
{
struct timespec ts;
int return_value;
/* Use clock_gettime to prevent possible live-lock.
* Gettimeofday uses CLOCK_REALTIME that can get NTP timeadjust.
* If this function preempts timeadjust and it uses vpage it live-locks.
@ -85,12 +85,12 @@ ec_timet osal_current_time(void)
void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
{
diff->sec = end->sec - start->sec;
diff->usec = end->usec - start->usec;
if (diff->usec < 0) {
--diff->sec;
diff->usec += 1000000;
}
diff->sec = end->sec - start->sec;
diff->usec = end->usec - start->usec;
if (diff->usec < 0) {
--diff->sec;
diff->usec += 1000000;
}
}
void osal_timer_start(osal_timert * self, uint32 timeout_usec)
@ -137,12 +137,12 @@ int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
int ret;
pthread_attr_t attr;
pthread_t *threadp;
threadp = thandle;
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, stacksize);
ret = pthread_create(threadp, &attr, func, param);
if(ret < 0)
ret = pthread_create(threadp, &attr, func, param);
if(ret < 0)
{
return 0;
}
@ -155,24 +155,24 @@ int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
pthread_attr_t attr;
struct sched_param schparam;
pthread_t *threadp;
threadp = thandle;
pthread_attr_init(&attr);
pthread_attr_setstacksize(&attr, stacksize);
ret = pthread_create(threadp, &attr, func, param);
ret = pthread_create(threadp, &attr, func, param);
pthread_attr_destroy(&attr);
if(ret < 0)
if(ret < 0)
{
return 0;
}
memset(&schparam, 0, sizeof(schparam));
schparam.sched_priority = 40;
ret = pthread_setschedparam(*threadp, SCHED_FIFO, &schparam);
if(ret < 0)
if(ret < 0)
{
return 0;
}
return 1;
}

18
osal/win32/inttypes.h
View File

@ -1,32 +1,32 @@
// ISO C9x compliant inttypes.h for Microsoft Visual Studio
// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124
//
// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124
//
// Copyright (c) 2006 Alexander Chemeris
//
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
//
// 3. The name of the author may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
//
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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,
// 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.
//
//
///////////////////////////////////////////////////////////////////////////////
#ifndef _MSC_VER // [

18
osal/win32/osal.c
View File

@ -47,7 +47,7 @@ static int64_t sysfrequency;
static double qpc2usec;
#define USECS_PER_SEC 1000000
int osal_gettimeofday (struct timeval *tv, struct timezone *tz)
{
int64_t wintime, usecs;
@ -61,7 +61,7 @@ int osal_gettimeofday (struct timeval *tv, struct timezone *tz)
usecs = (int64_t)((double)wintime * qpc2usec);
tv->tv_sec = (long)(usecs / 1000000);
tv->tv_usec = (long)(usecs - (tv->tv_sec * 1000000));
return 1;
}
@ -78,12 +78,12 @@ ec_timet osal_current_time (void)
void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
{
diff->sec = end->sec - start->sec;
diff->usec = end->usec - start->usec;
if (diff->usec < 0) {
--diff->sec;
diff->usec += 1000000;
}
diff->sec = end->sec - start->sec;
diff->usec = end->usec - start->usec;
if (diff->usec < 0) {
--diff->sec;
diff->usec += 1000000;
}
}
void osal_timer_start (osal_timert *self, uint32 timeout_usec)
@ -140,7 +140,7 @@ void osal_free(void *ptr)
int osal_thread_create(void **thandle, int stacksize, void *func, void *param)
{
*thandle = CreateThread(NULL, stacksize, func, param, 0, NULL);
if(!thandle)
if(!thandle)
{
return 0;
}

2
osal/win32/osal_win32.h
View File

@ -66,5 +66,5 @@
} while (0)
int osal_gettimeofday (struct timeval *tv, struct timezone *tz);
#endif

18
osal/win32/stdint.h
View File

@ -1,32 +1,32 @@
// ISO C9x compliant stdint.h for Microsoft Visual Studio
// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124
//
// Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124
//
// Copyright (c) 2006-2008 Alexander Chemeris
//
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
//
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
//
// 3. The name of the author may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
//
// THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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,
// 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.
//
//
///////////////////////////////////////////////////////////////////////////////
#ifndef _MSC_VER // [

112
oshw/intime/nicdrv.c
View File

@ -122,7 +122,7 @@ const unsigned long phy_settings = SPEED_100 | DUPLEX_FULL;
* @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 ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{
HPESTATUS status;
HPEMEDIASTATUS mstat;
@ -134,10 +134,10 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
HPE_CONFIG_OPTIONS conf = { 0, 0, NULL};
status = hpeOpen(ifname, phy_settings, interrupt_mode, &(port->handle));
if (status != E_OK)
if (status != E_OK)
{
ECAT_PRINT_ERROR("hpeOpen failed with status %04x ", status);
if(status == E_EXIST) ECAT_PRINT_ERROR("E_EXIST\n");
if(status == E_EXIST) ECAT_PRINT_ERROR("E_EXIST\n");
else if(status == E_STATE) ECAT_PRINT_ERROR("E_STATE\n");
else if(status == E_PARAM) ECAT_PRINT_ERROR("E_PARAM\n");
else if(status == E_INVALID_ADDR) ECAT_PRINT_ERROR("E_INVALID_ADDR\n");
@ -147,29 +147,29 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
result = 0;
goto end;
}
conf.option_flags |= OPT_PROMISC;
status = hpeConfigOptions(port->handle, &conf, sizeof(conf));
if (status != E_OK)
if (status != E_OK)
{
ECAT_PRINT_ERROR("hpeConfigOptions failed with status %04x\n", status);
// NOTE: HPE driver for Intel 10/100 Mbps device currently doesn't support multicast.
result = 0;
goto end;
}
time(&now);
do
do
{
status = hpeGetMediaStatus(port->handle, &mstat);
if (status != E_OK)
if (status != E_OK)
{
ECAT_PRINT_ERROR("hpeGetMediaStatus failed with status %04x\n", status);
result = 0;
goto end;
}
if (mstat.media_speed == SPEED_NONE)
if (mstat.media_speed == SPEED_NONE)
{
RtSleepEx(1000);
time(&t);
@ -177,14 +177,14 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
} while (mstat.media_speed == SPEED_NONE && t < (now+10));
if (((mstat.media_speed & phy_settings) == 0) || ((mstat.media_duplex & phy_settings) == 0)) {
ECAT_PRINT_ERROR("Media not connected as requested: speed=%u, duplex=%u\n",
ECAT_PRINT_ERROR("Media not connected as requested: speed=%u, duplex=%u\n",
mstat.media_speed, mstat.media_duplex);
result = 0;
goto end;
}
status= hpeGetMacAddress(port->handle, mac);
if (status != E_OK)
if (status != E_OK)
{
ECAT_PRINT_ERROR("hpeGetMacAddress failed with status %04x\n", status);
result = 0;
@ -193,7 +193,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
/* allocate 2 receive buffers and attach them */
status = hpeAllocateReceiveBufferSet(port->handle, &(port->rx_buffers), EC_MAXBUF, EC_BUFSIZE);
if (status != E_OK)
if (status != E_OK)
{
ECAT_PRINT_ERROR("hpeAllocateReceiveBufferSet failed with status %04x\n", status);
result = 0;
@ -201,7 +201,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
}
status = hpeAttachReceiveBufferSet(port->handle, port->rx_buffers);
if (status != E_OK)
if (status != E_OK)
{
ECAT_PRINT_ERROR("hpeAttachReceiveBufferSet failed with status %04x\n", status);
result = 0;
@ -231,8 +231,8 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
port->stack.rxbuf = &(port->rxbuf);
port->stack.rxbufstat = &(port->rxbufstat);
port->stack.rxsa = &(port->rxsa);
}
}
/* setup ethernet headers in tx buffers so we don't have to repeat it */
for (i = 0; i < EC_MAXBUF; i++)
{
@ -256,7 +256,7 @@ end:
/** Close sockets used
* @return 0
*/
int ecx_closenic(ecx_portt *port)
int ecx_closenic(ecx_portt *port)
{
HPESTATUS status;
int i;
@ -287,7 +287,7 @@ int ecx_closenic(ecx_portt *port)
* Ethertype is allways ETH_P_ECAT.
* @param[out] p = buffer
*/
void ec_setupheader(void *p)
void ec_setupheader(void *p)
{
ec_etherheadert *bp;
bp = (ec_etherheadert *)p;
@ -312,7 +312,7 @@ int ecx_getindex(ecx_portt *port)
idx = port->lastidx + 1;
/* index can't be larger than buffer array */
if (idx >= EC_MAXBUF)
if (idx >= EC_MAXBUF)
{
idx = 0;
}
@ -322,17 +322,17 @@ int ecx_getindex(ecx_portt *port)
{
idx++;
cnt++;
if (idx >= EC_MAXBUF)
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;
ReleaseRtControl();
@ -392,7 +392,7 @@ int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
log_RT_event('S',(WORD)2);
status = hpeAttachTransmitBufferSet(port->handle, port->tx_buffers[idx]);
if (status != E_OK)
if (status != E_OK)
{
result = -2;
goto end;
@ -400,7 +400,7 @@ int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
log_RT_event('S',(WORD)3);
status = hpeStartTransmitter(port->handle);
if (status != E_OK)
if (status != E_OK)
{
result = -3;
goto end;
@ -432,7 +432,7 @@ int ecx_outframe_red(ecx_portt *port, int idx)
/* 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];
@ -447,8 +447,8 @@ int ecx_outframe_red(ecx_portt *port, int idx)
hpeAttachTransmitBufferSet(port->redport->handle, port->tx_buffers[idx]);
status = hpeStartTransmitter(port->redport->handle);
port->redport->rxbufstat[idx] = EC_BUF_TX;
}
}
return rval;
}
@ -471,14 +471,14 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
{
stack = &(port->redport->stack);
}
log_RT_event('R',(WORD)2);
status = hpeGetReceiveBuffer(port->handle, &rxbuffer);
if (status == E_OK)
if (status == E_OK)
{
memcpy(stack->tempbuf,rxbuffer->ptr, rxbuffer->used);
bytesrx = rxbuffer->used;
bytesrx = rxbuffer->used;
port->tempinbufs = bytesrx;
// TODO case no interrupt
}
@ -496,7 +496,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* 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] idx = requested index of frame
* @param[in] stacknumber = 0=primary 1=secondary stack
* @return Workcounter if a frame is found with corresponding index, otherwise
@ -524,7 +524,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
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))
if ((idx < EC_MAXBUF) && ( (*stack->rxbufstat)[idx] == EC_BUF_RCVD))
{
l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
/* return WKC */
@ -532,21 +532,21 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* mark as completed */
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
}
else
else
{
/* non blocking call to retrieve frame from socket */
if (ecx_recvpkt(port, stacknumber))
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]);
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
if (idxf == idx)
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
@ -557,7 +557,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* store MAC source word 1 for redundant routing info */
(*stack->rxsa)[idx] = oshw_ntohs(ehp->sa1);
}
else
else
{
/* check if index exist and someone is waiting for it */
if (idxf < EC_MAXBUF && (*stack->rxbufstat)[idxf] == EC_BUF_TX)
@ -573,7 +573,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
}
}
/* WKC if mathing frame found */
return rval;
}
@ -582,7 +582,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
* 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.
* how to reroute the original packet to get the data in an other try.
*
* @param[in] idx = requested index of frame
* @param[in] timer = absolute timeout time
@ -595,27 +595,27 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
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
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 */
}
/* 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)
@ -626,7 +626,7 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
/* 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)) )
@ -634,9 +634,9 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
/* 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 */
/* we need to resend TX packet */
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
{
@ -644,30 +644,30 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
* 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
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] idx = requested index of frame
@ -679,7 +679,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
if (timeout == 0 && (port->redstate == ECT_RED_NONE))
{
int loop_cnt = 0;
@ -692,7 +692,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
}
else
{
osal_timer_start (&timer, timeout);
osal_timer_start (&timer, timeout);
wkc = ecx_waitinframe_red(port, idx, &timer);
}
@ -719,7 +719,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
/* tx frame on primary and if in redundant mode a dummy on secondary */
ecx_outframe_red(port, idx);
wkc = ecx_waitinframe_red(port, idx, &timer1);
return wkc;
}

10
oshw/intime/nicdrv.h
View File

@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for nicdrv.c
* Headerfile for nicdrv.c
*/
#ifndef _nicdrvh_
@ -69,7 +69,7 @@ typedef struct
int (*rxbufstat)[EC_MAXBUF];
/** received MAC source address (middle word) */
int (*rxsa)[EC_MAXBUF];
} ec_stackT;
} ec_stackT;
typedef struct
{
@ -114,8 +114,8 @@ typedef struct
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
ecx_redportt *redport;
RTHANDLE getindex_region;
ecx_redportt *redport;
RTHANDLE getindex_region;
RTHANDLE tx_region;
RTHANDLE rx_region;
/* Intime */

2
oshw/intime/oshw.c
View File

@ -75,7 +75,7 @@ ec_adaptert * oshw_find_adapters (void)
}
/** Free memory allocated memory used by adapter collection.
* @param[in] adapter = First element in linked list of adapters
* @param[in] adapter = First element in linked list of adapters
* EC_NOFRAME.
*/
void oshw_free_adapters (ec_adaptert * adapter)

4
oshw/intime/oshw.h
View File

@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for oshw.c
* Headerfile for oshw.c
*/
#ifndef _oshw_

122
oshw/linux/nicdrv.c
View File

@ -68,10 +68,10 @@
#include <sys/types.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <sys/socket.h>
#include <net/if.h>
#include <sys/socket.h>
#include <unistd.h>
#include <sys/time.h>
#include <sys/time.h>
#include <time.h>
#include <arpa/inet.h>
#include <stdio.h>
@ -123,7 +123,7 @@ static void ecx_clear_rxbufstat(int *rxbufstat)
* @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 ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{
int i;
int r, rval, ifindex;
@ -174,12 +174,12 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
port->stack.rxsa = &(port->rxsa);
ecx_clear_rxbufstat(&(port->rxbufstat[0]));
psock = &(port->sockhandle);
}
}
/* we use RAW packet socket, with packet type ETH_P_ECAT */
*psock = socket(PF_PACKET, SOCK_RAW, htons(ETH_P_ECAT));
timeout.tv_sec = 0;
timeout.tv_usec = 1;
timeout.tv_usec = 1;
r = setsockopt(*psock, SOL_SOCKET, SO_RCVTIMEO, &timeout, sizeof(timeout));
r = setsockopt(*psock, SOL_SOCKET, SO_SNDTIMEO, &timeout, sizeof(timeout));
i = 1;
@ -201,14 +201,14 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
sll.sll_protocol = htons(ETH_P_ECAT);
r = bind(*psock, (struct sockaddr *)&sll, sizeof(sll));
/* setup ethernet headers in tx buffers so we don't have to repeat it */
for (i = 0; i < EC_MAXBUF; i++)
for (i = 0; i < EC_MAXBUF; i++)
{
ec_setupheader(&(port->txbuf[i]));
port->rxbufstat[i] = EC_BUF_EMPTY;
}
ec_setupheader(&(port->txbuf2));
if (r == 0) rval = 1;
return rval;
}
@ -216,13 +216,13 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
* @param[in] port = port context struct
* @return 0
*/
int ecx_closenic(ecx_portt *port)
int ecx_closenic(ecx_portt *port)
{
if (port->sockhandle >= 0)
if (port->sockhandle >= 0)
close(port->sockhandle);
if ((port->redport) && (port->redport->sockhandle >= 0))
close(port->redport->sockhandle);
return 0;
}
@ -231,7 +231,7 @@ int ecx_closenic(ecx_portt *port)
* Ethertype is allways ETH_P_ECAT.
* @param[out] p = buffer
*/
void ec_setupheader(void *p)
void ec_setupheader(void *p)
{
ec_etherheadert *bp;
bp = p;
@ -257,7 +257,7 @@ int ecx_getindex(ecx_portt *port)
idx = port->lastidx + 1;
/* index can't be larger than buffer array */
if (idx >= EC_MAXBUF)
if (idx >= EC_MAXBUF)
{
idx = 0;
}
@ -267,7 +267,7 @@ int ecx_getindex(ecx_portt *port)
{
idx++;
cnt++;
if (idx >= EC_MAXBUF)
if (idx >= EC_MAXBUF)
{
idx = 0;
}
@ -278,7 +278,7 @@ int ecx_getindex(ecx_portt *port)
port->lastidx = idx;
pthread_mutex_unlock( &(port->getindex_mutex) );
return idx;
}
@ -316,7 +316,7 @@ int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
lp = (*stack->txbuflength)[idx];
rval = send(*stack->sock, (*stack->txbuf)[idx], lp, 0);
(*stack->rxbufstat)[idx] = EC_BUF_TX;
return rval;
}
@ -337,7 +337,7 @@ int ecx_outframe_red(ecx_portt *port, int idx)
/* transmit over primary socket*/
rval = ecx_outframe(port, idx, 0);
if (port->redstate != ECT_RED_NONE)
{
{
pthread_mutex_lock( &(port->tx_mutex) );
ehp = (ec_etherheadert *)&(port->txbuf2);
/* use dummy frame for secondary socket transmit (BRD) */
@ -350,8 +350,8 @@ int ecx_outframe_red(ecx_portt *port, int idx)
send(port->redport->sockhandle, &(port->txbuf2), port->txbuflength2 , 0);
pthread_mutex_unlock( &(port->tx_mutex) );
port->redport->rxbufstat[idx] = EC_BUF_TX;
}
}
return rval;
}
@ -376,7 +376,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
lp = sizeof(port->tempinbuf);
bytesrx = recv(*stack->sock, (*stack->tempbuf), lp, 0);
port->tempinbufs = bytesrx;
return (bytesrx > 0);
}
@ -389,7 +389,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* 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
@ -417,7 +417,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
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))
if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD))
{
l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
/* return WKC */
@ -425,22 +425,22 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* mark as completed */
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
}
else
else
{
pthread_mutex_lock(&(port->rx_mutex));
/* non blocking call to retrieve frame from socket */
if (ecx_recvpkt(port, stacknumber))
if (ecx_recvpkt(port, stacknumber))
{
rval = EC_OTHERFRAME;
ehp =(ec_etherheadert*)(stack->tempbuf);
/* check if it is an EtherCAT frame */
if (ehp->etype == htons(ETH_P_ECAT))
if (ehp->etype == htons(ETH_P_ECAT))
{
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
if (idxf == idx)
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
@ -451,10 +451,10 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* store MAC source word 1 for redundant routing info */
(*stack->rxsa)[idx] = ntohs(ehp->sa1);
}
else
else
{
/* check if index exist? */
if (idxf < EC_MAXBUF)
if (idxf < EC_MAXBUF)
{
rxbuf = &(*stack->rxbuf)[idxf];
/* put it in the buffer array (strip ethernet header) */
@ -463,7 +463,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
(*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
(*stack->rxsa)[idxf] = ntohs(ehp->sa1);
}
else
else
{
/* strange things happend */
}
@ -471,9 +471,9 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
}
pthread_mutex_unlock( &(port->rx_mutex) );
}
/* WKC if mathing frame found */
return rval;
}
@ -482,7 +482,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
* 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.
* 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
@ -496,23 +496,23 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
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
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 */
}
/* 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)
@ -523,7 +523,7 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
/* 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)) )
@ -531,9 +531,9 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
/* 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 */
/* we need to resend TX packet */
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
{
@ -541,30 +541,30 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
* 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
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
@ -577,15 +577,15 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
osal_timer_start (&timer, timeout);
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)
if (wkc <= EC_NOFRAME)
{
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
}
return wkc;
}
@ -607,29 +607,29 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
osal_timert timer1, timer2;
osal_timer_start (&timer1, timeout);
do
do
{
/* tx frame on primary and if in redundant mode a dummy on secondary */
ecx_outframe_red(port, idx);
if (timeout < EC_TIMEOUTRET)
if (timeout < EC_TIMEOUTRET)
{
osal_timer_start (&timer2, timeout);
osal_timer_start (&timer2, timeout);
}
else
else
{
/* normally use partial timout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
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 */
/* 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)
if (wkc <= EC_NOFRAME)
{
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
}
return wkc;
}

10
oshw/linux/nicdrv.h
View File

@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for nicdrv.c
* Headerfile for nicdrv.c
*/
#ifndef _nicdrvh_
@ -71,7 +71,7 @@ typedef struct
int (*rxbufstat)[EC_MAXBUF];
/** received MAC source address (middle word) */
int (*rxsa)[EC_MAXBUF];
} ec_stackT;
} ec_stackT;
/** pointer structure to buffers for redundant port */
typedef struct
@ -116,8 +116,8 @@ typedef struct
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
ecx_redportt *redport;
pthread_mutex_t getindex_mutex;
ecx_redportt *redport;
pthread_mutex_t getindex_mutex;
pthread_mutex_t tx_mutex;
pthread_mutex_t rx_mutex;
} ecx_portt;

4
oshw/linux/oshw.h
View File

@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatbase.c
* Headerfile for ethercatbase.c
*/
#ifndef _oshw_

38
oshw/rtk/fec/fec_ecat.c
View File

@ -508,14 +508,14 @@ static void fec_ecat_init_hw (const fec_mac_address_t * mac_address)
{
;
}
// Configure MDC clock.
mii_speed = (fec->clock + 499999) / 5000000;
fec->base->mscr = (fec->base->mscr & (~0x7E)) | (mii_speed << 1);
// Receive control register
fec->base->rcr = FEC_RCR_MAX_FL(PKT_MAXBUF_SIZE) | FEC_RCR_MII_MODE;
// set RMII mode in RCR register.
if (fec->phy_interface == FEC_PHY_RMII)
{
@ -538,11 +538,11 @@ static void fec_ecat_init_hw (const fec_mac_address_t * mac_address)
*/
fec->base->iaur = 0;
fec->base->ialr = 0;
/* Receive all multicast frames. */
fec->base->gaur = UINT32_MAX;
fec->base->galr = UINT32_MAX;
/* Set our physical address. */
fec->base->pa.lower = (mac_address->octet[0] << 24) +
(mac_address->octet[1] << 16) +
@ -551,7 +551,7 @@ static void fec_ecat_init_hw (const fec_mac_address_t * mac_address)
fec->base->pa.upper = (mac_address->octet[4] << 24) +
(mac_address->octet[5] << 16) +
0x8808;
/* Start link autonegotiation */
fec->phy->ops->start (fec->phy);
}
@ -559,11 +559,11 @@ static void fec_ecat_init_hw (const fec_mac_address_t * mac_address)
int fec_ecat_send (const void *payload, size_t tot_len)
{
fec_buffer_bd_t * bd;
/* Frames larger than the maximum Ethernet frame size are not allowed. */
ASSERT (tot_len <= PKT_MAXBUF_SIZE);
ASSERT (tot_len <= TX_BUFFER_SIZE);
/* Bus errors should never occur, unless the MPU is enabled and forbids
* the Ethernet MAC DMA from accessing the descriptors or buffers.
*/
@ -577,7 +577,7 @@ int fec_ecat_send (const void *payload, size_t tot_len)
{
bd = fec_buffer_get_tx ();
}
DPRINT ("out (%u):\n", tot_len);
DUMP_PACKET (payload, tot_len);
@ -608,7 +608,7 @@ int fec_ecat_recv (void * buffer, size_t buffer_length)
fec_buffer_bd_t * bd;
int return_value;
size_t frame_length_without_fcs;
/* Bus errors should never occur, unless the MPU is enabled and forbids
* the Ethernet MAC DMA from accessing the descriptors or buffers.
*/
@ -669,11 +669,11 @@ static void fec_ecat_hotplug (void)
/* Disable frame reception/transmission */
fec->base->ecr &= ~FEC_ECR_ETHER_EN;
/* Set duplex mode according to link state */
link_state = fec->phy->ops->get_link_state (fec->phy);
/* Set duplex */
if (link_state & PHY_LINK_FULL_DUPLEX)
{
@ -695,7 +695,7 @@ static void fec_ecat_hotplug (void)
{
fec->base->rcr &= ~FEC_RCR_RMII_10T;
}
/* Clear any pending interrupt */
fec->base->eir = 0xffffffff;
@ -713,10 +713,10 @@ static void fec_ecat_hotplug (void)
// FEC_ERDSR - Receive buffer descriptor ring start register
fec->base->erdsr = (uint32_t)fec->rx_bd_base;
// FEC_ETDSR - Transmit buffer descriptor ring start register
fec->base->etdsr = (uint32_t)fec->tx_bd_base;
// FEC_EMRBR - Maximum receive buffer size register
fec->base->emrbr = RX_BUFFER_SIZE - 1;
@ -730,11 +730,11 @@ static void fec_ecat_hotplug (void)
* MAC hardware. Software would otherwise need to do the conversions.
*/
fec->base->ecr = FEC_ECR_ETHER_EN | FEC_ECR_DBSWP;
/* Indicate that there have been empty receive buffers produced */
// FEC_RDAR - Receive Descriptor ring - Receive descriptor active register
fec->base->rdar = 1;
DPRINT ("Link up. Speed: %s. Mode: %s.\n", fec_ecat_link_speed_name (link_state),
fec_ecat_link_duplex_name (link_state));
}
@ -742,9 +742,9 @@ static void fec_ecat_hotplug (void)
static dev_state_t fec_ecat_probe (void)
{
uint8_t link_state;
link_state = fec->phy->ops->get_link_state (fec->phy);
return (link_state & PHY_LINK_OK) ? StateAttached : StateDetached;
}
@ -777,7 +777,7 @@ int fec_ecat_init (const fec_mac_address_t * mac_address,
fec = malloc (sizeof (fec_t));
UASSERT (fec != NULL, EMEM);
/* Initialise driver state */
fec->rx_bd_base = eth_cfg.rx_bd_base;
fec->tx_bd_base = eth_cfg.tx_bd_base;

4
oshw/rtk/fec/fec_ecat.h
View File

@ -20,7 +20,7 @@
/**
* \defgroup fec EtherCat Ethernet MAC driver for Frescale K60 SoCs.
*
*
* \{
*/
@ -52,5 +52,5 @@ int fec_ecat_recv (void * buffer, size_t buffer_length);
#endif /* FEC_H */
/**
* \}
* \}
*/

18
oshw/rtk/lw_mac/lw_emac.c
View File

@ -211,9 +211,9 @@ static uint8_t lw_emac_init_registers(uint8_t * ethAddr) {
*(uint16_t *) PORTH_FER = 0xFFFF;
/* CONFIGURE MAC REGISTERS */
/*
* Set the MMC (MAC Management Counter) control register
/*
* Set the MMC (MAC Management Counter) control register
* RTSC = Clear all counters
*
* Note that counters are not enabled at this time
@ -233,10 +233,10 @@ static uint8_t lw_emac_init_registers(uint8_t * ethAddr) {
);
/*
* Set the system control register
* Set the system control register
* SET_MDCDIV(x) = Set MDC to 2.5 MHz
* RXDWA = Pad incoming frame with 0x0000 as to make the data-part 32-bit aligned
* RXCKS = Enable Receive Frame TCP/UDP Checksum Computation
* RXDWA = Pad incoming frame with 0x0000 as to make the data-part 32-bit aligned
* RXCKS = Enable Receive Frame TCP/UDP Checksum Computation
*/
pEth->sysctl = SET_MDCDIV(sysctl_mdcdiv) | RXDWA ;
@ -244,8 +244,8 @@ static uint8_t lw_emac_init_registers(uint8_t * ethAddr) {
/*
* Set the PHY basic control register
* MII_BMCR_ANEG_EN = Auto negotiation on
* MII_BMCR_ANEG_RST = Restart the auto-neg process by setting
* MII_BMCR_ANEG_EN = Auto negotiation on
* MII_BMCR_ANEG_RST = Restart the auto-neg process by setting
* Speed handled by auto negotiation
*/
phy_stadat = MII_BMCR_ANEG_EN | MII_BMCR_ANEG_RST;
@ -273,7 +273,7 @@ static uint8_t lw_emac_init_registers(uint8_t * ethAddr) {
}
else {
pEth->opmode = 0;
}
}
/*
* Setup DMA MAC receive/transfer channels with XCOUNT 0 (which we use

98
oshw/rtk/nicdrv.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : nicdrv.c
* Version : 1.3.1
@ -121,7 +121,7 @@ static void ecx_clear_rxbufstat(int *rxbufstat)
* @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 ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{
int i;
int rVal;
@ -134,7 +134,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
rVal = bfin_EMAC_init((uint8_t *)priMAC);
if (rVal != 0)
return 0;
if (secondary)
{
/* secondary port stuct available? */
@ -176,7 +176,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
port->stack.rxsa = &(port->rxsa);
ecx_clear_rxbufstat(&(port->rxbufstat[0]));
psock = &(port->sockhandle);
}
}
/* setup ethernet headers in tx buffers so we don't have to repeat it */
for (i = 0; i < EC_MAXBUF; i++)
@ -193,9 +193,9 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
* @param[in] port = port context struct
* @return 0
*/
int ecx_closenic(ecx_portt *port)
int ecx_closenic(ecx_portt *port)
{
if (port->sockhandle >= 0)
if (port->sockhandle >= 0)
{
close(port->sockhandle);
}
@ -211,7 +211,7 @@ int ecx_closenic(ecx_portt *port)
* Ethertype is allways ETH_P_ECAT.
* @param[out] p = buffer
*/
void ec_setupheader(void *p)
void ec_setupheader(void *p)
{
ec_etherheadert *bp;
bp = p;
@ -237,7 +237,7 @@ int ecx_getindex(ecx_portt *port)
idx = port->lastidx + 1;
/* index can't be larger than buffer array */
if (idx >= EC_MAXBUF)
if (idx >= EC_MAXBUF)
{
idx = 0;
}
@ -247,7 +247,7 @@ int ecx_getindex(ecx_portt *port)
{
idx++;
cnt++;
if (idx >= EC_MAXBUF)
if (idx >= EC_MAXBUF)
{
idx = 0;
}
@ -260,7 +260,7 @@ int ecx_getindex(ecx_portt *port)
port->lastidx = idx;
mtx_unlock (port->getindex_mutex);
return idx;
}
@ -321,7 +321,7 @@ int ecx_outframe_red(ecx_portt *port, int idx)
/* transmit over primary socket*/
rval = ecx_outframe(port, idx, 0);
if (port->redstate != ECT_RED_NONE)
{
{
mtx_lock (port->tx_mutex);
ehp = (ec_etherheadert *)&(port->txbuf2);
/* use dummy frame for secondary socket transmit (BRD) */
@ -337,8 +337,8 @@ int ecx_outframe_red(ecx_portt *port, int idx)
bfin_EMAC_send(&(port->txbuf2), port->txbuflength2);
mtx_unlock (port->tx_mutex);
port->redport->rxbufstat[idx] = EC_BUF_TX;
}
}
return rval;
}
@ -376,7 +376,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* 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
@ -404,7 +404,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
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))
if ((idx < EC_MAXBUF) && ( (*stack->rxbufstat)[idx] == EC_BUF_RCVD))
{
l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
/* return WKC */
@ -412,22 +412,22 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* mark as completed */
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
}
else
else
{
mtx_lock (port->rx_mutex);
/* non blocking call to retrieve frame from socket */
if (ecx_recvpkt(port, stacknumber))
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]);
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
if (idxf == idx)
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
@ -438,10 +438,10 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* store MAC source word 1 for redundant routing info */
(*stack->rxsa)[idx] = oshw_ntohs(ehp->sa1);
}
else
else
{
/* check if index exist? */
if (idxf < EC_MAXBUF)
if (idxf < EC_MAXBUF)
{
rxbuf = &(*stack->rxbuf)[idxf];
/* put it in the buffer array (strip ethernet header) */
@ -450,7 +450,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
(*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
(*stack->rxsa)[idxf] = oshw_ntohs(ehp->sa1);
}
else
else
{
/* strange things happend */
}
@ -458,9 +458,9 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
}
mtx_unlock (port->rx_mutex);
}
/* WKC if mathing frame found */
return rval;
}
@ -469,7 +469,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
* 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.
* 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
@ -482,13 +482,13 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert timer)
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
do
{
/* only read frame if not already in */
if (wkc <= EC_NOFRAME)
@ -497,25 +497,25 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert timer)
}
/* 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 */
}
/* wait for both frames to arrive or timeout */
} while (((wkc <= EC_NOFRAME) || (wkc2 <= EC_NOFRAME)) && (osal_timer_is_expired(&timer) == FALSE));
/* 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)
{
if (wkc > EC_NOFRAME)
{
primrx = port->rxsa[idx];
}
/* secrx if the reveived MAC source on psecondary socket */
secrx = 0;
if (wkc2 > EC_NOFRAME)
if (wkc2 > EC_NOFRAME)
{
secrx = port->redport->rxsa[idx];
}
@ -526,9 +526,9 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert timer)
/* 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 */
/* we need to resend TX packet */
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
{
@ -538,30 +538,30 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert timer)
* 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(&read_timer, EC_TIMEOUTRET);
/* resend secondary tx */
ecx_outframe(port, idx, 1);
do
do
{
/* retrieve frame */
wkc2 = ecx_inframe(port, idx, 1);
} while ((wkc2 <= EC_NOFRAME) && (osal_timer_is_expired(&read_timer) == FALSE));
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
@ -574,15 +574,15 @@ 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)
if (wkc <= EC_NOFRAME)
{
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
}
return wkc;
}
@ -604,7 +604,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
osal_timert timer;
osal_timer_start(&timer, timeout);
do
do
{
osal_timert read_timer;
@ -613,14 +613,14 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
osal_timer_start(&read_timer, MIN(timeout, EC_TIMEOUTRET));
/* get frame from primary or if in redundant mode possibly from secondary */
wkc = ecx_waitinframe_red(port, idx, read_timer);
/* wait for answer with WKC>0 or otherwise retry until timeout */
/* wait for answer with WKC>0 or otherwise retry until timeout */
} while ((wkc <= EC_NOFRAME) && (osal_timer_is_expired(&timer) == FALSE));
/* if nothing received, clear buffer index status so it can be used again */
if (wkc <= EC_NOFRAME)
if (wkc <= EC_NOFRAME)
{
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
}
return wkc;
}

8
oshw/rtk/nicdrv.h
View File

@ -40,9 +40,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for nicdrv.c
* Headerfile for nicdrv.c
*/
#ifndef _nicdrvh_
@ -65,7 +65,7 @@ typedef struct
int (*rxbufstat)[EC_MAXBUF];
/** received MAC source address (middle word) */
int (*rxsa)[EC_MAXBUF];
} ec_stackT;
} ec_stackT;
/** pointer structure to buffers for redundant port */
typedef struct
@ -110,7 +110,7 @@ typedef struct
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
ecx_redportt *redport;
ecx_redportt *redport;
mtx_t * getindex_mutex;
mtx_t * tx_mutex;
mtx_t * rx_mutex;

2
oshw/rtk/oshw.h
View File

@ -39,7 +39,7 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for oshw.c
*/

96
oshw/win32/nicdrv.c
View File

@ -123,7 +123,7 @@ static void ecx_clear_rxbufstat(int *rxbufstat)
* @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 ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
{
int i, rval;
pcap_t **psock;
@ -170,9 +170,9 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
port->stack.rxsa = &(port->rxsa);
ecx_clear_rxbufstat(&(port->rxbufstat[0]));
psock = &(port->sockhandle);
}
}
/* we use pcap socket to send RAW packets in windows user mode*/
*psock = pcap_open(ifname, 65536, PCAP_OPENFLAG_PROMISCUOUS |
*psock = pcap_open(ifname, 65536, PCAP_OPENFLAG_PROMISCUOUS |
PCAP_OPENFLAG_MAX_RESPONSIVENESS |
PCAP_OPENFLAG_NOCAPTURE_LOCAL, -1, NULL , errbuf);
if (NULL == *psock)
@ -180,7 +180,7 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
printf("interface %s could not open with pcap\n", ifname);
return 0;
}
for (i = 0; i < EC_MAXBUF; i++)
{
ec_setupheader(&(port->txbuf[i]));
@ -195,11 +195,11 @@ int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
* @param[in] port = port context struct
* @return 0
*/
int ecx_closenic(ecx_portt *port)
int ecx_closenic(ecx_portt *port)
{
timeEndPeriod(15);
if (port->sockhandle != NULL)
if (port->sockhandle != NULL)
{
DeleteCriticalSection(&(port->getindex_mutex));
DeleteCriticalSection(&(port->tx_mutex));
@ -306,7 +306,7 @@ int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
lp = (*stack->txbuflength)[idx];
rval = pcap_sendpacket(*stack->sock, (*stack->txbuf)[idx], lp);
(*stack->rxbufstat)[idx] = EC_BUF_TX;
return rval;
}
@ -327,7 +327,7 @@ int ecx_outframe_red(ecx_portt *port, int idx)
/* transmit over primary socket*/
rval = ecx_outframe(port, idx, 0);
if (port->redstate != ECT_RED_NONE)
{
{
EnterCriticalSection( &(port->tx_mutex) );
ehp = (ec_etherheadert *)&(port->txbuf2);
/* use dummy frame for secondary socket transmit (BRD) */
@ -340,8 +340,8 @@ int ecx_outframe_red(ecx_portt *port, int idx)
pcap_sendpacket(port->redport->sockhandle, (u_char const *)&(port->txbuf2), port->txbuflength2);
LeaveCriticalSection( &(port->tx_mutex) );
port->redport->rxbufstat[idx] = EC_BUF_TX;
}
}
return rval;
}
@ -421,7 +421,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
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))
if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD))
{
l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
/* return WKC */
@ -429,22 +429,22 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* mark as completed */
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
}
else
else
{
EnterCriticalSection(&(port->rx_mutex));
/* non blocking call to retrieve frame from socket */
if (ecx_recvpkt(port, stacknumber))
if (ecx_recvpkt(port, stacknumber))
{
rval = EC_OTHERFRAME;
ehp =(ec_etherheadert*)(stack->tempbuf);
/* check if it is an EtherCAT frame */
if (ehp->etype == htons(ETH_P_ECAT))
if (ehp->etype == htons(ETH_P_ECAT))
{
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
l = etohs(ecp->elength) & 0x0fff;
idxf = ecp->index;
/* found index equals reqested index ? */
if (idxf == idx)
if (idxf == idx)
{
/* yes, put it in the buffer array (strip ethernet header) */
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
@ -455,10 +455,10 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
/* store MAC source word 1 for redundant routing info */
(*stack->rxsa)[idx] = ntohs(ehp->sa1);
}
else
else
{
/* check if index exist? */
if (idxf < EC_MAXBUF)
if (idxf < EC_MAXBUF)
{
rxbuf = &(*stack->rxbuf)[idxf];
/* put it in the buffer array (strip ethernet header) */
@ -467,7 +467,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
(*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
(*stack->rxsa)[idxf] = ntohs(ehp->sa1);
}
else
else
{
/* strange things happend */
}
@ -475,9 +475,9 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
}
}
LeaveCriticalSection( &(port->rx_mutex) );
}
/* WKC if mathing frame found */
return rval;
}
@ -500,23 +500,23 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
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
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 */
}
/* 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)
@ -527,7 +527,7 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
/* 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)) )
@ -535,9 +535,9 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
/* 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 */
/* we need to resend TX packet */
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
{
@ -545,30 +545,30 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
* 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
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
@ -581,15 +581,15 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
osal_timer_start (&timer, timeout);
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)
if (wkc <= EC_NOFRAME)
{
ec_setbufstat(idx, EC_BUF_EMPTY);
}
return wkc;
}
@ -611,29 +611,29 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
osal_timert timer1, timer2;
osal_timer_start (&timer1, timeout);
do
do
{
/* tx frame on primary and if in redundant mode a dummy on secondary */
ecx_outframe_red(port, idx);
if (timeout < EC_TIMEOUTRET)
if (timeout < EC_TIMEOUTRET)
{
osal_timer_start (&timer2, timeout);
osal_timer_start (&timer2, timeout);
}
else
else
{
/* normally use partial timout for rx */
osal_timer_start (&timer2, EC_TIMEOUTRET);
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 */
/* 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)
if (wkc <= EC_NOFRAME)
{
ec_setbufstat(idx, EC_BUF_EMPTY);
}
return wkc;
}

10
oshw/win32/nicdrv.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : nicdrv.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for nicdrv.c
* Headerfile for nicdrv.c
*/
#ifndef _nicdrvh_
@ -74,7 +74,7 @@ typedef struct
int (*rxbufstat)[EC_MAXBUF];
/** received MAC source address (middle word) */
int (*rxsa)[EC_MAXBUF];
} ec_stackT;
} ec_stackT;
/** pointer structure to buffers for redundant port */
typedef struct
@ -119,7 +119,7 @@ typedef struct
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
ecx_redportt *redport;
ecx_redportt *redport;
CRITICAL_SECTION getindex_mutex;
CRITICAL_SECTION tx_mutex;
CRITICAL_SECTION rx_mutex;

16
oshw/win32/oshw.c
View File

@ -86,7 +86,7 @@ ec_adaptert * oshw_find_adapters (void)
fprintf(stderr,"Error in pcap_findalldevs_ex: %s\n", errbuf);
return (NULL);
}
/* Iterate all devices and create a local copy holding the name and
/* Iterate all devices and create a local copy holding the name and
* decsription.
*/
for(d= alldevs; d != NULL; d= d->next)
@ -115,10 +115,10 @@ ec_adaptert * oshw_find_adapters (void)
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->name, d->name,string_len);
adapter->name[string_len] = '\0';
adapter->name[string_len] = '\0';
}
else
{
{
adapter->name[0] = '\0';
}
if (d->description)
@ -129,23 +129,23 @@ ec_adaptert * oshw_find_adapters (void)
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->desc, d->description,string_len);
adapter->desc[string_len] = '\0';
adapter->desc[string_len] = '\0';
}
else
{
adapter->desc[0] = '\0';
adapter->desc[0] = '\0';
}
prev_adapter = adapter;
i++;
}
/* free all devices allocated */
pcap_freealldevs(alldevs);
pcap_freealldevs(alldevs);
return ret_adapter;
}
/** Free memory allocated memory used by adapter collection.
* @param[in] adapter = First element in linked list of adapters
* @param[in] adapter = First element in linked list of adapters
* EC_NOFRAME.
*/
void oshw_free_adapters (ec_adaptert * adapter)
@ -153,7 +153,7 @@ void oshw_free_adapters (ec_adaptert * adapter)
ec_adaptert * next_adapter;
/* Iterate the linked list and free all elemnts holding
* adapter information
*/
*/
if(adapter)
{
next_adapter = adapter->next;

4
oshw/win32/oshw.h
View File

@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatbase.c
* Headerfile for ethercatbase.c
*/
#ifndef _oshw_

68
oshw/win32/wpcap/Include/Packet32.h
View File

@ -12,9 +12,9 @@
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Politecnico di Torino, CACE Technologies
* nor the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* 3. Neither the name of the Politecnico di Torino, CACE Technologies
* nor the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
@ -32,7 +32,7 @@
*/
/** @ingroup packetapi
* @{
* @{
*/
/** @defgroup packet32h Packet.dll definitions and data structures
@ -70,7 +70,7 @@ typedef struct _AirpcapHandle *PAirpcapHandle;
/// Alignment macro. Defines the alignment size.
#define Packet_ALIGNMENT sizeof(int)
/// Alignment macro. Rounds up to the next even multiple of Packet_ALIGNMENT.
/// Alignment macro. Rounds up to the next even multiple of Packet_ALIGNMENT.
#define Packet_WORDALIGN(x) (((x)+(Packet_ALIGNMENT-1))&~(Packet_ALIGNMENT-1))
#define NdisMediumNull -1 ///< Custom linktype: NDIS doesn't provide an equivalent
@ -103,9 +103,9 @@ typedef struct NetType
/*!
\brief A BPF pseudo-assembly program.
The program will be injected in the kernel by the PacketSetBPF() function and applied to every incoming packet.
The program will be injected in the kernel by the PacketSetBPF() function and applied to every incoming packet.
*/
struct bpf_program
struct bpf_program
{
UINT bf_len; ///< Indicates the number of instructions of the program, i.e. the number of struct bpf_insn that will follow.
struct bpf_insn *bf_insns; ///< A pointer to the first instruction of the program.
@ -116,7 +116,7 @@ struct bpf_program
bpf_insn contains a single instruction for the BPF register-machine. It is used to send a filter program to the driver.
*/
struct bpf_insn
struct bpf_insn
{
USHORT code; ///< Instruction type and addressing mode.
UCHAR jt; ///< Jump if true
@ -129,13 +129,13 @@ struct bpf_insn
It is used by packet.dll to return statistics about a capture session.
*/
struct bpf_stat
struct bpf_stat
{
UINT bs_recv; ///< Number of packets that the driver received from the network adapter
///< from the beginning of the current capture. This value includes the packets
UINT bs_recv; ///< Number of packets that the driver received from the network adapter
///< from the beginning of the current capture. This value includes the packets
///< lost by the driver.
UINT bs_drop; ///< number of packets that the driver lost from the beginning of a capture.
///< Basically, a packet is lost when the the buffer of the driver is full.
UINT bs_drop; ///< number of packets that the driver lost from the beginning of a capture.
///< Basically, a packet is lost when the the buffer of the driver is full.
///< In this situation the packet cannot be stored and the driver rejects it.
UINT ps_ifdrop; ///< drops by interface. XXX not yet supported
UINT bs_capt; ///< number of packets that pass the filter, find place in the kernel buffer and
@ -147,9 +147,9 @@ struct bpf_stat
This structure defines the header associated with every packet delivered to the application.
*/
struct bpf_hdr
struct bpf_hdr
{
struct timeval bh_tstamp; ///< The timestamp associated with the captured packet.
struct timeval bh_tstamp; ///< The timestamp associated with the captured packet.
///< It is stored in a TimeVal structure.
UINT bh_caplen; ///< Length of captured portion. The captured portion <b>can be different</b>
///< from the original packet, because it is possible (with a proper filter)
@ -157,7 +157,7 @@ struct bpf_hdr
UINT bh_datalen; ///< Original length of packet
USHORT bh_hdrlen; ///< Length of bpf header (this struct plus alignment padding). In some cases,
///< a padding could be added between the end of this structure and the packet
///< data for performance reasons. This filed can be used to retrieve the actual data
///< data for performance reasons. This filed can be used to retrieve the actual data
///< of the packet.
};
@ -170,9 +170,9 @@ struct bpf_hdr
*/
struct dump_bpf_hdr{
struct timeval ts; ///< Time stamp of the packet
UINT caplen; ///< Length of captured portion. The captured portion can smaller than the
///< the original packet, because it is possible (with a proper filter) to
///< instruct the driver to capture only a portion of the packets.
UINT caplen; ///< Length of captured portion. The captured portion can smaller than the
///< the original packet, because it is possible (with a proper filter) to
///< instruct the driver to capture only a portion of the packets.
UINT len; ///< Length of the original packet (off wire).
};
@ -188,7 +188,7 @@ struct bpf_stat;
/*!
\brief Addresses of a network adapter.
This structure is used by the PacketGetNetInfoEx() function to return the IP addresses associated with
This structure is used by the PacketGetNetInfoEx() function to return the IP addresses associated with
an adapter.
*/
typedef struct npf_if_addr {
@ -221,20 +221,20 @@ typedef WAN_ADAPTER *PWAN_ADAPTER; ///< Describes an opened wan (dialup, VPN...)
This structure is the most important for the functioning of packet.dll, but the great part of its fields
should be ignored by the user, since the library offers functions that avoid to cope with low-level parameters
*/
typedef struct _ADAPTER {
typedef struct _ADAPTER {
HANDLE hFile; ///< \internal Handle to an open instance of the NPF driver.
CHAR SymbolicLink[MAX_LINK_NAME_LENGTH]; ///< \internal A string containing the name of the network adapter currently opened.
int NumWrites; ///< \internal Number of times a packets written on this adapter will be repeated
int NumWrites; ///< \internal Number of times a packets written on this adapter will be repeated
///< on the wire.
HANDLE ReadEvent; ///< A notification event associated with the read calls on the adapter.
///< It can be passed to standard Win32 functions (like WaitForSingleObject
///< or WaitForMultipleObjects) to wait until the driver's buffer contains some
///< data. It is particularly useful in GUI applications that need to wait
///< or WaitForMultipleObjects) to wait until the driver's buffer contains some
///< data. It is particularly useful in GUI applications that need to wait
///< concurrently on several events. In Windows NT/2000 the PacketSetMinToCopy()
///< function can be used to define the minimum amount of data in the kernel buffer
///< that will cause the event to be signalled.
UINT ReadTimeOut; ///< \internal The amount of time after which a read on the driver will be released and
///< that will cause the event to be signalled.
UINT ReadTimeOut; ///< \internal The amount of time after which a read on the driver will be released and
///< ReadEvent will be signaled, also if no packets were captured
CHAR Name[ADAPTER_NAME_LENGTH];
PWAN_ADAPTER pWanAdapter;
@ -262,7 +262,7 @@ typedef struct _ADAPTER {
This structure defines the header associated with every packet delivered to the application.
*/
typedef struct _PACKET {
typedef struct _PACKET {
HANDLE hEvent; ///< \deprecated Still present for compatibility with old applications.
OVERLAPPED OverLapped; ///< \deprecated Still present for compatibility with old applications.
PVOID Buffer; ///< Buffer with containing the packets. See the PacketReceivePacket() for
@ -276,17 +276,17 @@ typedef struct _PACKET {
/*!
\brief Structure containing an OID request.
It is used by the PacketRequest() function to send an OID to the interface card driver.
It can be used, for example, to retrieve the status of the error counters on the adapter, its MAC address,
It is used by the PacketRequest() function to send an OID to the interface card driver.
It can be used, for example, to retrieve the status of the error counters on the adapter, its MAC address,
the list of the multicast groups defined on it, and so on.
*/
struct _PACKET_OID_DATA {
ULONG Oid; ///< OID code. See the Microsoft DDK documentation or the file ntddndis.h
///< for a complete list of valid codes.
ULONG Length; ///< Length of the data field
UCHAR Data[1]; ///< variable-lenght field that contains the information passed to or received
UCHAR Data[1]; ///< variable-lenght field that contains the information passed to or received
///< from the adapter.
};
};
typedef struct _PACKET_OID_DATA PACKET_OID_DATA, *PPACKET_OID_DATA;
#ifdef __cplusplus
@ -308,7 +308,7 @@ BOOLEAN QueryWinPcapRegistryStringW(WCHAR *SubKeyName,
UINT *pValueLen,
WCHAR *DefaultVal);
*/
//---------------------------------------------------------------------------
// EXPORTED FUNCTIONS
//---------------------------------------------------------------------------
@ -354,6 +354,6 @@ PAirpcapHandle PacketGetAirPcapHandle(LPADAPTER AdapterObject);
#ifdef __cplusplus
}
#endif
#endif
#endif //__PACKET32

8
oshw/win32/wpcap/Include/Win32-Extensions.h
View File

@ -12,9 +12,9 @@
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Politecnico di Torino, CACE Technologies
* nor the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* 3. Neither the name of the Politecnico di Torino, CACE Technologies
* nor the names of its contributors may be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
@ -67,7 +67,7 @@ typedef struct _AirpcapHandle *PAirpcapHandle;
#define BPF_MEM_EX 0xc0
#define BPF_TME 0x08
#define BPF_LOOKUP 0x90
#define BPF_LOOKUP 0x90
#define BPF_EXECUTE 0xa0
#define BPF_INIT 0xb0
#define BPF_VALIDATE 0xc0

6
oshw/win32/wpcap/Include/bittypes.h
View File

@ -1,7 +1,7 @@
/*
* Copyright (C) 1999 WIDE Project.
* All rights reserved.
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
@ -13,7 +13,7 @@
* 3. Neither the name of the project nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
*
* THIS SOFTWARE IS PROVIDED BY THE PROJECT 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
@ -45,7 +45,7 @@ typedef signed int int8_t;
#endif /* HAVE_U_INT8_T */
#ifndef HAVE_U_INT16_T
#ifndef HAVE_U_INT16_T
#if SIZEOF_SHORT == 2
typedef unsigned short u_int16_t;

2
oshw/win32/wpcap/Include/pcap-bpf.h
View File

@ -4,7 +4,7 @@
*
* This code is derived from the Stanford/CMU enet packet filter,
* (net/enet.c) distributed as part of 4.3BSD, and code contributed
* to Berkeley by Steven McCanne and Van Jacobson both of Lawrence
* to Berkeley by Steven McCanne and Van Jacobson both of Lawrence
* Berkeley Laboratory.
*
* Redistribution and use in source and binary forms, with or without

6
oshw/win32/wpcap/Include/pcap-stdinc.h
View File

@ -39,7 +39,7 @@
#endif
/*
* Avoids a compiler warning in case this was already defined
* Avoids a compiler warning in case this was already defined
* (someone defined _WINSOCKAPI_ when including 'windows.h', in order
* to prevent it from including 'winsock.h')
*/
@ -66,7 +66,7 @@
#define strdup _strdup
#endif
#define inline __inline
#define inline __inline
#ifdef __MINGW32__
#include <stdint.h>
@ -88,6 +88,6 @@ typedef __int64 intptr_t;
typedef _W64 int intptr_t;
#endif
#define _INTPTR_T_DEFINED
#endif
#endif
#endif /*__MINGW32__*/

6
oshw/win32/wpcap/Include/pcap/bluetooth.h
View File

@ -11,8 +11,8 @@
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. The name of the author may not be used to endorse or promote
* products derived from this software without specific prior written
* 3. The name of the author may not be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
@ -32,7 +32,7 @@
*
* @(#) $Header: /tcpdump/master/libpcap/pcap/bluetooth.h,v 1.1 2007/09/22 02:10:17 guy Exp $
*/
#ifndef _PCAP_BLUETOOTH_STRUCTS_H__
#define _PCAP_BLUETOOTH_STRUCTS_H__

20
oshw/win32/wpcap/Include/pcap/bpf.h
View File

@ -4,7 +4,7 @@
*
* This code is derived from the Stanford/CMU enet packet filter,
* (net/enet.c) distributed as part of 4.3BSD, and code contributed
* to Berkeley by Steven McCanne and Van Jacobson both of Lawrence
* to Berkeley by Steven McCanne and Van Jacobson both of Lawrence
* Berkeley Laboratory.
*
* Redistribution and use in source and binary forms, with or without
@ -69,8 +69,8 @@ typedef u_int bpf_u_int32;
#endif
/*
* Alignment macros. BPF_WORDALIGN rounds up to the next
* even multiple of BPF_ALIGNMENT.
* Alignment macros. BPF_WORDALIGN rounds up to the next
* even multiple of BPF_ALIGNMENT.
*/
#ifndef __NetBSD__
#define BPF_ALIGNMENT sizeof(bpf_int32)
@ -89,9 +89,9 @@ struct bpf_program {
u_int bf_len;
struct bpf_insn *bf_insns;
};
/*
* Struct return by BIOCVERSION. This represents the version number of
* Struct return by BIOCVERSION. This represents the version number of
* the filter language described by the instruction encodings below.
* bpf understands a program iff kernel_major == filter_major &&
* kernel_minor >= filter_minor, that is, if the value returned by the
@ -353,7 +353,7 @@ struct bpf_version {
*/
#define DLT_SUNATM 123 /* Solaris+SunATM */
/*
/*
* Reserved as per request from Kent Dahlgren <kent@praesum.com>
* for private use.
*/
@ -596,7 +596,7 @@ struct bpf_version {
/*
* Juniper-private data link type, as per request from
* Hannes Gredler <hannes@juniper.net>.
* Hannes Gredler <hannes@juniper.net>.
* The DLT_ are used for prepending meta-information
* like interface index, interface name
* before standard Ethernet, PPP, Frelay & C-HDLC Frames
@ -613,7 +613,7 @@ struct bpf_version {
/*
* Juniper-private data link type, as per request from
* Hannes Gredler <hannes@juniper.net>.
* Hannes Gredler <hannes@juniper.net>.
* The DLT_ is used for internal communication with a
* voice Adapter Card (PIC)
*/
@ -688,7 +688,7 @@ struct bpf_version {
/*
* Juniper-private data link type, as per request from
* Hannes Gredler <hannes@juniper.net>.
* Hannes Gredler <hannes@juniper.net>.
* The DLT_ is used for internal communication with a
* integrated service module (ISM).
*/
@ -729,7 +729,7 @@ struct bpf_version {
/*
* Juniper-private data link type, as per request from
* Hannes Gredler <hannes@juniper.net>.
* Hannes Gredler <hannes@juniper.net>.
* The DLT_ is used for capturing data on a secure tunnel interface.
*/
#define DLT_JUNIPER_ST 200

2
oshw/win32/wpcap/Include/pcap/pcap.h
View File

@ -138,7 +138,7 @@ struct pcap_file_header {
/*
* Macros for the value returned by pcap_datalink_ext().
*
*
* If LT_FCS_LENGTH_PRESENT(x) is true, the LT_FCS_LENGTH(x) macro
* gives the FCS length of packets in the capture.
*/

8
oshw/win32/wpcap/Include/pcap/usb.h
View File

@ -11,8 +11,8 @@
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. The name of the author may not be used to endorse or promote
* products derived from this software without specific prior written
* 3. The name of the author may not be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
@ -32,11 +32,11 @@
*
* @(#) $Header: /tcpdump/master/libpcap/pcap/usb.h,v 1.6 2007/09/22 02:06:08 guy Exp $
*/
#ifndef _PCAP_USB_STRUCTS_H__
#define _PCAP_USB_STRUCTS_H__
/*
/*
* possible transfer mode
*/
#define URB_TRANSFER_IN 0x80

98
oshw/win32/wpcap/Include/remote-ext.h
View File

@ -2,32 +2,32 @@
* Copyright (c) 2002 - 2003
* NetGroup, Politecnico di Torino (Italy)
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Politecnico di Torino nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* 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
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Politecnico di Torino nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* 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.
*
*
*/
@ -55,7 +55,7 @@ extern "C" {
placed into the pcap.h file.
It includes all new definitions (structures and functions like pcap_open().
Some of the functions are not really a remote feature, but, right now,
Some of the functions are not really a remote feature, but, right now,
they are placed here.
*/
@ -85,25 +85,25 @@ extern "C" {
/*!
\brief Internal representation of the type of source in use (file,
\brief Internal representation of the type of source in use (file,
remote/local interface).
This indicates a file, i.e. the user want to open a capture from a local file.
*/
#define PCAP_SRC_FILE 2
/*!
\brief Internal representation of the type of source in use (file,
\brief Internal representation of the type of source in use (file,
remote/local interface).
This indicates a local interface, i.e. the user want to open a capture from
This indicates a local interface, i.e. the user want to open a capture from
a local interface. This does not involve the RPCAP protocol.
*/
#define PCAP_SRC_IFLOCAL 3
/*!
\brief Internal representation of the type of source in use (file,
\brief Internal representation of the type of source in use (file,
remote/local interface).
This indicates a remote interface, i.e. the user want to open a capture from
This indicates a remote interface, i.e. the user want to open a capture from
an interface on a remote host. This does involve the RPCAP protocol.
*/
#define PCAP_SRC_IFREMOTE 4
@ -147,7 +147,7 @@ extern "C" {
- rpcap://[1:2:3::4]/devicename [IPv6 numeric, no port number]
- rpcap://[1:2:3::4]:1234/devicename [IPv6 numeric, with port number]
- rpcap://[1:2:3::4]:http/devicename [IPv6 numeric, with literal port number]
\{
*/
@ -194,7 +194,7 @@ extern "C" {
It is '1' if you have to open the adapter in promiscuous mode, '0' otherwise.
Note that even if this parameter is false, the interface could well be in promiscuous
mode for some other reason (for example because another capture process with
mode for some other reason (for example because another capture process with
promiscuous mode enabled is currently using that interface).
On on Linux systems with 2.2 or later kernels (that have the "any" device), this
flag does not work on the "any" device; if an argument of "any" is supplied,
@ -209,7 +209,7 @@ extern "C" {
If it is '1' if you want a UDP data connection, '0' if you want
a TCP data connection; control connection is always TCP-based.
A UDP connection is much lighter, but it does not guarantee that all
the captured packets arrive to the client workstation. Moreover,
the captured packets arrive to the client workstation. Moreover,
it could be harmful in case of network congestion.
This flag is meaningless if the source is not a remote interface.
In that case, it is simply ignored.
@ -230,7 +230,7 @@ extern "C" {
/*!
\brief Defines if the local adapter will capture its own generated traffic.
This flag tells the underlying capture driver to drop the packets that were sent by itself.
This flag tells the underlying capture driver to drop the packets that were sent by itself.
This is usefult when building applications like bridges, that should ignore the traffic
they just sent.
*/
@ -239,11 +239,11 @@ extern "C" {
/*!
\brief This flag configures the adapter for maximum responsiveness.
In presence of a large value for nbytes, WinPcap waits for the arrival of several packets before
copying the data to the user. This guarantees a low number of system calls, i.e. lower processor usage,
i.e. better performance, which is good for applications like sniffers. If the user sets the
PCAP_OPENFLAG_MAX_RESPONSIVENESS flag, the capture driver will copy the packets as soon as the application
is ready to receive them. This is suggested for real time applications (like, for example, a bridge)
In presence of a large value for nbytes, WinPcap waits for the arrival of several packets before
copying the data to the user. This guarantees a low number of system calls, i.e. lower processor usage,
i.e. better performance, which is good for applications like sniffers. If the user sets the
PCAP_OPENFLAG_MAX_RESPONSIVENESS flag, the capture driver will copy the packets as soon as the application
is ready to receive them. This is suggested for real time applications (like, for example, a bridge)
that need the best responsiveness.*/
#define PCAP_OPENFLAG_MAX_RESPONSIVENESS 16
@ -279,8 +279,8 @@ extern "C" {
In this case, the 'value' field of the 'pcap_samp' structure indicates the 'waiting
time' in milliseconds before one packet got accepted.
In other words, if 'value = 10', the first packet is returned to the caller; the next
returned one will be the first packet that arrives when 10ms have elapsed.
In other words, if 'value = 10', the first packet is returned to the caller; the next
returned one will be the first packet that arrives when 10ms have elapsed.
*/
#define PCAP_SAMP_FIRST_AFTER_N_MS 2
@ -325,12 +325,12 @@ extern "C" {
\brief This structure keeps the information needed to autheticate
the user on a remote machine.
The remote machine can either grant or refuse the access according
The remote machine can either grant or refuse the access according
to the information provided.
In case the NULL authentication is required, both 'username' and
'password' can be NULL pointers.
This structure is meaningless if the source is not a remote interface;
in that case, the functions which requires such a structure can accept
a NULL pointer as well.
@ -341,24 +341,24 @@ struct pcap_rmtauth
\brief Type of the authentication required.
In order to provide maximum flexibility, we can support different types
of authentication based on the value of this 'type' variable. The currently
of authentication based on the value of this 'type' variable. The currently
supported authentication methods are defined into the
\link remote_auth_methods Remote Authentication Methods Section\endlink.
*/
int type;
/*!
\brief Zero-terminated string containing the username that has to be
\brief Zero-terminated string containing the username that has to be
used on the remote machine for authentication.
This field is meaningless in case of the RPCAP_RMTAUTH_NULL authentication
and it can be NULL.
*/
char *username;
/*!
\brief Zero-terminated string containing the password that has to be
\brief Zero-terminated string containing the password that has to be
used on the remote machine for authentication.
This field is meaningless in case of the RPCAP_RMTAUTH_NULL authentication
and it can be NULL.
*/
@ -427,7 +427,7 @@ struct pcap_samp *pcap_setsampling(pcap_t *p);
/** \name Remote Capture functions
*/
//\{
//\{
SOCKET pcap_remoteact_accept(const char *address, const char *port, const char *hostlist, char *connectinghost, struct pcap_rmtauth *auth, char *errbuf);
int pcap_remoteact_list(char *hostlist, char sep, int size, char *errbuf);
int pcap_remoteact_close(const char *host, char *errbuf);

58
soem/ethercatbase.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatbase.c
* Version : 1.3.1
@ -41,7 +41,7 @@
/** \file
* \brief
* Base EtherCAT functions.
* Base EtherCAT functions.
*
* Setting up a datagram in an ethernet frame.
* EtherCAT datagram primitives, broadcast, auto increment, configured and
@ -112,10 +112,10 @@ int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16
datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
datagramP->elength = htoes(EC_ECATTYPE + EC_HEADERSIZE + length);
datagramP->command = com;
datagramP->index = idx;
datagramP->index = idx;
datagramP->ADP = htoes(ADP);
datagramP->ADO = htoes(ADO);
datagramP->dlength = htoes(length);
datagramP->dlength = htoes(length);
ecx_writedatagramdata(&frameP[ETH_HEADERSIZE + EC_HEADERSIZE], com, length, data);
/* set WKC to zero */
frameP[ETH_HEADERSIZE + EC_HEADERSIZE + length] = 0x00;
@ -147,7 +147,7 @@ int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean
frameP = frame;
/* copy previous frame size */
prevlength = port->txbuflength[idx];
prevlength = port->txbuflength[idx];
datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
/* add new datagram to ethernet frame size */
datagramP->elength = htoes( etohs(datagramP->elength) + EC_HEADERSIZE + length );
@ -156,18 +156,18 @@ int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean
/* set new EtherCAT header position */
datagramP = (ec_comt*)&frameP[prevlength - EC_ELENGTHSIZE];
datagramP->command = com;
datagramP->index = idx;
datagramP->index = idx;
datagramP->ADP = htoes(ADP);
datagramP->ADO = htoes(ADO);
if (more)
{
/* this is not the last datagram to add */
datagramP->dlength = htoes(length | EC_DATAGRAMFOLLOWS);
datagramP->dlength = htoes(length | EC_DATAGRAMFOLLOWS);
}
else
{
/* this is the last datagram in the frame */
datagramP->dlength = htoes(length);
datagramP->dlength = htoes(length);
}
ecx_writedatagramdata(&frameP[prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE], com, length, data);
/* set WKC to zero */
@ -178,7 +178,7 @@ int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean
/* return offset to data in rx frame
14 bytes smaller than tx frame due to stripping of ethernet header */
return prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE - ETH_HEADERSIZE;
return prevlength + EC_HEADERSIZE - EC_ELENGTHSIZE - ETH_HEADERSIZE;
}
/** BRW "broadcast write" primitive. Blocking.
@ -190,7 +190,7 @@ int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean
* @param[in] data = databuffer to be written to slaves
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
@ -206,7 +206,7 @@ int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
ecx_setbufstat (port, idx, EC_BUF_EMPTY);
return wkc;
}
}
/** BRD "broadcast read" primitive. Blocking.
*
@ -217,7 +217,7 @@ int ecx_BWR (ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
@ -233,12 +233,12 @@ int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
{
/* copy datagram to data buffer */
memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
}
}
/* clear buffer status */
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
}
/** APRD "auto increment address read" primitive. Blocking.
*
@ -249,7 +249,7 @@ int ecx_BRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
@ -277,7 +277,7 @@ int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_ARMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
@ -305,7 +305,7 @@ int ecx_ARMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_FRMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
@ -330,7 +330,7 @@ int ecx_FRMW(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[in] ADO = Address Offset, slave memory address
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return word data from slave
*/
*/
uint16 ecx_APRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
{
uint16 w;
@ -350,7 +350,7 @@ uint16 ecx_APRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
* @param[out] data = databuffer to put slave data in
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
@ -375,7 +375,7 @@ int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[in] ADO = Address Offset, slave memory address
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return word data from slave
*/
*/
uint16 ecx_FPRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
{
uint16 w;
@ -394,7 +394,7 @@ uint16 ecx_FPRDw(ecx_portt *port, uint16 ADP, uint16 ADO, int timeout)
* @param[in] data = databuffer to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
uint8 idx;
@ -404,7 +404,7 @@ int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
ecx_setupdatagram(port, &(port->txbuf[idx]), EC_CMD_APWR, idx, ADP, ADO, length, data);
wkc = ecx_srconfirm(port, idx, timeout);
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
return wkc;
}
@ -416,7 +416,7 @@ int ecx_APWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[in] data = word data to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_APWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ecx_APWR(port, ADP, ADO, sizeof(data), &data, timeout);
@ -431,7 +431,7 @@ int ecx_APWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
* @param[in] data = databuffer to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_FPWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout)
{
int wkc;
@ -453,7 +453,7 @@ int ecx_FPWR(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
* @param[in] data = word to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_FPWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
{
return ecx_FPWR(port, ADP, ADO, sizeof(data), &data, timeout);
@ -467,7 +467,7 @@ int ecx_FPWRw(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 data, int timeout)
* @param[in,out] data = databuffer to write to and read from slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_LRW(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
@ -493,7 +493,7 @@ int ecx_LRW(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeo
* @param[out] data = databuffer to read from slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_LRD(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
@ -519,7 +519,7 @@ int ecx_LRD(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeo
* @param[in] data = databuffer to write to slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_LWR(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeout)
{
uint8 idx;
@ -544,7 +544,7 @@ int ecx_LWR(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, int timeo
* @param[out] DCtime = DC time read from reference slave.
* @param[in] timeout = timeout in us, standard is EC_TIMEOUTRET
* @return Workcounter or EC_NOFRAME
*/
*/
int ecx_LRWDC(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16 DCrs, int64 *DCtime, int timeout)
{
uint16 DCtO;

6
soem/ethercatbase.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatbase.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatbase.c
* Headerfile for ethercatbase.c
*/
#ifndef _ethercatbase_

84
soem/ethercatcoe.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatcoe.c
* Version : 1.3.1
@ -39,7 +39,7 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* CAN over EtherCAT (CoE) module.
*
@ -75,7 +75,7 @@ PACKED_END
/** SDO service structure */
PACKED_BEGIN
typedef struct PACKED
typedef struct PACKED
{
ec_mbxheadert MbxHeader;
uint16 CANOpen;
@ -211,7 +211,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
(aSDOp->Index == SDOp->Index))
{
if ((aSDOp->Command & 0x02) > 0)
{
{
/* expedited frame response */
bytesize = 4 - ((aSDOp->Command >> 2) & 0x03);
if (*psize >= bytesize) /* parameter buffer big enough ? */
@ -233,7 +233,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
/* Does parameter fit in parameter buffer ? */
if (SDOlen <= *psize)
{
bp = p;
bp = p;
hp = p;
/* calculate mailbox transfer size */
Framedatasize = (etohs(aSDOp->MbxHeader.length) - 10);
@ -273,7 +273,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
{
/* slave response should be CoE, SDO response */
if ((((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
((aSDOp->Command & 0xe0) == 0x00)))
{
/* calculate mailbox transfer size */
@ -408,7 +408,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
if (wkc > 0)
{
/* response should be CoE, SDO response, correct index and subindex */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
(aSDOp->Index == SDOp->Index) &&
(aSDOp->SubIndex == SDOp->SubIndex))
@ -478,7 +478,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
if (wkc > 0)
{
/* response should be CoE, SDO response, correct index and subindex */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
(aSDOp->Index == SDOp->Index) &&
(aSDOp->SubIndex == SDOp->SubIndex))
@ -682,7 +682,7 @@ int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psi
wkc = 0;
ecx_packeterror(context, slave, 0, 0, 3); /* data container too small for type */
}
}
}
/* other slave response */
else
{
@ -696,7 +696,7 @@ int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psi
}
wkc = 0;
}
}
}
}
return wkc;
@ -756,7 +756,7 @@ int ecx_readPDOassign(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
rdl = sizeof(rdat); rdat = htoes(0xff);
/* read Object Entry in Object database */
// wkc = ec_readOEsingle(idx, (uint8)SubCount, pODlist, pOElist);
bsize += etohs(rdat);
bsize += etohs(rdat);
}
}
}
@ -778,7 +778,7 @@ int ecx_readPDOassignCA(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
int wkc, bsize = 0, rdl;
/* find maximum size of PDOassign buffer */
rdl = sizeof(ec_PDOassignt);
rdl = sizeof(ec_PDOassignt);
context->PDOassign->n=0;
/* read rxPDOassign in CA mode, all subindexes are read in one struct */
wkc = ecx_SDOread(context, Slave, PDOassign, 0x00, TRUE, &rdl, context->PDOassign, EC_TIMEOUTRXM);
@ -846,7 +846,7 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
uint8 nSM, iSM, tSM;
int Tsize;
uint8 SMt_bug_add;
*Isize = 0;
*Osize = 0;
SMt_bug_add = 0;
@ -869,30 +869,30 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
wkc = ecx_SDOread(context, Slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
if (wkc > 0)
{
// start slave bug prevention code, remove if possible
// start slave bug prevention code, remove if possible
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
}
if(tSM)
{
{
tSM += SMt_bug_add; // only add if SMt > 0
}
if((iSM == 2) && (tSM == 0)) // SM2 has type 0, this is a bug in the slave!
{
{
tSM = 3;
}
if((iSM == 3) && (tSM == 0)) // SM3 has type 0, this is a bug in the slave!
{
{
tSM = 4;
}
// end slave bug prevention code
// end slave bug prevention code
context->slavelist[Slave].SMtype[iSM] = tSM;
/* check if SM is unused -> clear enable flag */
if (tSM == 0)
{
context->slavelist[Slave].SM[iSM].SMflags =
context->slavelist[Slave].SM[iSM].SMflags =
htoel( etohl(context->slavelist[Slave].SM[iSM].SMflags) & EC_SMENABLEMASK);
}
if ((tSM == 3) || (tSM == 4))
@ -904,7 +904,7 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
{
context->slavelist[Slave].SM[iSM].SMlength = htoes((Tsize + 7) / 8);
if (tSM == 3)
{
{
/* we are doing outputs */
*Osize += Tsize;
}
@ -912,10 +912,10 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
{
/* we are doing inputs */
*Isize += Tsize;
}
}
}
}
}
}
}
}
}
}
@ -924,7 +924,7 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
{
retVal = 1;
}
return retVal;
}
@ -947,11 +947,11 @@ int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize
uint8 nSM, iSM, tSM;
int Tsize;
uint8 SMt_bug_add;
*Isize = 0;
*Osize = 0;
SMt_bug_add = 0;
rdl = sizeof(ec_SMcommtypet);
rdl = sizeof(ec_SMcommtypet);
context->SMcommtype->n = 0;
/* read SyncManager Communication Type object count Complete Access*/
wkc = ecx_SDOread(context, Slave, ECT_SDO_SMCOMMTYPE, 0x00, TRUE, &rdl, context->SMcommtype, EC_TIMEOUTRXM);
@ -964,14 +964,14 @@ int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize
if (nSM > EC_MAXSM)
{
nSM = EC_MAXSM;
ecx_packeterror(context, Slave, 0, 0, 10); /* #SM larger than EC_MAXSM */
ecx_packeterror(context, Slave, 0, 0, 10); /* #SM larger than EC_MAXSM */
}
/* iterate for every SM type defined */
for (iSM = 2 ; iSM <= nSM ; iSM++)
{
tSM = context->SMcommtype->SMtype[iSM];
// start slave bug prevention code, remove if possible
// start slave bug prevention code, remove if possible
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
@ -981,7 +981,7 @@ int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize
tSM += SMt_bug_add; // only add if SMt > 0
}
// end slave bug prevention code
context->slavelist[Slave].SMtype[iSM] = tSM;
/* check if SM is unused -> clear enable flag */
if (tSM == 0)
@ -1007,8 +1007,8 @@ int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize
/* we are doing inputs */
*Isize += Tsize;
}
}
}
}
}
}
}
@ -1062,7 +1062,7 @@ int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
/* mailbox placed in slave ? */
if (wkc > 0)
{
x = 0;
x = 0;
sp = 0;
First = TRUE;
offset = 1; /* offset to skip info header in first frame, otherwise set to 0 */
@ -1080,7 +1080,7 @@ int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
((aSDOp->Opcode & 0x7f) == ECT_GET_ODLIST_RES))
{
if (First)
{
{
/* extract number of indexes from mailbox data size */
n = (etohs(aSDOp->MbxHeader.length) - (6 + 2)) / 2;
}
@ -1110,10 +1110,10 @@ int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
sp += n;
/* check if more fragments will follow */
if (aSDOp->Fragments > 0)
{
{
stop = FALSE;
}
First = FALSE;
First = FALSE;
offset = 0;
}
/* got unexpected response from slave */
@ -1128,7 +1128,7 @@ int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
{
ecx_packeterror(context, Slave, 0, 0, 1); /* Unexpected frame returned */
}
wkc = 0;
wkc = 0;
x += 20;
}
}
@ -1218,7 +1218,7 @@ int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlis
}
}
}
return wkc;
}
@ -1310,7 +1310,7 @@ int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt
}
}
}
return wkc;
}
@ -1337,7 +1337,7 @@ int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElis
/* read subindex of entry */
wkc = ecx_readOEsingle(context, Item, (uint8)SubCount, pODlist, pOElist);
}
return wkc;
}
@ -1490,7 +1490,7 @@ int ec_readPDOmapCA(uint16 Slave, int *Osize, int *Isize)
return ecx_readPDOmapCA(&ecx_context, Slave, Osize, Isize);
}
/** CoE read Object Description List.
/** CoE read Object Description List.
*
* @param[in] Slave = Slave number.
* @param[out] pODlist = resulting Object Description list.

10
soem/ethercatcoe.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatcoe.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatcoe.c
* Headerfile for ethercatcoe.c
*/
#ifndef _ethercatcoe_
@ -59,7 +59,7 @@ extern "C"
#define EC_MAXOELIST 256
/* Storage for object description list */
typedef struct
typedef struct
{
/** slave number */
uint16 Slave;
@ -78,7 +78,7 @@ typedef struct
} ec_ODlistt;
/* storage for object list entry information */
typedef struct
typedef struct
{
/** number of entries in list */
uint16 Entries;

352
soem/ethercatconfig.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatconfig.c
* Version : 1.3.1
@ -131,10 +131,10 @@ int ec_findconfig( uint32 man, uint32 id)
{
int i = 0;
do
do
{
i++;
} while ( (ec_configlist[i].man != EC_CONFIGEND) &&
} while ( (ec_configlist[i].man != EC_CONFIGEND) &&
((ec_configlist[i].man != man) || (ec_configlist[i].id != id)) );
if (ec_configlist[i].man == EC_CONFIGEND)
{
@ -152,7 +152,7 @@ void ecx_init_context(ecx_contextt *context)
memset(context->slavelist, 0x00, sizeof(ec_slavet) * context->maxslave);
memset(context->grouplist, 0x00, sizeof(ec_groupt) * context->maxgroup);
/* clear slave eeprom cache, does not actually read any eeprom */
ecx_siigetbyte(context, 0, EC_MAXEEPBUF);
ecx_siigetbyte(context, 0, EC_MAXEEPBUF);
for(lp = 0; lp < context->maxgroup; lp++)
{
context->grouplist[lp].logstartaddr = lp << 16; /* default start address per group entry */
@ -164,7 +164,7 @@ int ecx_detect_slaves(ecx_contextt *context)
uint8 b;
uint16 w;
int wkc;
/* make special pre-init register writes to enable MAC[1] local administered bit *
* setting for old netX100 slaves */
b = 0x00;
@ -214,14 +214,14 @@ static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
int cindex;
ec_slavet *csl;
csl = &(context->slavelist[slave]);
cindex = ec_findconfig( csl->eep_man, csl->eep_id );
csl->configindex= cindex;
/* slave found in configuration table ? */
if (cindex)
{
csl->Dtype = ec_configlist[cindex].Dtype;
csl->Dtype = ec_configlist[cindex].Dtype;
strcpy(csl->name ,ec_configlist[cindex].name);
csl->Ibits = ec_configlist[cindex].Ibits;
csl->Obits = ec_configlist[cindex].Obits;
@ -242,7 +242,7 @@ static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
csl->SM[0].StartAddr = htoes(0x0f00);
csl->SM[0].SMlength = htoes((csl->Obits + 7) / 8);
csl->SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
csl->SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
csl->FMMU[0].FMMUactive = 1;
csl->FMMU[0].FMMUtype = 2;
csl->SMtype[0] = 3;
@ -252,7 +252,7 @@ static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
csl->SM[2].SMlength = htoes((csl->Obits + 7) / 8);
csl->SMtype[2] = 3;
}
}
csl->SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
csl->SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
/* simple (no mailbox) input slave found ? */
@ -260,7 +260,7 @@ static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
csl->SM[1].StartAddr = htoes(0x1000);
csl->SM[1].SMlength = htoes((csl->Ibits + 7) / 8);
csl->SM[1].SMflags = htoel(0x00000000);
csl->SM[1].SMflags = htoel(0x00000000);
csl->FMMU[1].FMMUactive = 1;
csl->FMMU[1].FMMUtype = 1;
csl->SMtype[1] = 4;
@ -270,7 +270,7 @@ static int ecx_config_from_table(ecx_contextt *context, uint16 slave)
{
csl->SM[3].SMlength = htoes((csl->Ibits + 7) / 8);
csl->SMtype[3] = 4;
}
}
}
return cindex;
}
@ -306,17 +306,17 @@ static int ecx_lookup_prev_sii(ecx_contextt *context, uint16 slave)
if(context->slavelist[i].blockLRW > 0)
{
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
}
context->slavelist[0].blockLRW++;
}
context->slavelist[slave].Ebuscurrent = context->slavelist[i].Ebuscurrent;
context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
memcpy(context->slavelist[slave].name, context->slavelist[i].name, EC_MAXNAME + 1);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
context->slavelist[slave].SM[nSM].StartAddr = context->slavelist[i].SM[nSM].StartAddr;
context->slavelist[slave].SM[nSM].SMlength = context->slavelist[i].SM[nSM].SMlength;
context->slavelist[slave].SM[nSM].SMflags = context->slavelist[i].SM[nSM].SMflags;
}
context->slavelist[slave].SM[nSM].StartAddr = context->slavelist[i].SM[nSM].StartAddr;
context->slavelist[slave].SM[nSM].SMlength = context->slavelist[i].SM[nSM].SMlength;
context->slavelist[slave].SM[nSM].SMflags = context->slavelist[i].SM[nSM].SMflags;
}
context->slavelist[slave].FMMU0func = context->slavelist[i].FMMU0func;
context->slavelist[slave].FMMU1func = context->slavelist[i].FMMU1func;
context->slavelist[slave].FMMU2func = context->slavelist[i].FMMU2func;
@ -327,7 +327,7 @@ static int ecx_lookup_prev_sii(ecx_contextt *context, uint16 slave)
}
return 0;
}
/** Enumerate and init all slaves.
*
* @param[in] context = context struct
@ -349,20 +349,20 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
wkc = ecx_detect_slaves(context);
if (wkc > 0)
{
ecx_set_slaves_to_default(context);
ecx_set_slaves_to_default(context);
for (slave = 1; slave <= *(context->slavecount); slave++)
{
ADPh = (uint16)(1 - slave);
context->slavelist[slave].Itype =
context->slavelist[slave].Itype =
etohs(ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3)); /* read interface type of slave */
/* a node offset is used to improve readibility of network frames */
/* this has no impact on the number of addressable slaves (auto wrap around) */
ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
if (slave == 1)
if (slave == 1)
{
b = 1; /* kill non ecat frames for first slave */
}
else
else
{
b = 0; /* pass all frames for following slaves */
}
@ -381,19 +381,19 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_man =
context->slavelist[slave].eep_man =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* Manuf */
ecx_readeeprom1(context, slave, ECT_SII_ID); /* ID */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_id =
context->slavelist[slave].eep_id =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* ID */
ecx_readeeprom1(context, slave, ECT_SII_REV); /* revision */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_rev =
context->slavelist[slave].eep_rev =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* revision */
ecx_readeeprom1(context, slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
}
@ -402,14 +402,14 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
context->slavelist[slave].mbx_wo = (uint16)LO_WORD(eedat);
context->slavelist[slave].mbx_l = (uint16)HI_WORD(eedat);
if (context->slavelist[slave].mbx_l > 0)
if (context->slavelist[slave].mbx_l > 0)
{
ecx_readeeprom1(context, slave, ECT_SII_TXMBXADR); /* read mailbox offset */
}
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (context->slavelist[slave].mbx_l > 0)
if (context->slavelist[slave].mbx_l > 0)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* read mailbox offset */
context->slavelist[slave].mbx_ro = (uint16)LO_WORD(eedat); /* read mailbox offset */
@ -422,7 +422,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
}
configadr = context->slavelist[slave].configadr;
if ((etohs(ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3)) & 0x04) > 0) /* Support DC? */
{
{
context->slavelist[slave].hasdc = TRUE;
}
else
@ -430,7 +430,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].hasdc = FALSE;
}
topology = etohs(ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3)); /* extract topology from DL status */
h = 0;
h = 0;
b = 0;
if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
{
@ -453,7 +453,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
b |= 0x08;
}
/* ptype = Physical type*/
context->slavelist[slave].ptype =
context->slavelist[slave].ptype =
LO_BYTE(etohs(ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3)));
context->slavelist[slave].topology = h;
context->slavelist[slave].activeports = b;
@ -466,7 +466,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].parent = 0; /* parent is master */
if (slave > 1)
{
topoc = 0;
topoc = 0;
slavec = slave - 1;
do
{
@ -494,10 +494,10 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
while (slavec > 0);
}
(void)ecx_statecheck(context, slave, EC_STATE_INIT, EC_TIMEOUTSTATE); //* check state change Init */
/* set default mailbox configuration if slave has mailbox */
if (context->slavelist[slave].mbx_l>0)
{
{
context->slavelist[slave].SMtype[0] = 1;
context->slavelist[slave].SMtype[1] = 2;
context->slavelist[slave].SMtype[2] = 3;
@ -508,9 +508,9 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].SM[1].StartAddr = htoes(context->slavelist[slave].mbx_ro);
context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].mbx_proto =
context->slavelist[slave].mbx_proto =
ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
}
}
cindex = 0;
/* use configuration table ? */
if (usetable == 1)
@ -531,8 +531,8 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
if((ecx_siigetbyte(context, slave, ssigen + 0x0d) & 0x02) > 0)
{
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
}
context->slavelist[0].blockLRW++;
}
context->slavelist[slave].Ebuscurrent = ecx_siigetbyte(context, slave, ssigen + 0x0e);
context->slavelist[slave].Ebuscurrent += ecx_siigetbyte(context, slave, ssigen + 0x0f) << 8;
context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
@ -546,48 +546,48 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
else
{
sprintf(context->slavelist[slave].name, "? M:%8.8x I:%8.8x",
(unsigned int)context->slavelist[slave].eep_man,
(unsigned int)context->slavelist[slave].eep_man,
(unsigned int)context->slavelist[slave].eep_id);
}
/* SII SM section */
nSM = ecx_siiSM(context, slave, context->eepSM);
if (nSM>0)
{
{
context->slavelist[slave].SM[0].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[0].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[0].SMflags =
context->slavelist[slave].SM[0].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc = 1;
while ((SMc < EC_MAXSM) && ecx_siiSMnext(context, slave, context->eepSM, SMc))
{
context->slavelist[slave].SM[SMc].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[SMc].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[SMc].SMflags =
context->slavelist[slave].SM[SMc].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc++;
}
}
}
}
/* SII FMMU section */
if (ecx_siiFMMU(context, slave, context->eepFMMU))
{
if (context->eepFMMU->FMMU0 !=0xff)
if (context->eepFMMU->FMMU0 !=0xff)
{
context->slavelist[slave].FMMU0func = context->eepFMMU->FMMU0;
}
if (context->eepFMMU->FMMU1 !=0xff)
if (context->eepFMMU->FMMU1 !=0xff)
{
context->slavelist[slave].FMMU1func = context->eepFMMU->FMMU1;
}
if (context->eepFMMU->FMMU2 !=0xff)
if (context->eepFMMU->FMMU2 !=0xff)
{
context->slavelist[slave].FMMU2func = context->eepFMMU->FMMU2;
}
if (context->eepFMMU->FMMU3 !=0xff)
if (context->eepFMMU->FMMU3 !=0xff)
{
context->slavelist[slave].FMMU3func = context->eepFMMU->FMMU3;
}
}
}
}
}
if (context->slavelist[slave].mbx_l > 0)
{
@ -597,8 +597,8 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].SM[0].StartAddr = htoes(0x1000);
context->slavelist[slave].SM[0].SMlength = htoes(0x0080);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SMtype[0] = 1;
}
context->slavelist[slave].SMtype[0] = 1;
}
if (context->slavelist[slave].SM[1].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox out configuration, try default.\n", slave);
@ -606,18 +606,18 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].SM[1].SMlength = htoes(0x0080);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].SMtype[1] = 2;
}
}
/* program SM0 mailbox in and SM1 mailbox out for slave */
/* writing both SM in one datagram will solve timing issue in old NETX */
ecx_FPWR(context->port, configadr, ECT_REG_SM0, sizeof(ec_smt) * 2,
ecx_FPWR(context->port, configadr, ECT_REG_SM0, sizeof(ec_smt) * 2,
&(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
}
}
/* some slaves need eeprom available to PDI in init->preop transition */
ecx_eeprom2pdi(context, slave);
/* request pre_op for slave */
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET3); /* set preop status */
}
}
}
return wkc;
}
@ -640,10 +640,10 @@ static int ecx_lookup_mapping(ecx_contextt *context, uint16 slave, int *Osize, i
if(i < slave)
{
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
{
context->slavelist[slave].SM[nSM].SMlength = context->slavelist[i].SM[nSM].SMlength;
context->slavelist[slave].SMtype[nSM] = context->slavelist[i].SMtype[nSM];
}
}
*Osize = context->slavelist[i].Obits;
*Isize = context->slavelist[i].Ibits;
context->slavelist[slave].Obits = *Osize;
@ -668,7 +668,7 @@ static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave)
/* execute special slave configuration hook Pre-Op to Safe-OP */
if(context->slavelist[slave].PO2SOconfig) /* only if registered */
{
context->slavelist[slave].PO2SOconfig(slave);
context->slavelist[slave].PO2SOconfig(slave);
}
/* if slave not found in configlist find IO mapping in slave self */
if (!context->slavelist[slave].configindex)
@ -701,7 +701,7 @@ static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave)
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
}
return 1;
}
@ -710,7 +710,7 @@ static int ecx_map_sii(ecx_contextt *context, uint16 slave)
int Isize, Osize;
int nSM;
ec_eepromPDOt eepPDO;
Osize = context->slavelist[slave].Obits;
Isize = context->slavelist[slave].Ibits;
@ -722,32 +722,32 @@ static int ecx_map_sii(ecx_contextt *context, uint16 slave)
{
memset(&eepPDO, 0, sizeof(eepPDO));
Isize = (int)ecx_siiPDO(context, slave, &eepPDO, 0);
EC_PRINT(" SII Isize:%d\n", Isize);
EC_PRINT(" SII Isize:%d\n", Isize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
{
if (eepPDO.SMbitsize[nSM] > 0)
{
{
context->slavelist[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
context->slavelist[slave].SMtype[nSM] = 4;
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
}
}
Osize = (int)ecx_siiPDO(context, slave, &eepPDO, 1);
EC_PRINT(" SII Osize:%d\n", Osize);
EC_PRINT(" SII Osize:%d\n", Osize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
{
if (eepPDO.SMbitsize[nSM] > 0)
{
{
context->slavelist[slave].SM[nSM].SMlength = htoes((eepPDO.SMbitsize[nSM] + 7) / 8);
context->slavelist[slave].SMtype[nSM] = 3;
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
}
}
}
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);
return 1;
}
@ -756,45 +756,45 @@ static int ecx_map_sm(ecx_contextt *context, uint16 slave)
{
uint16 configadr;
int nSM;
configadr = context->slavelist[slave].configadr;
EC_PRINT(" SM programming\n");
EC_PRINT(" SM programming\n");
if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[0].StartAddr)
{
ecx_FPWR(context->port, configadr, ECT_REG_SM0,
ecx_FPWR(context->port, configadr, ECT_REG_SM0,
sizeof(ec_smt), &(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
EC_PRINT(" SM0 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[0],
context->slavelist[slave].SM[0].StartAddr,
context->slavelist[slave].SM[0].SMflags);
EC_PRINT(" SM0 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[0],
context->slavelist[slave].SM[0].StartAddr,
context->slavelist[slave].SM[0].SMflags);
}
if (!context->slavelist[slave].mbx_l && context->slavelist[slave].SM[1].StartAddr)
{
ecx_FPWR(context->port, configadr, ECT_REG_SM1,
ecx_FPWR(context->port, configadr, ECT_REG_SM1,
sizeof(ec_smt), &context->slavelist[slave].SM[1], EC_TIMEOUTRET3);
EC_PRINT(" SM1 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[1],
context->slavelist[slave].SM[1].StartAddr,
context->slavelist[slave].SM[1].SMflags);
EC_PRINT(" SM1 Type:%d StartAddr:%4.4x Flags:%8.8x\n",
context->slavelist[slave].SMtype[1],
context->slavelist[slave].SM[1].StartAddr,
context->slavelist[slave].SM[1].SMflags);
}
/* program SM2 to SMx */
for( nSM = 2 ; nSM < EC_MAXSM ; nSM++ )
{
{
if (context->slavelist[slave].SM[nSM].StartAddr)
{
/* check if SM length is zero -> clear enable flag */
if( context->slavelist[slave].SM[nSM].SMlength == 0)
if( context->slavelist[slave].SM[nSM].SMlength == 0)
{
context->slavelist[slave].SM[nSM].SMflags =
context->slavelist[slave].SM[nSM].SMflags =
htoel( etohl(context->slavelist[slave].SM[nSM].SMflags) & EC_SMENABLEMASK);
}
ecx_FPWR(context->port, configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)),
sizeof(ec_smt), &context->slavelist[slave].SM[nSM], EC_TIMEOUTRET3);
EC_PRINT(" SM%d Type:%d StartAddr:%4.4x Flags:%8.8x\n", nSM,
context->slavelist[slave].SMtype[nSM],
context->slavelist[slave].SM[nSM].StartAddr,
context->slavelist[slave].SM[nSM].SMflags);
context->slavelist[slave].SMtype[nSM],
context->slavelist[slave].SM[nSM].StartAddr,
context->slavelist[slave].SM[nSM].SMflags);
}
}
if (context->slavelist[slave].Ibits > 7)
@ -805,7 +805,7 @@ static int ecx_map_sm(ecx_contextt *context, uint16 slave)
{
context->slavelist[slave].Obytes = (context->slavelist[slave].Obits + 7) / 8;
}
return 1;
}
@ -813,7 +813,7 @@ OSAL_THREAD_FUNC ecx_mapper_thread(void *param)
{
ecx_mapt_t *maptp;
maptp = param;
ecx_map_coe_soe(maptp->context, maptp->slave);
ecx_map_coe_soe(maptp->context, maptp->slave);
maptp->running = 0;
}
@ -845,12 +845,12 @@ static int ecx_get_threadcount(void)
}
return thrc;
}
/** Map all PDOs in one group of slaves to IOmap.
*
* @param[in] context = context struct
* @param[out] pIOmap = pointer to IOmap
* @param[in] group = group to map, 0 = all groups
* @param[out] pIOmap = pointer to IOmap
* @param[in] group = group to map, 0 = all groups
* @return IOmap size
*/
int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
@ -868,7 +868,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
int thrn, thrc;
if ((*(context->slavecount) > 0) && (group < context->maxgroup))
{
{
EC_PRINT("ec_config_map_group IOmap:%p group:%d\n", pIOmap, group);
LogAddr = context->grouplist[group].logstartaddr;
oLogAddr = LogAddr;
@ -876,7 +876,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
context->grouplist[group].nsegments = 0;
context->grouplist[group].outputsWKC = 0;
context->grouplist[group].inputsWKC = 0;
for(thrn = 0 ; thrn < MAX_MAPT ; thrn++)
{
ecx_mapt[thrn].running = 0;
@ -901,7 +901,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
ecx_mapt[thrn].context = context;
ecx_mapt[thrn].slave = slave;
ecx_mapt[thrn].running = 1;
osal_thread_create(&(ecx_threadh[thrn]), 128000,
osal_thread_create(&(ecx_threadh[thrn]), 128000,
&ecx_mapper_thread, &(ecx_mapt[thrn]));
}
}
@ -919,7 +919,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (!group || (group == context->slavelist[slave].group))
{
{
ecx_map_sii(context, slave);
ecx_map_sm(context, slave);
}
@ -931,7 +931,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
configadr = context->slavelist[slave].configadr;
if (!group || (group == context->slavelist[slave].group))
{
{
FMMUc = context->slavelist[slave].FMMUunused;
SMc = 0;
BitCount = 0;
@ -945,11 +945,11 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
EC_PRINT(" OUTPUT MAPPING\n");
/* search for SM that contribute to the output mapping */
while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Obits + 7) / 8)))
{
{
EC_PRINT(" FMMU %d\n", FMMUc);
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 3)) SMc++;
EC_PRINT(" SM%d\n", SMc);
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].SM[SMc].StartAddr;
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
@ -960,7 +960,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
SMc++;
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 3)) SMc++;
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr )
if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr )
{
break;
}
@ -968,12 +968,12 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!context->slavelist[slave].Obytes)
{
{
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos += context->slavelist[slave].Obits - 1;
@ -981,7 +981,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
LogAddr++;
BitPos -= 8;
}
}
FMMUsize = LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
@ -990,7 +990,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
LogAddr++;
BitPos -= 8;
}
}
}
/* byte oriented slave */
else
@ -999,7 +999,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
LogAddr++;
BitPos = 0;
}
}
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos = 7;
@ -1022,18 +1022,18 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
context->grouplist[group].outputsWKC++;
if (!context->slavelist[slave].outputs)
{
context->slavelist[slave].outputs =
{
context->slavelist[slave].outputs =
(uint8 *)(pIOmap) + etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
context->slavelist[slave].Ostartbit =
context->slavelist[slave].Ostartbit =
context->slavelist[slave].FMMU[FMMUc].LogStartbit;
EC_PRINT(" slave %d Outputs %p startbit %d\n",
slave,
context->slavelist[slave].outputs,
EC_PRINT(" slave %d Outputs %p startbit %d\n",
slave,
context->slavelist[slave].outputs,
context->slavelist[slave].Ostartbit);
}
FMMUc++;
}
}
context->slavelist[slave].FMMUunused = FMMUc;
diff = LogAddr - oLogAddr;
oLogAddr = LogAddr;
@ -1043,7 +1043,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = diff;
segmentsize = diff;
}
}
else
@ -1051,7 +1051,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
segmentsize += diff;
}
}
}
}
}
if (BitPos)
{
@ -1064,25 +1064,25 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = 1;
segmentsize = 1;
}
}
else
{
segmentsize += 1;
}
}
}
context->grouplist[group].outputs = pIOmap;
context->grouplist[group].Obytes = LogAddr;
context->grouplist[group].nsegments = currentsegment + 1;
context->grouplist[group].Isegment = currentsegment;
context->grouplist[group].Ioffset = segmentsize;
if (!group)
{
{
context->slavelist[0].outputs = pIOmap;
context->slavelist[0].Obytes = LogAddr; /* store output bytes in master record */
}
}
/* do input mapping of slave and program FMMUs */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
@ -1106,11 +1106,11 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
EC_PRINT(" =Slave %d, INPUT MAPPING\n", slave);
/* search for SM that contribute to the input mapping */
while ( (SMc < (EC_MAXSM - 1)) && (FMMUdone < ((context->slavelist[slave].Ibits + 7) / 8)))
{
{
EC_PRINT(" FMMU %d\n", FMMUc);
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4)) SMc++;
EC_PRINT(" SM%d\n", SMc);
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].FMMU[FMMUc].PhysStart =
context->slavelist[slave].SM[SMc].StartAddr;
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
@ -1121,7 +1121,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
SMc++;
while ( (SMc < (EC_MAXSM - 1)) && (context->slavelist[slave].SMtype[SMc] != 4)) SMc++;
/* if addresses from more SM connect use one FMMU otherwise break up in mutiple FMMU */
if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr )
if ( etohs(context->slavelist[slave].SM[SMc].StartAddr) > EndAddr )
{
break;
}
@ -1129,12 +1129,12 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
SMlength = etohs(context->slavelist[slave].SM[SMc].SMlength);
ByteCount += SMlength;
BitCount += SMlength * 8;
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
EndAddr = etohs(context->slavelist[slave].SM[SMc].StartAddr) + SMlength;
}
/* bit oriented slave */
if (!context->slavelist[slave].Ibytes)
{
{
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos += context->slavelist[slave].Ibits - 1;
@ -1142,7 +1142,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
LogAddr++;
BitPos -= 8;
}
}
FMMUsize = LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = BitPos;
@ -1151,7 +1151,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
LogAddr++;
BitPos -= 8;
}
}
}
/* byte oriented slave */
else
@ -1160,7 +1160,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
{
LogAddr++;
BitPos = 0;
}
}
context->slavelist[slave].FMMU[FMMUc].LogStart = htoel(LogAddr);
context->slavelist[slave].FMMU[FMMUc].LogStartbit = BitPos;
BitPos = 7;
@ -1176,28 +1176,28 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
}
FMMUdone += FMMUsize;
if (context->slavelist[slave].FMMU[FMMUc].LogLength)
{
{
context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 1;
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for input */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
/* add one for an input FMMU */
context->grouplist[group].inputsWKC++;
}
}
if (!context->slavelist[slave].inputs)
{
context->slavelist[slave].inputs =
{
context->slavelist[slave].inputs =
(uint8 *)(pIOmap) + etohl(context->slavelist[slave].FMMU[FMMUc].LogStart);
context->slavelist[slave].Istartbit =
context->slavelist[slave].Istartbit =
context->slavelist[slave].FMMU[FMMUc].LogStartbit;
EC_PRINT(" Inputs %p startbit %d\n",
context->slavelist[slave].inputs,
EC_PRINT(" Inputs %p startbit %d\n",
context->slavelist[slave].inputs,
context->slavelist[slave].Istartbit);
}
FMMUc++;
}
}
context->slavelist[slave].FMMUunused = FMMUc;
diff = LogAddr - oLogAddr;
oLogAddr = LogAddr;
@ -1207,21 +1207,21 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = diff;
segmentsize = diff;
}
}
else
{
segmentsize += diff;
}
}
}
ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , EC_TIMEOUTRET3); /* set safeop status */
if (context->slavelist[slave].blockLRW)
{
context->grouplist[group].blockLRW++;
{
context->grouplist[group].blockLRW++;
}
context->grouplist[group].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
}
@ -1237,31 +1237,31 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
if (currentsegment < (EC_MAXIOSEGMENTS - 1))
{
currentsegment++;
segmentsize = 1;
segmentsize = 1;
}
}
else
{
segmentsize += 1;
}
}
}
context->grouplist[group].IOsegment[currentsegment] = segmentsize;
context->grouplist[group].nsegments = currentsegment + 1;
context->grouplist[group].inputs = (uint8 *)(pIOmap) + context->grouplist[group].Obytes;
context->grouplist[group].Ibytes = LogAddr - context->grouplist[group].Obytes;
if (!group)
{
{
context->slavelist[0].inputs = (uint8 *)(pIOmap) + context->slavelist[0].Obytes;
context->slavelist[0].Ibytes = LogAddr - context->slavelist[0].Obytes; /* store input bytes in master record */
}
}
EC_PRINT("IOmapSize %d\n", LogAddr - context->grouplist[group].logstartaddr);
EC_PRINT("IOmapSize %d\n", LogAddr - context->grouplist[group].logstartaddr);
return (LogAddr - context->grouplist[group].logstartaddr);
}
return 0;
}
}
/** Recover slave.
*
@ -1293,22 +1293,22 @@ int ecx_recover_slave(ecx_contextt *context, uint16 slave, int timeout)
ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(0) , 0);
/* set temporary node address of slave */
if(ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(EC_TEMPNODE) , timeout) <= 0)
{
{
ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(0) , 0);
return 0; /* slave fails to respond */
}
context->slavelist[slave].configadr = EC_TEMPNODE; /* temporary config address */
ecx_eeprom2master(context, slave); /* set Eeprom control to master */
context->slavelist[slave].configadr = EC_TEMPNODE; /* temporary config address */
ecx_eeprom2master(context, slave); /* set Eeprom control to master */
/* check if slave is the same as configured before */
if ((ecx_FPRDw(context->port, EC_TEMPNODE, ECT_REG_ALIAS, timeout) ==
if ((ecx_FPRDw(context->port, EC_TEMPNODE, ECT_REG_ALIAS, timeout) ==
context->slavelist[slave].aliasadr) &&
(ecx_readeeprom(context, slave, ECT_SII_ID, EC_TIMEOUTEEP) ==
(ecx_readeeprom(context, slave, ECT_SII_ID, EC_TIMEOUTEEP) ==
context->slavelist[slave].eep_id) &&
(ecx_readeeprom(context, slave, ECT_SII_MANUF, EC_TIMEOUTEEP) ==
(ecx_readeeprom(context, slave, ECT_SII_MANUF, EC_TIMEOUTEEP) ==
context->slavelist[slave].eep_man) &&
(ecx_readeeprom(context, slave, ECT_SII_REV, EC_TIMEOUTEEP) ==
(ecx_readeeprom(context, slave, ECT_SII_REV, EC_TIMEOUTEEP) ==
context->slavelist[slave].eep_rev))
{
rval = ecx_FPWRw(context->port, EC_TEMPNODE, ECT_REG_STADR, htoes(configadr) , timeout);
@ -1336,23 +1336,23 @@ int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout)
{
int state, nSM, FMMUc;
uint16 configadr;
configadr = context->slavelist[slave].configadr;
if (ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_INIT) , timeout) <= 0)
{
return 0;
}
state = 0;
ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
ecx_eeprom2pdi(context, slave); /* set Eeprom control to PDI */
/* check state change init */
state = ecx_statecheck(context, slave, EC_STATE_INIT, EC_TIMEOUTSTATE);
if(state == EC_STATE_INIT)
{
/* program all enabled SM */
for( nSM = 0 ; nSM < EC_MAXSM ; nSM++ )
{
{
if (context->slavelist[slave].SM[nSM].StartAddr)
{
{
ecx_FPWR(context->port, configadr, ECT_REG_SM0 + (nSM * sizeof(ec_smt)),
sizeof(ec_smt), &context->slavelist[slave].SM[nSM], timeout);
}
@ -1363,21 +1363,21 @@ int ecx_reconfig_slave(ecx_contextt *context, uint16 slave, int timeout)
{
/* execute special slave configuration hook Pre-Op to Safe-OP */
if(context->slavelist[slave].PO2SOconfig) /* only if registered */
{
context->slavelist[slave].PO2SOconfig(slave);
{
context->slavelist[slave].PO2SOconfig(slave);
}
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_SAFE_OP) , timeout); /* set safeop status */
state = ecx_statecheck(context, slave, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* check state change safe-op */
/* program configured FMMU */
for( FMMUc = 0 ; FMMUc < context->slavelist[slave].FMMUunused ; FMMUc++ )
{
{
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &context->slavelist[slave].FMMU[FMMUc], timeout);
}
}
}
return state;
return state;
}
#ifdef EC_VER1
@ -1406,7 +1406,7 @@ int ec_config_map_group(void *pIOmap, uint8 group)
/** Map all PDOs from slaves to IOmap.
*
* @param[out] pIOmap = pointer to IOmap
* @param[out] pIOmap = pointer to IOmap
* @return IOmap size
*/
int ec_config_map(void *pIOmap)
@ -1417,7 +1417,7 @@ int ec_config_map(void *pIOmap)
/** Enumerate / map and init all slaves.
*
* @param[in] usetable = TRUE when using configtable to init slaves, FALSE otherwise
* @param[out] pIOmap = pointer to IOmap
* @param[out] pIOmap = pointer to IOmap
* @return Workcounter of slave discover datagram = number of slaves found
*/
int ec_config(uint8 usetable, void *pIOmap)
@ -1425,7 +1425,7 @@ int ec_config(uint8 usetable, void *pIOmap)
int wkc;
wkc = ec_config_init(usetable);
if (wkc)
{
{
ec_config_map(pIOmap);
}
return wkc;

6
soem/ethercatconfig.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatconfig.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatconfig.c
* Headerfile for ethercatconfig.c
*/
#ifndef _ethercatconfig_

18
soem/ethercatconfiglist.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatconfiglist.h
* Version : 1.3.1
@ -52,14 +52,14 @@
#define _ethercatconfiglist_
/*
explanation of dev:
1: static device with no IO mapping ie EK1100
2: input device no mailbox ie simple IO device
3: output device no mailbox
4: input device with mailbox configuration
5: output device with mailbox configuration
6: input/output device no mailbox
7: input.output device with mailbox configuration
explanation of dev:
1: static device with no IO mapping ie EK1100
2: input device no mailbox ie simple IO device
3: output device no mailbox
4: input device with mailbox configuration
5: output device with mailbox configuration
6: input/output device no mailbox
7: input.output device with mailbox configuration
*/
#define EC_CONFIGEND 0xffffffff

24
soem/ethercatdc.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatdc.c
* Version : 1.3.1
@ -41,7 +41,7 @@
/** \file
* \brief
* Distributed Clock EtherCAT functions.
* Distributed Clock EtherCAT functions.
*
*/
#include "oshw.h"
@ -129,7 +129,7 @@ void ecx_dcsync01(ecx_contextt *context, uint16 slave, boolean act, uint32 CyclT
int64 t, t1;
int32 tc;
uint32 TrueCyclTime;
/* Sync1 can be used as a multiple of Sync0, use true cycle time */
TrueCyclTime = ((CyclTime1 / CyclTime0) + 1) * CyclTime0;
@ -234,7 +234,7 @@ static uint8 ecx_prevport(ecx_contextt *context, uint16 slave, uint8 port)
else if (aport & PORTM1)
pport = 1;
break;
}
}
return pport;
}
@ -334,25 +334,25 @@ boolean ecx_configdc(ecx_contextt *context)
/* make list of active ports and their time stamps */
nlist = 0;
if (context->slavelist[i].activeports & PORTM0)
if (context->slavelist[i].activeports & PORTM0)
{
plist[nlist] = 0;
tlist[nlist] = context->slavelist[i].DCrtA;
nlist++;
}
if (context->slavelist[i].activeports & PORTM3)
if (context->slavelist[i].activeports & PORTM3)
{
plist[nlist] = 3;
tlist[nlist] = context->slavelist[i].DCrtD;
nlist++;
}
if (context->slavelist[i].activeports & PORTM1)
if (context->slavelist[i].activeports & PORTM1)
{
plist[nlist] = 1;
tlist[nlist] = context->slavelist[i].DCrtB;
nlist++;
}
if (context->slavelist[i].activeports & PORTM2)
if (context->slavelist[i].activeports & PORTM2)
{
plist[nlist] = 2;
tlist[nlist] = context->slavelist[i].DCrtC;
@ -363,7 +363,7 @@ boolean ecx_configdc(ecx_contextt *context)
if((nlist > 1) && (tlist[1] < tlist[entryport]))
{
entryport = 1;
}
}
if((nlist > 2) && (tlist[2] < tlist[entryport]))
{
entryport = 2;
@ -401,13 +401,13 @@ boolean ecx_configdc(ecx_contextt *context)
/* note: order of ports is 0 - 3 - 1 -2 */
/* non active ports are skipped */
dt3 = ecx_porttime(context, parent, context->slavelist[i].parentport) -
ecx_porttime(context, parent,
ecx_porttime(context, parent,
ecx_prevport(context, parent, context->slavelist[i].parentport));
/* current slave has children */
/* those childrens delays need to be substacted */
if (context->slavelist[i].topology > 1)
{
dt1 = ecx_porttime(context, i,
dt1 = ecx_porttime(context, i,
ecx_prevport(context, i, context->slavelist[i].entryport)) -
ecx_porttime(context, i, context->slavelist[i].entryport);
}
@ -417,7 +417,7 @@ boolean ecx_configdc(ecx_contextt *context)
/* previous childs delays need to be added */
if ((child - parent) > 1)
{
dt2 = ecx_porttime(context, parent,
dt2 = ecx_porttime(context, parent,
ecx_prevport(context, parent, context->slavelist[i].parentport)) -
ecx_porttime(context, parent, context->slavelist[parent].entryport);
}

6
soem/ethercatdc.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatdc.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatdc.c
* Headerfile for ethercatdc.c
*/
#ifndef _EC_ECATDC_H

42
soem/ethercatfoe.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatfoe.c
* Version : 1.3.1
@ -37,11 +37,11 @@
* In case you did not receive a copy of the EtherCAT Master License along with
* SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
* (www.beckhoff.com).
* 14-06-2010 : fixed bug in FOEread() by Torsten Bitterlich
*/
/** \file
/** \file
* \brief
* File over EtherCAT (FoE) module.
*
@ -69,34 +69,34 @@ typedef struct PACKED
uint8 OpCode;
uint8 Reserved;
union
{
{
uint32 Password;
uint32 PacketNumber;
uint32 ErrorCode;
};
union
{
{
char FileName[EC_MAXFOEDATA];
uint8 Data[EC_MAXFOEDATA];
char ErrorText[EC_MAXFOEDATA];
};
};
} ec_FOEt;
PACKED_END
/** FoE progress hook.
*
*
* @param[in] context = context struct
* @param[in] hook = Pointer to hook function.
* @return 1
*/
int ecx_FOEdefinehook(ecx_contextt *context, void *hook)
{
context->FOEhook = hook;
context->FOEhook = hook;
return 1;
}
/** FoE read, blocking.
*
*
* @param[in] context = context struct
* @param[in] slave = Slave number.
* @param[in] filename = Filename of file to read.
@ -146,7 +146,7 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
do
{
{
worktodo = FALSE;
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
@ -168,7 +168,7 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
p = (uint8 *)p + segmentdata;
if (segmentdata == maxdata)
{
worktodo = TRUE;
worktodo = TRUE;
}
FOEp->MbxHeader.length = htoes(0x0006);
FOEp->MbxHeader.address = htoes(0x0000);
@ -182,7 +182,7 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
/* send FoE ack to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc <= 0)
{
{
worktodo = FALSE;
}
if (context->FOEhook)
@ -217,14 +217,14 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
}
*psize = dataread;
}
} while (worktodo);
} while (worktodo);
}
return wkc;
}
}
/** FoE write, blocking.
*
*
* @param[in] context = context struct
* @param[in] slave = Slave number.
* @param[in] filename = Filename of file to write.
@ -275,7 +275,7 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
do
{
{
worktodo = FALSE;
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
@ -304,7 +304,7 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
}
if(tsize || dofinalzero)
{
worktodo = TRUE;
worktodo = TRUE;
dofinalzero = FALSE;
segmentdata = tsize;
psize -= segmentdata;
@ -329,7 +329,7 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
/* send FoE data to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc <= 0)
{
{
worktodo = FALSE;
}
}
@ -384,9 +384,9 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
} while (worktodo);
} while (worktodo);
}
return wkc;
}

6
soem/ethercatfoe.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatfoe.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatfoe.c
* Headerfile for ethercatfoe.c
*/
#ifndef _ethercatfoe_

16
soem/ethercatmain.c
View File

@ -63,7 +63,7 @@
/** delay in us for eeprom ready loop */
#define EC_LOCALDELAY 200
/** record for ethercat eeprom communications */
/** record for ethercat eeprom communications */
PACKED_BEGIN
typedef struct PACKED
{
@ -95,7 +95,7 @@ typedef struct PACKED
uint16 w1,w2;
} ec_emcyt;
PACKED_END
#ifdef EC_VER1
/** Main slave data array.
* Each slave found on the network gets its own record.
@ -131,7 +131,7 @@ static ec_eepromFMMUt ec_FMMU;
boolean EcatError = FALSE;
int64 ec_DCtime;
ecx_portt ecx_port;
ecx_redportt ecx_redport;
@ -157,9 +157,9 @@ ecx_contextt ecx_context = {
&ec_SM, // .eepSM =
&ec_FMMU, // .eepFMMU =
NULL // .FOEhook()
};
};
#endif
/** Create list over available network adapters.
*
* @return First element in list over available network adapters.
@ -792,7 +792,7 @@ int ecx_readstate(ecx_contextt *context)
context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;
}
fslave = lslave + 1;
} while(lslave < *(context->slavecount));
} while(lslave < *(context->slavecount));
context->slavelist[0].state = lowest;
return lowest;
@ -1562,8 +1562,8 @@ void ecx_readeeprom1(ecx_contextt *context, uint16 slave, uint16 eeproma)
/** Read EEPROM from slave bypassing cache.
* Parallel read step 2, actual read from slave.
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] timeout = Timeout in us.
* @param[in] slave = Slave number
* @param[in] timeout = Timeout in us.
* @return EEPROM data 32bit
*/
uint32 ecx_readeeprom2(ecx_contextt *context, uint16 slave, int timeout)

22
soem/ethercatmain.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatmain.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatmain.c
* Headerfile for ethercatmain.c
*/
#ifndef _ethercatmain_
@ -95,7 +95,7 @@ typedef struct PACKED
uint8 FMMUtype;
uint8 FMMUactive;
uint8 unused1;
uint16 unused2;
uint16 unused2;
} ec_fmmut;
PACKED_END
@ -216,7 +216,7 @@ typedef struct
/** DC receivetimes on port A */
int32 DCrtA;
/** DC receivetimes on port B */
int32 DCrtB;
int32 DCrtB;
/** DC receivetimes on port C */
int32 DCrtC;
/** DC receivetimes on port D */
@ -327,7 +327,7 @@ typedef struct
} ec_eepromSMt;
/** record to store rxPDO and txPDO table from eeprom */
typedef struct
typedef struct
{
uint16 Startpos;
uint16 Length;
@ -373,7 +373,7 @@ typedef struct
} ec_idxstackT;
/** ringbuf for error storage */
typedef struct
typedef struct
{
int16 head;
int16 tail;
@ -387,7 +387,7 @@ typedef struct PACKED
uint8 n;
uint8 nu1;
uint8 SMtype[EC_MAXSM];
} ec_SMcommtypet;
} ec_SMcommtypet;
PACKED_END
/** SDO assign structure for CA */
@ -397,7 +397,7 @@ typedef struct PACKED
uint8 n;
uint8 nu1;
uint16 index[256];
} ec_PDOassignt;
} ec_PDOassignt;
PACKED_END
/** SDO description structure for CA */
@ -407,7 +407,7 @@ typedef struct PACKED
uint8 n;
uint8 nu1;
uint32 PDO[256];
} ec_PDOdesct;
} ec_PDOdesct;
PACKED_END
/** Context structure , referenced by all ecx functions*/
@ -452,7 +452,7 @@ typedef struct
/** internal, SM list from eeprom */
ec_eepromSMt *eepSM;
/** internal, FMMU list from eeprom */
ec_eepromFMMUt *eepFMMU;
ec_eepromFMMUt *eepFMMU;
/** registered FoE hook */
int (*FOEhook)(uint16 slave, int packetnumber, int datasize);
} ecx_contextt;

56
soem/ethercatprint.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatprint.c
* Version : 1.3.1
@ -239,7 +239,7 @@ const ec_soeerrorlist_t ec_soeerrorlist[] = {
{0x800A, "No element addressed" },
{0xffff, "Unknown" }
};
/** MBX error list definition */
const ec_mbxerrorlist_t ec_mbxerrorlist[] = {
{0x0000, "No error" },
@ -264,11 +264,11 @@ const char* ec_sdoerror2string( uint32 sdoerrorcode)
int i = 0;
while ( (ec_sdoerrorlist[i].errorcode != 0xffffffffUL) &&
(ec_sdoerrorlist[i].errorcode != sdoerrorcode) )
(ec_sdoerrorlist[i].errorcode != sdoerrorcode) )
{
i++;
}
return ec_sdoerrorlist[i].errordescription;
}
@ -281,12 +281,12 @@ char* ec_ALstatuscode2string( uint16 ALstatuscode)
{
int i = 0;
while ( (ec_ALstatuscodelist[i].ALstatuscode != 0xffff) &&
(ec_ALstatuscodelist[i].ALstatuscode != ALstatuscode) )
while ( (ec_ALstatuscodelist[i].ALstatuscode != 0xffff) &&
(ec_ALstatuscodelist[i].ALstatuscode != ALstatuscode) )
{
i++;
}
return (char *) ec_ALstatuscodelist[i].ALstatuscodedescription;
}
@ -299,12 +299,12 @@ char* ec_soeerror2string( uint16 errorcode)
{
int i = 0;
while ( (ec_soeerrorlist[i].errorcode != 0xffff) &&
(ec_soeerrorlist[i].errorcode != errorcode) )
while ( (ec_soeerrorlist[i].errorcode != 0xffff) &&
(ec_soeerrorlist[i].errorcode != errorcode) )
{
i++;
}
return (char *) ec_soeerrorlist[i].errordescription;
}
@ -317,12 +317,12 @@ char* ec_mbxerror2string( uint16 errorcode)
{
int i = 0;
while ( (ec_mbxerrorlist[i].errorcode != 0xffff) &&
(ec_mbxerrorlist[i].errorcode != errorcode) )
while ( (ec_mbxerrorlist[i].errorcode != 0xffff) &&
(ec_mbxerrorlist[i].errorcode != errorcode) )
{
i++;
}
return (char *) ec_mbxerrorlist[i].errordescription;
}
@ -335,7 +335,7 @@ char* ecx_elist2string(ecx_contextt *context)
{
ec_errort Ec;
char timestr[20];
if (ecx_poperror(context, &Ec))
{
sprintf(timestr, "Time:%12.3f", Ec.Time.sec + (Ec.Time.usec / 1000000.0) );
@ -343,50 +343,50 @@ char* ecx_elist2string(ecx_contextt *context)
{
case EC_ERR_TYPE_SDO_ERROR:
{
sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n",
sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n",
timestr, Ec.Slave, Ec.Index, Ec.SubIdx, (unsigned)Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode));
break;
}
case EC_ERR_TYPE_EMERGENCY:
{
sprintf(estring, "%s EMERGENCY slave:%d error:%4.4x\n",
timestr, Ec.Slave, Ec.ErrorCode);
{
sprintf(estring, "%s EMERGENCY slave:%d error:%4.4x\n",
timestr, Ec.Slave, Ec.ErrorCode);
break;
}
case EC_ERR_TYPE_PACKET_ERROR:
{
sprintf(estring, "%s PACKET slave:%d index:%4.4x.%2.2x error:%d\n",
timestr, Ec.Slave, Ec.Index, Ec.SubIdx, Ec.ErrorCode);
sprintf(estring, "%s PACKET slave:%d index:%4.4x.%2.2x error:%d\n",
timestr, Ec.Slave, Ec.Index, Ec.SubIdx, Ec.ErrorCode);
break;
}
case EC_ERR_TYPE_SDOINFO_ERROR:
{
sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n",
{
sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n",
timestr, Ec.Slave, Ec.Index, Ec.SubIdx, (unsigned)Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode));
break;
}
case EC_ERR_TYPE_SOE_ERROR:
{
sprintf(estring, "%s SoE slave:%d IDN:%4.4x error:%4.4x %s\n",
{
sprintf(estring, "%s SoE slave:%d IDN:%4.4x error:%4.4x %s\n",
timestr, Ec.Slave, Ec.Index, (unsigned)Ec.AbortCode, ec_soeerror2string(Ec.ErrorCode));
break;
}
case EC_ERR_TYPE_MBX_ERROR:
{
sprintf(estring, "%s MBX slave:%d error:%4.4x %s\n",
timestr, Ec.Slave, Ec.ErrorCode, ec_mbxerror2string(Ec.ErrorCode));
sprintf(estring, "%s MBX slave:%d error:%4.4x %s\n",
timestr, Ec.Slave, Ec.ErrorCode, ec_mbxerror2string(Ec.ErrorCode));
break;
}
default:
{
sprintf(estring, "%s error:%8.8x\n",
sprintf(estring, "%s error:%8.8x\n",
timestr, (unsigned)Ec.AbortCode);
break;
}
}
return (char*) estring;
}
else
else
{
return "";
}

6
soem/ethercatprint.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatprint.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatprint.c
* Headerfile for ethercatprint.c
*/
#ifndef _ethercatprint_

50
soem/ethercatsoe.c
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatsoe.c
* Version : 1.3.1
@ -69,7 +69,7 @@ typedef struct PACKED
{
uint16 idn;
uint16 fragmentsleft;
};
};
} ec_SoEt;
PACKED_END
@ -96,7 +96,7 @@ void ecx_SoEerror(ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)
}
/** SoE read, blocking.
*
*
* The IDN object of the selected slave and DriveNo is read. If a response
* is larger than the mailbox size then the response is segmented. The function
* will combine all segments and copy them to the parameter buffer.
@ -151,7 +151,7 @@ int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elemen
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
while (NotLast)
{
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
@ -181,14 +181,14 @@ int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elemen
totalsize = *psize;
/* copy parameter data in parameter buffer */
if (framedatasize > 0) memcpy(bp, mp, framedatasize);
}
}
if (!aSoEp->incomplete)
if (!aSoEp->incomplete)
{
NotLast = FALSE;
*psize = totalsize;
}
}
}
}
/* other slave response */
else
{
@ -212,14 +212,14 @@ int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elemen
{
NotLast = FALSE;
ecx_packeterror(context, slave, idn, 0, 4); /* no response */
}
}
}
}
}
return wkc;
}
/** SoE write, blocking.
*
*
* The IDN object of the selected slave and DriveNo is written. If a response
* is larger than the mailbox size then the response is segmented.
*
@ -262,7 +262,7 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
maxdata = context->slavelist[slave].mbx_l - sizeof(ec_SoEt);
NotLast = TRUE;
while (NotLast)
{
{
framedatasize = psize;
NotLast = FALSE;
SoEp->idn = htoes(idn);
@ -288,7 +288,7 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
if (!NotLast || !ecx_mbxempty(context, slave, timeout))
{
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
@ -304,7 +304,7 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
(aSoEp->elementflags == elementflags))
{
/* SoE write succeeded */
}
}
/* other slave response */
else
{
@ -326,9 +326,9 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
else
{
ecx_packeterror(context, slave, idn, 0, 4); /* no response */
}
}
}
}
}
}
}
return wkc;
}
@ -365,7 +365,7 @@ int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
if ((wkc > 0) && (psize >= 4) && ((entries = etohs(SoEmapping.currentlength) / 2) > 0) && (entries <= EC_SOE_MAXMAPPING))
{
/* command word (uint16) is always mapped but not in list */
*Osize = 16;
*Osize = 16;
for (itemcount = 0 ; itemcount < entries ; itemcount++)
{
psize = sizeof(SoEattribute);
@ -375,16 +375,16 @@ int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
{
/* length : 0 = 8bit, 1 = 16bit .... */
*Osize += (int)8 << SoEattribute.length;
}
}
}
}
}
}
psize = sizeof(SoEmapping);
/* read input mapping via SoE */
wkc = ecx_SoEread(context, slave, driveNr, EC_SOE_VALUE_B, EC_IDN_ATCONFIG, &psize, &SoEmapping, EC_TIMEOUTRXM);
if ((wkc > 0) && (psize >= 4) && ((entries = etohs(SoEmapping.currentlength) / 2) > 0) && (entries <= EC_SOE_MAXMAPPING))
{
/* status word (uint16) is always mapped but not in list */
*Isize = 16;
*Isize = 16;
for (itemcount = 0 ; itemcount < entries ; itemcount++)
{
psize = sizeof(SoEattribute);
@ -394,9 +394,9 @@ int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
{
/* length : 0 = 8bit, 1 = 16bit .... */
*Isize += (int)8 << SoEattribute.length;
}
}
}
}
}
}
}
/* found some I/O bits ? */

10
soem/ethercatsoe.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercatsoe.h
* Version : 1.3.1
@ -39,9 +39,9 @@
* (www.beckhoff.com).
*/
/** \file
/** \file
* \brief
* Headerfile for ethercatsoe.c
* Headerfile for ethercatsoe.c
*/
#ifndef _ethercatsoe_
@ -88,12 +88,12 @@ typedef struct PACKED
/** maximum length in bytes of list */
uint16 maxlength;
union
{
{
uint8 byte[8];
uint16 word[4];
uint32 dword[2];
uint64 lword[1];
};
};
} ec_SoElistt;
PACKED_END

12
soem/ethercattype.h
View File

@ -1,5 +1,5 @@
/*
* Simple Open EtherCAT Master Library
* Simple Open EtherCAT Master Library
*
* File : ethercattype.h
* Version : 1.3.1
@ -40,7 +40,7 @@
*/
/** \file
* \brief
* \brief
* General typedefs and defines for EtherCAT.
*
* Defines that could need optimalisation for specific applications
@ -48,7 +48,7 @@
* standard linux PC or laptop and a wired connection to maximal 100 slaves.
* For use with wireless connections or lots of slaves the timouts need
* increasing. For fast systems running Xenomai and RT-net or alike the
* timeouts need to be shorter.
* timeouts need to be shorter.
*/
#ifndef _EC_TYPE_H
@ -242,7 +242,7 @@ typedef enum
} ec_datatype;
/** Ethercat command types */
typedef enum
typedef enum
{
/** No operation */
EC_CMD_NOP = 0x00,
@ -278,7 +278,7 @@ typedef enum
} ec_cmdtype;
/** Ethercat EEprom command types */
typedef enum
typedef enum
{
/** No operation */
EC_ECMD_NOP = 0x0000,
@ -411,7 +411,7 @@ enum
};
/** Ethercat registers */
enum
enum
{
ECT_REG_TYPE = 0x0000,
ECT_REG_PORTDES = 0x0007,

56
test/intime/ec_master/ec_master.c
View File

@ -124,7 +124,7 @@ static ecx_contextt ctx [] = {
&ec_PDOassign,
&ec_PDOdesc,
&ec_SM,
&ec_FMMU
&ec_FMMU
},
{
&ecx_port2,
@ -160,23 +160,23 @@ void slaveinfo(char *ifname)
int chk;
volatile int wkc[2];
boolean inOP;
printf("Starting slaveinfo\n");
/* initialise SOEM, bind socket to ifname */
if (ecx_init(&ctx[0],"ie1g1") && ecx_init(&ctx[1],"ie1g0"))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
if ( ecx_config_init(&ctx[0],FALSE) > 0 && ecx_config_init(&ctx[1],FALSE) > 0 )
{
for (ctx_count = 0; ctx_count < 2; ctx_count++)
for (ctx_count = 0; ctx_count < 2; ctx_count++)
{
ecx_config_map_group(&ctx[ctx_count], IOmap, 0);
ecx_configdc(&ctx[ctx_count]);
while(*(ctx[ctx_count].ecaterror)) printf("%s", ecx_elist2string(&ctx[ctx_count]));
printf("%d slaves found and configured.\n",*(ctx[ctx_count].slavecount));
expectedWKC[ctx_count] = ( ctx[ctx_count].grouplist[0].outputsWKC * 2) + ctx[ctx_count].grouplist[0].inputsWKC;
expectedWKC[ctx_count] = ( ctx[ctx_count].grouplist[0].outputsWKC * 2) + ctx[ctx_count].grouplist[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC[ctx_count]);
/* wait for all slaves to reach SAFE_OP state */
ecx_statecheck(&ctx[ctx_count],0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
@ -200,36 +200,36 @@ void slaveinfo(char *ifname)
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, ctx[ctx_count].slavelist[cnt].name, ctx[ctx_count].slavelist[cnt].Obits, ctx[ctx_count].slavelist[cnt].Ibits,
ctx[ctx_count].slavelist[cnt].state, ctx[ctx_count].slavelist[cnt].pdelay, ctx[ctx_count].slavelist[cnt].hasdc);
if (ctx[ctx_count].slavelist[cnt].hasdc)
if (ctx[ctx_count].slavelist[cnt].hasdc)
{
printf(" DCParentport:%d\n", ctx[ctx_count].slavelist[cnt].parentport);
}
printf(" Activeports:%d.%d.%d.%d\n", (ctx[ctx_count].slavelist[cnt].activeports & 0x01) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x02) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x04) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x02) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x04) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x08) > 0 );
printf(" Configured address: %4.4x\n", ctx[ctx_count].slavelist[cnt].configadr);
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ctx[ctx_count].slavelist[cnt].eep_man,
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ctx[ctx_count].slavelist[cnt].eep_man,
(int)ctx[ctx_count].slavelist[cnt].eep_id, (int)ctx[ctx_count].slavelist[cnt].eep_rev);
for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
{
if(ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr > 0)
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr,
ctx[ctx_count].slavelist[cnt].SM[nSM].SMlength,(int)ctx[ctx_count].slavelist[cnt].SM[nSM].SMflags,
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr,
ctx[ctx_count].slavelist[cnt].SM[nSM].SMlength,(int)ctx[ctx_count].slavelist[cnt].SM[nSM].SMflags,
ctx[ctx_count].slavelist[cnt].SMtype[nSM]);
}
for(j = 0 ; j < ctx[ctx_count].slavelist[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)ctx[ctx_count].slavelist[cnt].FMMU[j].LogStart, ctx[ctx_count].slavelist[cnt].FMMU[j].LogLength,
ctx[ctx_count].slavelist[cnt].FMMU[j].LogStartbit, ctx[ctx_count].slavelist[cnt].FMMU[j].LogEndbit,
(int)ctx[ctx_count].slavelist[cnt].FMMU[j].LogStart, ctx[ctx_count].slavelist[cnt].FMMU[j].LogLength,
ctx[ctx_count].slavelist[cnt].FMMU[j].LogStartbit, ctx[ctx_count].slavelist[cnt].FMMU[j].LogEndbit,
ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStart, ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStartBit,
ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUtype, ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUactive);
}
printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
ctx[ctx_count].slavelist[cnt].FMMU0func, ctx[ctx_count].slavelist[cnt].FMMU2func, ctx[ctx_count].slavelist[cnt].FMMU2func,
ctx[ctx_count].slavelist[cnt].FMMU0func, ctx[ctx_count].slavelist[cnt].FMMU2func, ctx[ctx_count].slavelist[cnt].FMMU2func,
ctx[ctx_count].slavelist[cnt].FMMU3func);
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ctx[ctx_count].slavelist[cnt].mbx_l,
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ctx[ctx_count].slavelist[cnt].mbx_l,
ctx[ctx_count].slavelist[cnt].mbx_rl, ctx[ctx_count].slavelist[cnt].mbx_proto);
ssigen = ecx_siifind(&ctx[ctx_count], cnt, ECT_SII_GENERAL);
/* SII general section */
@ -242,8 +242,8 @@ void slaveinfo(char *ifname)
if((ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0d) & 0x02) > 0)
{
ctx[ctx_count].slavelist[cnt].blockLRW = 1;
ctx[ctx_count].slavelist[0].blockLRW++;
}
ctx[ctx_count].slavelist[0].blockLRW++;
}
ctx[ctx_count].slavelist[cnt].Ebuscurrent = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0e);
ctx[ctx_count].slavelist[cnt].Ebuscurrent += ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0f) << 8;
ctx[ctx_count].slavelist[0].Ebuscurrent += ctx[ctx_count].slavelist[cnt].Ebuscurrent;
@ -254,9 +254,9 @@ void slaveinfo(char *ifname)
ctx[ctx_count].slavelist[cnt].Ebuscurrent, ctx[ctx_count].slavelist[cnt].blockLRW);
}
}
inOP = FALSE;
printf("Request operational state for all slaves\n");
expectedWKC[0] = (ctx[0].grouplist[0].outputsWKC * 2) + ctx[0].grouplist[0].inputsWKC;
expectedWKC[1] = (ctx[1].grouplist[0].outputsWKC * 2) + ctx[1].grouplist[0].inputsWKC;
@ -330,8 +330,8 @@ void slaveinfo(char *ifname)
}
stop_RT_trace ();
inOP = FALSE;
}
}
}
else
{
@ -345,24 +345,24 @@ void slaveinfo(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
void main(int argc, char* argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
if (argc > 1)
{
{
/* start slaveinfo */
slaveinfo(argv[1]);
}
else
{
printf("Usage: slaveinfo ifname [options]\nifname = eth0 for example\nOptions :\n -sdo : print SDO info\n -map : print mapping\n");
}
}
printf("End program\n");
}

72
test/linux/aliastool.c
View File

@ -11,7 +11,7 @@
* -i display EEPROM information
* -walias write slave alias in EEPROM
*
* (c)Arthur Ketels 2010-2012
* (c)Arthur Ketels 2010-2012
*/
#include <stdio.h>
@ -60,30 +60,30 @@ char sline[MAXSLENGTH];
int input_bin(char *fname, int *length)
{
FILE *fp;
int cc = 0, c;
fp = fopen(fname, "rb");
if(fp == NULL)
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
ebuf[cc++] = (uint8)c;
*length = cc;
fclose(fp);
return 1;
}
int input_intelhex(char *fname, int *start, int *length)
{
FILE *fp;
int c, sc, retval = 1;
int ll, ladr, lt, sn, i, lval;
int hstart, hlength, sum;
fp = fopen(fname, "r");
if(fp == NULL)
if(fp == NULL)
return 0;
hstart = MAXBUF;
hlength = 0;
@ -124,7 +124,7 @@ int input_intelhex(char *fname, int *start, int *length)
printf("Invalid checksum.\n");
}
}
}
}
}
while (c != EOF);
if (retval)
@ -133,34 +133,34 @@ int input_intelhex(char *fname, int *start, int *length)
*start = hstart;
}
fclose(fp);
return retval;
}
int output_bin(char *fname, int length)
{
FILE *fp;
int cc;
fp = fopen(fname, "wb");
if(fp == NULL)
if(fp == NULL)
return 0;
for (cc = 0 ; cc < length ; cc++)
fputc( ebuf[cc], fp);
fclose(fp);
return 1;
}
int output_intelhex(char *fname, int length)
{
FILE *fp;
int cc = 0, ll, sum, i;
fp = fopen(fname, "w");
if(fp == NULL)
if(fp == NULL)
return 0;
while (cc < length)
{
@ -176,9 +176,9 @@ int output_intelhex(char *fname, int length)
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
cc += ll;
}
fprintf(fp, ":00000001FF\n");
fprintf(fp, ":00000001FF\n");
fclose(fp);
return 1;
}
@ -189,7 +189,7 @@ int eeprom_read(int slave, int start, int length)
uint32 b4;
uint64 b8;
uint8 eepctl;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
@ -229,10 +229,10 @@ int eeprom_read(int slave, int start, int length)
ebuf[i+3] = b4 >> 24;
}
}
return 1;
}
return 0;
}
@ -242,7 +242,7 @@ int eeprom_write(int slave, int start, int length)
uint16 aiadr, *wbuf;
uint8 eepctl;
int ret;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
@ -263,10 +263,10 @@ int eeprom_write(int slave, int start, int length)
fflush(stdout);
}
}
return 1;
}
return 0;
}
@ -276,7 +276,7 @@ int eeprom_writealias(int slave, int alias)
uint16 aiadr, *wbuf;
uint8 eepctl;
int ret;
if((ec_slavecount >= slave) && (slave > 0) && (alias <= 0xffff))
{
aiadr = 1 - slave;
@ -286,10 +286,10 @@ int eeprom_writealias(int slave, int alias)
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
ret = ec_writeeepromAP(aiadr, 0x04 , alias, EC_TIMEOUTEEP);
return ret;
}
return 0;
}
@ -297,10 +297,10 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
{
int w, rc = 0, estart, esize;
uint16 *wbuf;
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
w = 0x0000;
@ -352,7 +352,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
if (rc > 0)
{
{
wbuf = (uint16 *)&ebuf[0];
printf("Slave %d\n", slave);
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
@ -364,20 +364,20 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
fflush(stdout);
rc = gettimeofday(&tstart, NULL);
eeprom_write(slave, estart, esize);
rc = gettimeofday(&tend, NULL);
rc = gettimeofday(&tend, NULL);
timersub(&tend, &tstart, &tdif);
printf("\nTotal EEPROM write time :%ldms\n", (tdif.tv_usec+(tdif.tv_sec*1000000L)) / 1000);
}
else
printf("Error reading file, abort.\n");
printf("Error reading file, abort.\n");
}
if (mode == MODE_WRITEALIAS)
{
if(eeprom_writealias(slave, alias))
printf("Alias %4.4X written successfully to slave %d\n");
else
printf("Alias not written\n");
printf("Alias not written\n");
}
}
else
@ -391,7 +391,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
}
else
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
int main(int argc, char *argv[])
{
@ -399,9 +399,9 @@ int main(int argc, char *argv[])
mode = MODE_NONE;
if (argc > 3)
{
{
slave = atoi(argv[2]);
if ((strncmp(argv[3], "-i", sizeof("-i")) == 0)) mode = MODE_INFO;
if ((strncmp(argv[3], "-i", sizeof("-i")) == 0)) mode = MODE_INFO;
if (argc > 4)
{
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
@ -428,9 +428,9 @@ int main(int argc, char *argv[])
printf(" -ri read EEPROM, output Intel Hex format\n");
printf(" -w write EEPROM, input binary format\n");
printf(" -wi write EEPROM, input Intel Hex format\n");
}
}
printf("End program\n");
return (0);
}

86
test/linux/ebox/ebox.c
View File

@ -7,7 +7,7 @@
*
* This test is specifically build for the E/BOX.
*
* (c)Arthur Ketels 2011
* (c)Arthur Ketels 2011
*/
#include <stdio.h>
@ -39,13 +39,13 @@ typedef struct PACKED
int32 ain[2];
uint32 tsain;
int32 enc[2];
} in_EBOXt;
} in_EBOXt;
typedef struct PACKED
{
uint8 counter;
int16 stream[100];
} in_EBOX_streamt;
} in_EBOX_streamt;
typedef struct PACKED
{
@ -53,12 +53,12 @@ typedef struct PACKED
uint8 dout;
int16 aout[2];
uint16 pwmout[2];
} out_EBOXt;
} out_EBOXt;
typedef struct PACKED
{
uint8 control;
} out_EBOX_streamt;
} out_EBOX_streamt;
// total samples to capture
#define MAXSTREAM 200000
@ -93,30 +93,30 @@ int16 stream2[MAXSTREAM];
int output_cvs(char *fname, int length)
{
FILE *fp;
int i;
fp = fopen(fname, "w");
if(fp == NULL)
if(fp == NULL)
return 0;
for (i = 0; i < length; i++)
{
fprintf(fp, "%d %d %d\n", i, stream1[i], stream2[i]);
}
fclose(fp);
return 1;
}
void eboxtest(char *ifname)
{
int cnt, i;
printf("Starting E/BOX test\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_init(FALSE) > 0 )
@ -130,9 +130,9 @@ void eboxtest(char *ifname)
// reprogram PDO mapping to set slave in stream mode
// this can only be done in pre-OP state
os=sizeof(ob2); ob2 = 0x1601;
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
os=sizeof(ob2); ob2 = 0x1a01;
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
}
ec_config_map(&IOmap);
@ -141,10 +141,10 @@ void eboxtest(char *ifname)
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
/* configure DC options for every DC capable slave found in the list */
printf("DC capable : %d\n",ec_configdc());
/* check configuration */
if (( ec_slavecount >= 1 ) &&
(strcmp(ec_slave[1].name,"E/BOX") == 0)
@ -166,10 +166,10 @@ void eboxtest(char *ifname)
}
printf("Request operational state for all slaves\n");
/* send one processdata cycle to init SM in slaves */
/* send one processdata cycle to init SM in slaves */
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
ec_slave[0].state = EC_STATE_OPERATIONAL;
/* request OP state for all slaves */
ec_writestate(0);
@ -202,12 +202,12 @@ void eboxtest(char *ifname)
else
{
printf("Not all slaves reached operational state.\n");
}
}
}
else
{
printf("E/BOX not found in slave configuration.\n");
}
}
ec_dcsync0(1, FALSE, 8000, 0); // SYNC0 off
printf("Request safe operational state for all slaves\n");
ec_slave[0].state = EC_STATE_SAFE_OP;
@ -226,9 +226,9 @@ void eboxtest(char *ifname)
// restore PDO to standard mode
// this can only be done is pre-op state
os=sizeof(ob2); ob2 = 0x1600;
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
os=sizeof(ob2); ob2 = 0x1a00;
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
}
printf("Streampos %d\n", streampos);
output_cvs("stream.txt", streampos);
@ -244,25 +244,25 @@ void eboxtest(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
/* add ns to timespec */
void add_timespec(struct timespec *ts, int64 addtime)
{
int64 sec, nsec;
nsec = addtime % NSEC_PER_SEC;
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if ( ts->tv_nsec > NSEC_PER_SEC )
{
if ( ts->tv_nsec > NSEC_PER_SEC )
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
ts->tv_nsec = nsec;
}
}
}
}
/* PI calculation to get linux time synced to DC time */
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
@ -274,7 +274,7 @@ void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
if(delta>0){ integral++; }
if(delta<0){ integral--; }
*offsettime = -(delta / 100) - (integral /20);
}
}
/* RT EtherCAT thread */
void ecatthread( void *ptr )
@ -285,7 +285,7 @@ void ecatthread( void *ptr )
int i;
int pcounter = 0;
int64 cycletime;
pthread_mutex_lock(&mutex);
gettimeofday(&tp, NULL);
@ -297,7 +297,7 @@ void ecatthread( void *ptr )
toff = 0;
dorun = 0;
while(1)
{
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
/* wait to cycle start */
@ -312,7 +312,7 @@ void ecatthread( void *ptr )
cyclecount++;
if((in_EBOX->counter != pcounter) && (streampos < (MAXSTREAM - 1)))
{
// check if we have timing problems in master
@ -335,11 +335,11 @@ void ecatthread( void *ptr )
}
pcounter = in_EBOX->counter;
}
/* calulate toff to get linux time and DC synced */
ec_sync(ec_DCtime, cycletime, &toff);
}
}
}
}
}
int main(int argc, char *argv[])
@ -347,9 +347,9 @@ int main(int argc, char *argv[])
int ctime;
struct sched_param param;
int policy = SCHED_OTHER;
printf("SOEM (Simple Open EtherCAT Master)\nE/BOX test\n");
memset(&schedp, 0, sizeof(schedp));
/* do not set priority above 49, otherwise sockets are starved */
schedp.sched_priority = 30;
@ -360,16 +360,16 @@ int main(int argc, char *argv[])
usleep(1000);
}
while (dorun);
if (argc > 1)
{
{
dorun = 1;
if( argc > 2)
ctime = atoi(argv[2]);
else
ctime = 1000; // 1ms cycle time
/* create RT thread */
pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
memset(&param, 0, sizeof(param));
/* give it higher priority */
param.sched_priority = 40;
@ -381,12 +381,12 @@ int main(int argc, char *argv[])
else
{
printf("Usage: ebox ifname [cycletime]\nifname = eth0 for example\ncycletime in us\n");
}
}
schedp.sched_priority = 0;
sched_setscheduler(0, SCHED_OTHER, &schedp);
printf("End program\n");
return (0);
}

88
test/linux/eepromtool/eepromtool.c
View File

@ -11,7 +11,7 @@
* -i display EEPROM information
* -walias write slave alias in EEPROM
*
* (c)Arthur Ketels 2010-2012
* (c)Arthur Ketels 2010-2012
*/
#include <stdio.h>
@ -65,49 +65,49 @@ void calc_crc(uint8 *crc, uint8 b)
*crc = (*crc << 1) ^ 0x07;
else
*crc = (*crc << 1);
}
}
}
uint16 SIIcrc(uint8 *buf)
{
int i;
int i;
uint8 crc;
crc = 0xff;
crc = 0xff;
for( i = 0 ; i <= 13 ; i++ )
{
calc_crc(&crc , *(buf++));
}
calc_crc(&crc , *(buf++));
}
return (uint16)crc;
}
int input_bin(char *fname, int *length)
{
FILE *fp;
int cc = 0, c;
fp = fopen(fname, "rb");
if(fp == NULL)
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
ebuf[cc++] = (uint8)c;
*length = cc;
fclose(fp);
return 1;
}
int input_intelhex(char *fname, int *start, int *length)
{
FILE *fp;
int c, sc, retval = 1;
int ll, ladr, lt, sn, i, lval;
int hstart, hlength, sum;
fp = fopen(fname, "r");
if(fp == NULL)
if(fp == NULL)
return 0;
hstart = MAXBUF;
hlength = 0;
@ -148,7 +148,7 @@ int input_intelhex(char *fname, int *start, int *length)
printf("Invalid checksum.\n");
}
}
}
}
}
while (c != EOF);
if (retval)
@ -157,34 +157,34 @@ int input_intelhex(char *fname, int *start, int *length)
*start = hstart;
}
fclose(fp);
return retval;
}
int output_bin(char *fname, int length)
{
FILE *fp;
int cc;
fp = fopen(fname, "wb");
if(fp == NULL)
if(fp == NULL)
return 0;
for (cc = 0 ; cc < length ; cc++)
fputc( ebuf[cc], fp);
fclose(fp);
return 1;
}
int output_intelhex(char *fname, int length)
{
FILE *fp;
int cc = 0, ll, sum, i;
fp = fopen(fname, "w");
if(fp == NULL)
if(fp == NULL)
return 0;
while (cc < length)
{
@ -200,9 +200,9 @@ int output_intelhex(char *fname, int length)
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
cc += ll;
}
fprintf(fp, ":00000001FF\n");
fprintf(fp, ":00000001FF\n");
fclose(fp);
return 1;
}
@ -213,7 +213,7 @@ int eeprom_read(int slave, int start, int length)
uint32 b4;
uint64 b8;
uint8 eepctl;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
@ -253,10 +253,10 @@ int eeprom_read(int slave, int start, int length)
ebuf[i+3] = b4 >> 24;
}
}
return 1;
}
return 0;
}
@ -265,7 +265,7 @@ int eeprom_write(int slave, int start, int length)
int i, dc = 0;
uint16 aiadr, *wbuf;
uint8 eepctl;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
@ -286,10 +286,10 @@ int eeprom_write(int slave, int start, int length)
fflush(stdout);
}
}
return 1;
}
return 0;
}
@ -298,7 +298,7 @@ int eeprom_writealias(int slave, int alias, uint16 crc)
uint16 aiadr;
uint8 eepctl;
int ret;
if((ec_slavecount >= slave) && (slave > 0) && (alias <= 0xffff))
{
aiadr = 1 - slave;
@ -310,10 +310,10 @@ int eeprom_writealias(int slave, int alias, uint16 crc)
ret = ec_writeeepromAP(aiadr, 0x04 , alias, EC_TIMEOUTEEP);
if (ret)
ret = ec_writeeepromAP(aiadr, 0x07 , crc, EC_TIMEOUTEEP);
return ret;
}
return 0;
}
@ -321,10 +321,10 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
{
int w, rc = 0, estart, esize;
uint16 *wbuf;
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
w = 0x0000;
@ -347,7 +347,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
printf(" PDI Config : %4.4X\n",*(wbuf + 0x01));
printf(" Config Alias : %4.4X\n",*(wbuf + 0x04));
printf(" Checksum : %4.4X\n",*(wbuf + 0x07));
printf(" calculated : %4.4X\n",SIIcrc(&ebuf[0]));
printf(" calculated : %4.4X\n",SIIcrc(&ebuf[0]));
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
@ -377,7 +377,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
if (rc > 0)
{
{
wbuf = (uint16 *)&ebuf[0];
printf("Slave %d\n", slave);
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
@ -395,26 +395,26 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
printf("\nTotal EEPROM write time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
}
else
printf("Error reading file, abort.\n");
printf("Error reading file, abort.\n");
}
if (mode == MODE_WRITEALIAS)
{
if( eeprom_read(slave, 0x0000, CRCBUF) ) // read first 14 bytes
{
wbuf = (uint16 *)&ebuf[0];
*(wbuf + 0x04) = alias;
*(wbuf + 0x04) = alias;
if(eeprom_writealias(slave, alias, SIIcrc(&ebuf[0])))
{
printf("Alias %4.4X written successfully to slave %d\n", alias, slave);
}
}
else
{
printf("Alias not written\n");
}
}
}
else
{
printf("Could not read slave EEPROM");
printf("Could not read slave EEPROM");
}
}
}
@ -435,7 +435,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
int main(int argc, char *argv[])
{
@ -443,7 +443,7 @@ int main(int argc, char *argv[])
mode = MODE_NONE;
if (argc > 3)
{
{
slave = atoi(argv[2]);
if ((strncmp(argv[3], "-i", sizeof("-i")) == 0)) mode = MODE_INFO;
if (argc > 4)
@ -472,9 +472,9 @@ int main(int argc, char *argv[])
printf(" -ri read EEPROM, output Intel Hex format\n");
printf(" -w write EEPROM, input binary format\n");
printf(" -wi write EEPROM, input Intel Hex format\n");
}
}
printf("End program\n");
return (0);
}

24
test/linux/firm_update/firm_update.c
View File

@ -41,11 +41,11 @@ uint16 argslave;
int input_bin(char *fname, int *length)
{
FILE *fp;
int cc = 0, c;
fp = fopen(fname, "rb");
if(fp == NULL)
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
filebuffer[cc++] = (uint8)c;
@ -56,12 +56,12 @@ int input_bin(char *fname, int *length)
void boottest(char *ifname, uint16 slave, char *filename)
{
{
printf("Starting firmware update example\n");
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
@ -69,7 +69,7 @@ void boottest(char *ifname, uint16 slave, char *filename)
if ( ec_config_init(FALSE) > 0 )
{
printf("%d slaves found and configured.\n",ec_slavecount);
printf("Request init state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_INIT;
ec_writestate(slave);
@ -104,7 +104,7 @@ void boottest(char *ifname, uint16 slave, char *filename)
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
/* program SM1 mailbox out for slave */
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
printf("Request BOOT state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_BOOT;
ec_writestate(slave);
@ -140,15 +140,15 @@ void boottest(char *ifname, uint16 slave, char *filename)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
int main(int argc, char *argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
if (argc > 3)
{
{
argslave = atoi(argv[2]);
boottest(argv[1], argslave, argv[3]);
}
@ -159,8 +159,8 @@ int main(int argc, char *argv[])
printf("slave = slave number in EtherCAT order 1..n\n");
printf("fname = binary file to store in slave\n");
printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
}
}
printf("End program\n");
return (0);
}

86
test/linux/red_test/red_test.c
View File

@ -7,7 +7,7 @@
*
* This is a redundancy test.
*
* (c)Arthur Ketels 2008
* (c)Arthur Ketels 2008
*/
#include <stdio.h>
@ -55,13 +55,13 @@ uint8 currentgroup = 0;
void redtest(char *ifname, char *ifname2)
{
int cnt, i, j, oloop, iloop;
printf("Starting Redundant test\n");
/* initialise SOEM, bind socket to ifname */
// if (ec_init_redundant(ifname, ifname2))
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
if ( ec_config(FALSE, &IOmap) > 0 )
@ -69,10 +69,10 @@ void redtest(char *ifname, char *ifname2)
printf("%d slaves found and configured.\n",ec_slavecount);
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
/* configure DC options for every DC capable slave found in the list */
ec_configdc();
/* read indevidual slave state and store in ec_slave[] */
ec_readstate();
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
@ -86,7 +86,7 @@ void redtest(char *ifname, char *ifname2)
if( !digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052)))
{
digout = ec_slave[cnt].outputs;
}
}
}
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC);
@ -122,7 +122,7 @@ void redtest(char *ifname, char *ifname2)
for(j = 0 ; j < iloop; j++)
{
printf(" %2.2x", *(ec_slave[0].inputs + j));
}
}
printf("\r");
fflush(stdout);
osal_usleep(20000);
@ -142,7 +142,7 @@ void redtest(char *ifname, char *ifname2)
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
}
}
}
}
printf("Request safe operational state for all slaves\n");
ec_slave[0].state = EC_STATE_SAFE_OP;
/* request SAFE_OP state for all slaves */
@ -159,25 +159,25 @@ void redtest(char *ifname, char *ifname2)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
/* add ns to timespec */
void add_timespec(struct timespec *ts, int64 addtime)
{
int64 sec, nsec;
nsec = addtime % NSEC_PER_SEC;
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if ( ts->tv_nsec > NSEC_PER_SEC )
{
if ( ts->tv_nsec > NSEC_PER_SEC )
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
ts->tv_nsec = nsec;
}
}
}
}
/* PI calculation to get linux time synced to DC time */
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
@ -191,7 +191,7 @@ void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
if(delta<0){ integral--; }
*offsettime = -(delta / 100) - (integral / 20);
gl_delta = delta;
}
}
/* RT EtherCAT thread */
OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
@ -199,16 +199,16 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
struct timespec ts, tleft;
int ht;
int64 cycletime;
clock_gettime(CLOCK_MONOTONIC, &ts);
ht = (ts.tv_nsec / 1000000) + 1; /* round to nearest ms */
ts.tv_nsec = ht * 1000000;
cycletime = *(int*)ptr * 1000; /* cycletime in ns */
toff = 0;
dorun = 0;
ec_send_processdata();
ec_send_processdata();
while(1)
{
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
/* wait to cycle start */
@ -216,19 +216,19 @@ OSAL_THREAD_FUNC_RT ecatthread(void *ptr)
if (dorun>0)
{
wkc = ec_receive_processdata(EC_TIMEOUTRET);
dorun++;
/* if we have some digital output, cycle */
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
if (ec_slave[0].hasdc)
{
{
/* calulate toff to get linux time and DC synced */
ec_sync(ec_DCtime, cycletime, &toff);
}
ec_send_processdata();
}
}
}
ec_send_processdata();
}
}
}
OSAL_THREAD_FUNC ecatcheck( void *ptr )
@ -262,16 +262,16 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
{
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
ec_slave[slave].state = EC_STATE_OPERATIONAL;
ec_writestate(slave);
ec_writestate(slave);
}
else if(ec_slave[slave].state > 0)
{
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d reconfigured\n",slave);
printf("MESSAGE : slave %d reconfigured\n",slave);
}
}
}
else if(!ec_slave[slave].islost)
{
/* re-check state */
@ -279,7 +279,7 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
if (!ec_slave[slave].state)
{
ec_slave[slave].islost = TRUE;
printf("ERROR : slave %d lost\n",slave);
printf("ERROR : slave %d lost\n",slave);
}
}
}
@ -290,13 +290,13 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
if (ec_recover_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d recovered\n",slave);
printf("MESSAGE : slave %d recovered\n",slave);
}
}
else
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d found\n",slave);
printf("MESSAGE : slave %d found\n",slave);
}
}
}
@ -304,27 +304,27 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
printf("OK : all slaves resumed OPERATIONAL.\n");
}
osal_usleep(10000);
}
}
}
}
#define stack64k (64 * 1024)
int main(int argc, char *argv[])
{
int ctime;
printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
if (argc > 3)
{
{
dorun = 0;
ctime = atoi(argv[3]);
/* create RT thread */
osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void*) &ctime);
osal_thread_create_rt(&thread1, stack64k * 2, &ecatthread, (void*) &ctime);
/* create thread to handle slave error handling in OP */
osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL);
osal_thread_create(&thread2, stack64k * 4, &ecatcheck, NULL);
/* start acyclic part */
redtest(argv[1],argv[2]);
@ -332,8 +332,8 @@ int main(int argc, char *argv[])
else
{
printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
}
}
printf("End program\n");
return (0);

40
test/linux/simple_test/simple_test.c
View File

@ -39,10 +39,10 @@ void simpletest(char *ifname)
inOP = FALSE;
printf("Starting simple test\n");
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
@ -105,16 +105,16 @@ void simpletest(char *ifname)
printf(" %2.2x", *(ec_slave[0].outputs + j));
}
printf(" I:");
printf(" I:");
for(j = 0 ; j < iloop; j++)
{
printf(" %2.2x", *(ec_slave[0].inputs + j));
}
}
printf(" T:%lld\r",ec_DCtime);
needlf = TRUE;
}
osal_usleep(5000);
}
inOP = FALSE;
}
@ -130,7 +130,7 @@ void simpletest(char *ifname)
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
}
}
}
}
printf("\nRequest init state for all slaves\n");
ec_slave[0].state = EC_STATE_INIT;
/* request INIT state for all slaves */
@ -147,8 +147,8 @@ void simpletest(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
OSAL_THREAD_FUNC ecatcheck( void *ptr )
{
@ -181,16 +181,16 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
{
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
ec_slave[slave].state = EC_STATE_OPERATIONAL;
ec_writestate(slave);
ec_writestate(slave);
}
else if(ec_slave[slave].state > 0)
{
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d reconfigured\n",slave);
printf("MESSAGE : slave %d reconfigured\n",slave);
}
}
}
else if(!ec_slave[slave].islost)
{
/* re-check state */
@ -198,7 +198,7 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
if (!ec_slave[slave].state)
{
ec_slave[slave].islost = TRUE;
printf("ERROR : slave %d lost\n",slave);
printf("ERROR : slave %d lost\n",slave);
}
}
}
@ -209,13 +209,13 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
if (ec_recover_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d recovered\n",slave);
printf("MESSAGE : slave %d recovered\n",slave);
}
}
else
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d found\n",slave);
printf("MESSAGE : slave %d found\n",slave);
}
}
}
@ -223,17 +223,17 @@ OSAL_THREAD_FUNC ecatcheck( void *ptr )
printf("OK : all slaves resumed OPERATIONAL.\n");
}
osal_usleep(10000);
}
}
}
}
int main(int argc, char *argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
if (argc > 1)
{
{
/* create thread to handle slave error handling in OP */
// pthread_create( &thread1, NULL, (void *) &ecatcheck, (void*) &ctime);
// pthread_create( &thread1, NULL, (void *) &ecatcheck, (void*) &ctime);
osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime);
/* start cyclic part */
simpletest(argv[1]);
@ -241,8 +241,8 @@ int main(int argc, char *argv[])
else
{
printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
}
}
printf("End program\n");
return (0);
}

78
test/linux/slaveinfo/slaveinfo.c
View File

@ -108,7 +108,7 @@ char* dtype2string(uint16 dtype)
sprintf(hstr, "Type 0x%4.4X", dtype);
}
return hstr;
}
}
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
{
@ -137,50 +137,50 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
{
case ECT_BOOLEAN:
u8 = (uint8*) &usdo[0];
if (*u8) sprintf(hstr, "TRUE");
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);
sprintf(hstr, "0x%2.2x %d", *i8, *i8);
break;
case ECT_INTEGER16:
i16 = (int16*) &usdo[0];
sprintf(hstr, "0x%4.4x %d", *i16, *i16);
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);
sprintf(hstr, "0x%8.8x %d", *i32, *i32);
break;
case ECT_INTEGER64:
i64 = (int64*) &usdo[0];
sprintf(hstr, "0x%16.16llx %lld", *i64, *i64);
sprintf(hstr, "0x%16.16llx %lld", *i64, *i64);
break;
case ECT_UNSIGNED8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
break;
case ECT_UNSIGNED16:
u16 = (uint16*) &usdo[0];
sprintf(hstr, "0x%4.4x %u", *u16, *u16);
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);
sprintf(hstr, "0x%8.8x %u", *u32, *u32);
break;
case ECT_UNSIGNED64:
u64 = (uint64*) &usdo[0];
sprintf(hstr, "0x%16.16llx %llu", *u64, *u64);
sprintf(hstr, "0x%16.16llx %llu", *u64, *u64);
break;
case ECT_REAL32:
sr = (float*) &usdo[0];
sprintf(hstr, "%f", *sr);
sprintf(hstr, "%f", *sr);
break;
case ECT_REAL64:
dr = (double*) &usdo[0];
sprintf(hstr, "%f", *dr);
sprintf(hstr, "%f", *dr);
break;
case ECT_BIT1:
case ECT_BIT2:
@ -191,7 +191,7 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
case ECT_BIT7:
case ECT_BIT8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%x", *u8);
sprintf(hstr, "0x%x", *u8);
break;
case ECT_VISIBLE_STRING:
strcpy(hstr, usdo);
@ -199,7 +199,7 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
case ECT_OCTET_STRING:
hstr[0] = 0x00;
for (i = 0 ; i < l ; i++)
{
{
sprintf(es, "0x%2.2x ", usdo[i]);
strcat( hstr, es);
}
@ -321,22 +321,22 @@ int si_map_sdo(int slave)
}
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;
}
}
}
}
}
}
@ -395,10 +395,10 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
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);
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
@ -442,7 +442,7 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
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);
@ -476,7 +476,7 @@ int si_map_sii(int slave)
void si_sdo(int cnt)
{
int i, j;
ODlist.Entries = 0;
memset(&ODlist, 0, sizeof(ODlist));
if( ec_readODlist(cnt, &ODlist))
@ -484,7 +484,7 @@ void si_sdo(int cnt)
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
for( i = 0 ; i < ODlist.Entries ; i++)
{
ec_readODdescription(i, &ODlist);
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]);
@ -502,8 +502,8 @@ void si_sdo(int cnt)
printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
}
}
}
}
}
}
}
else
{
@ -516,12 +516,12 @@ void slaveinfo(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 )
@ -529,7 +529,7 @@ void slaveinfo(char *ifname)
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;
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);
@ -546,8 +546,8 @@ void slaveinfo(char *ifname)
}
}
}
ec_readstate();
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
{
@ -556,8 +556,8 @@ void slaveinfo(char *ifname)
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 & 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);
@ -588,8 +588,8 @@ void slaveinfo(char *ifname)
if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
{
ec_slave[cnt].blockLRW = 1;
ec_slave[0].blockLRW++;
}
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;
@ -606,8 +606,8 @@ void slaveinfo(char *ifname)
si_map_sdo(cnt);
else
si_map_sii(cnt);
}
}
}
}
}
else
{
@ -620,8 +620,8 @@ void slaveinfo(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
char ifbuf[1024];

12
test/rtk/main.c
View File

@ -2,7 +2,7 @@
* \brief Example code for Simple Open EtherCAT master
*
* This is a minimal example running rt-kernel TTOS. Check
* tutorial files in documentations for som steps to get your
* tutorial files in documentations for som steps to get your
* system running.
* (c)Andreas Karlsson 2012
*/
@ -142,7 +142,7 @@ uint8 get_input_bit (uint16 slave_no,uint8 module_index)
{
/* Get the the startbit position in slaves IO byte */
uint8 startbit = ec_slave[slave_no].Istartbit;
/* Mask bit and return boolean 0 or 1 */
/* Mask bit and return boolean 0 or 1 */
if (*ec_slave[slave_no].inputs & BIT (module_index - 1 + startbit))
return 1;
else
@ -185,7 +185,7 @@ uint8 get_output_bit (uint16 slave_no,uint8 module_index)
{
/* Get the the startbit position in slaves IO byte */
uint8 startbit = ec_slave[slave_no].Ostartbit;
/* Mask bit and return boolean 0 or 1 */
/* Mask bit and return boolean 0 or 1 */
if (*ec_slave[slave_no].outputs & BIT (module_index - 1 + startbit))
return 1;
else
@ -232,7 +232,7 @@ static void my_cyclic_callback (void * arg)
void read_io (void * arg)
{
/* Function connected to cyclic TTOS task
/* Function connected to cyclic TTOS task
* The function is executed cyclic according
* sceduel specified in schedule.tt
*/
@ -261,7 +261,7 @@ void simpletest(void *arg)
if (ec_init(ifname))
{
rprintp("ec_init succeeded.\n");
/* find and auto-config slaves */
if ( ec_config_init(FALSE) > 0 )
{
@ -326,7 +326,7 @@ void simpletest(void *arg)
}
}
/* Simple blinking lamps BOX demo */
uint8 digout = 0;

86
test/win32/ebox/ebox.c
View File

@ -7,7 +7,7 @@
*
* This test is specifically build for the E/BOX.
*
* (c)Arthur Ketels 2011
* (c)Arthur Ketels 2011
*/
#include <stdio.h>
@ -39,13 +39,13 @@ typedef struct PACKED
int32 ain[2];
uint32 tsain;
int32 enc[2];
} in_EBOXt;
} in_EBOXt;
typedef struct PACKED
{
uint8 counter;
int16 stream[100];
} in_EBOX_streamt;
} in_EBOX_streamt;
typedef struct PACKED
{
@ -53,12 +53,12 @@ typedef struct PACKED
uint8 dout;
int16 aout[2];
uint16 pwmout[2];
} out_EBOXt;
} out_EBOXt;
typedef struct PACKED
{
uint8 control;
} out_EBOX_streamt;
} out_EBOX_streamt;
// total samples to capture
#define MAXSTREAM 200000
@ -93,30 +93,30 @@ int16 stream2[MAXSTREAM];
int output_cvs(char *fname, int length)
{
FILE *fp;
int i;
fp = fopen(fname, "w");
if(fp == NULL)
if(fp == NULL)
return 0;
for (i = 0; i < length; i++)
{
fprintf(fp, "%d %d %d\n", i, stream1[i], stream2[i]);
}
fclose(fp);
return 1;
}
void eboxtest(char *ifname)
{
int cnt, i;
printf("Starting E/BOX test\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_init(FALSE) > 0 )
@ -130,9 +130,9 @@ void eboxtest(char *ifname)
// reprogram PDO mapping to set slave in stream mode
// this can only be done in pre-OP state
os=sizeof(ob2); ob2 = 0x1601;
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
os=sizeof(ob2); ob2 = 0x1a01;
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
}
ec_config_map(&IOmap);
@ -141,10 +141,10 @@ void eboxtest(char *ifname)
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
/* configure DC options for every DC capable slave found in the list */
printf("DC capable : %d\n",ec_configdc());
/* check configuration */
if (( ec_slavecount >= 1 ) &&
(strcmp(ec_slave[1].name,"E/BOX") == 0)
@ -166,10 +166,10 @@ void eboxtest(char *ifname)
}
printf("Request operational state for all slaves\n");
/* send one processdata cycle to init SM in slaves */
/* send one processdata cycle to init SM in slaves */
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
ec_slave[0].state = EC_STATE_OPERATIONAL;
/* request OP state for all slaves */
ec_writestate(0);
@ -202,12 +202,12 @@ void eboxtest(char *ifname)
else
{
printf("Not all slaves reached operational state.\n");
}
}
}
else
{
printf("E/BOX not found in slave configuration.\n");
}
}
ec_dcsync0(1, FALSE, 8000, 0); // SYNC0 off
printf("Request safe operational state for all slaves\n");
ec_slave[0].state = EC_STATE_SAFE_OP;
@ -226,9 +226,9 @@ void eboxtest(char *ifname)
// restore PDO to standard mode
// this can only be done is pre-op state
os=sizeof(ob2); ob2 = 0x1600;
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
os=sizeof(ob2); ob2 = 0x1a00;
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM);
}
printf("Streampos %d\n", streampos);
output_cvs("stream.txt", streampos);
@ -244,25 +244,25 @@ void eboxtest(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
/* add ns to timespec */
void add_timespec(struct timespec *ts, int64 addtime)
{
int64 sec, nsec;
nsec = addtime % NSEC_PER_SEC;
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if ( ts->tv_nsec > NSEC_PER_SEC )
{
if ( ts->tv_nsec > NSEC_PER_SEC )
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
ts->tv_nsec = nsec;
}
}
}
}
/* PI calculation to get linux time synced to DC time */
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
@ -274,7 +274,7 @@ void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
if(delta>0){ integral++; }
if(delta<0){ integral--; }
*offsettime = -(delta / 100) - (integral /20);
}
}
/* RT EtherCAT thread */
void ecatthread( void *ptr )
@ -286,7 +286,7 @@ void ecatthread( void *ptr )
int i;
int pcounter = 0;
int64 cycletime;
rc = pthread_mutex_lock(&mutex);
rc = gettimeofday(&tp, NULL);
@ -298,7 +298,7 @@ void ecatthread( void *ptr )
toff = 0;
dorun = 0;
while(1)
{
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
/* wait to cycle start */
@ -313,7 +313,7 @@ void ecatthread( void *ptr )
cyclecount++;
if((in_EBOX->counter != pcounter) && (streampos < (MAXSTREAM - 1)))
{
// check if we have timing problems in master
@ -336,11 +336,11 @@ void ecatthread( void *ptr )
}
pcounter = in_EBOX->counter;
}
/* calulate toff to get linux time and DC synced */
ec_sync(ec_DCtime, cycletime, &toff);
}
}
}
}
}
int main(int argc, char *argv[])
@ -349,9 +349,9 @@ int main(int argc, char *argv[])
int ctime;
struct sched_param param;
int policy = SCHED_OTHER;
printf("SOEM (Simple Open EtherCAT Master)\nE/BOX test\n");
memset(&schedp, 0, sizeof(schedp));
/* do not set priority above 49, otherwise sockets are starved */
schedp.sched_priority = 30;
@ -362,16 +362,16 @@ int main(int argc, char *argv[])
usleep(1000);
}
while (dorun);
if (argc > 1)
{
{
dorun = 1;
if( argc > 2)
ctime = atoi(argv[2]);
else
ctime = 1000; // 1ms cycle time
/* create RT thread */
iret1 = pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
iret1 = pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
memset(&param, 0, sizeof(param));
/* give it higher priority */
param.sched_priority = 40;
@ -383,12 +383,12 @@ int main(int argc, char *argv[])
else
{
printf("Usage: ebox ifname [cycletime]\nifname = eth0 for example\ncycletime in us\n");
}
}
schedp.sched_priority = 0;
sched_setscheduler(0, SCHED_OTHER, &schedp);
printf("End program\n");
return (0);
}

64
test/win32/eepromtool/eepromtool.c
View File

@ -9,7 +9,7 @@
* -w write EEPROM, input binary format
* -wi write EEPROM, input Intel Hex format
*
* (c)Arthur Ketels 2010
* (c)Arthur Ketels 2010
*/
#include <stdio.h>
@ -52,30 +52,30 @@ char sline[MAXSLENGTH];
int input_bin(char *fname, int *length)
{
FILE *fp;
int cc = 0, c;
fp = fopen(fname, "rb");
if(fp == NULL)
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
ebuf[cc++] = (uint8)c;
*length = cc;
fclose(fp);
return 1;
}
int input_intelhex(char *fname, int *start, int *length)
{
FILE *fp;
int c, sc, retval = 1;
int ll, ladr, lt, sn, i, lval;
int hstart, hlength, sum;
fp = fopen(fname, "r");
if(fp == NULL)
if(fp == NULL)
return 0;
hstart = MAXBUF;
hlength = 0;
@ -116,7 +116,7 @@ int input_intelhex(char *fname, int *start, int *length)
printf("Invalid checksum.\n");
}
}
}
}
}
while (c != EOF);
if (retval)
@ -125,34 +125,34 @@ int input_intelhex(char *fname, int *start, int *length)
*start = hstart;
}
fclose(fp);
return retval;
}
int output_bin(char *fname, int length)
{
FILE *fp;
int cc;
fp = fopen(fname, "wb");
if(fp == NULL)
if(fp == NULL)
return 0;
for (cc = 0 ; cc < length ; cc++)
fputc( ebuf[cc], fp);
fclose(fp);
return 1;
}
int output_intelhex(char *fname, int length)
{
FILE *fp;
int cc = 0, ll, sum, i;
fp = fopen(fname, "w");
if(fp == NULL)
if(fp == NULL)
return 0;
while (cc < length)
{
@ -168,9 +168,9 @@ int output_intelhex(char *fname, int length)
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
cc += ll;
}
fprintf(fp, ":00000001FF\n");
fprintf(fp, ":00000001FF\n");
fclose(fp);
return 1;
}
@ -181,7 +181,7 @@ int eeprom_read(int slave, int start, int length)
uint32 b4;
uint64 b8;
uint8 eepctl;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
@ -221,10 +221,10 @@ int eeprom_read(int slave, int start, int length)
ebuf[i+3] = (uint8) (b4 >> 24);
}
}
return 1;
}
return 0;
}
@ -234,7 +234,7 @@ int eeprom_write(int slave, int start, int length)
uint16 aiadr, *wbuf;
uint8 eepctl;
int ret;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
@ -255,10 +255,10 @@ int eeprom_write(int slave, int start, int length)
fflush(stdout);
}
}
return 1;
}
return 0;
}
@ -266,10 +266,10 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
{
int w, rc = 0, estart, esize;
uint16 *wbuf;
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
w = 0x0000;
@ -319,7 +319,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
if (rc > 0)
{
{
wbuf = (uint16 *)&ebuf[0];
printf("Slave %d\n", slave);
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
@ -337,7 +337,7 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
printf("\nTotal EEPROM write time :%ldms\n", (tdif.usec+(tdif.sec*1000000L)) / 1000);
}
else
printf("Error reading file, abort.\n");
printf("Error reading file, abort.\n");
}
}
else
@ -351,22 +351,22 @@ void eepromtool(char *ifname, int slave, int mode, char *fname)
}
else
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
int main(int argc, char *argv[])
{
ec_adaptert * adapter = NULL;
ec_adaptert * adapter = NULL;
printf("SOEM (Simple Open EtherCAT Master)\nEEPROM tool\n");
if (argc > 4)
{
{
slave = atoi(argv[2]);
mode = MODE_NONE;
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
if ((strncmp(argv[3], "-ri", sizeof("-ri")) == 0)) mode = MODE_READINTEL;
if ((strncmp(argv[3], "-w", sizeof("-w")) == 0)) mode = MODE_WRITEBIN;
if ((strncmp(argv[3], "-wi", sizeof("-wi")) == 0)) mode = MODE_WRITEINTEL;
/* start tool */
eepromtool(argv[1],slave,mode,argv[4]);
}
@ -387,9 +387,9 @@ int main(int argc, char *argv[])
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
adapter = adapter->next;
}
}
}
printf("End program\n");
return (0);
}

24
test/win32/firm_update/firm_update.c
View File

@ -41,11 +41,11 @@ uint16 argslave;
int input_bin(char *fname, int *length)
{
FILE *fp;
int cc = 0, c;
fp = fopen(fname, "rb");
if(fp == NULL)
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
filebuffer[cc++] = (uint8)c;
@ -56,12 +56,12 @@ int input_bin(char *fname, int *length)
void boottest(char *ifname, uint16 slave, char *filename)
{
{
printf("Starting firmware update example\n");
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
@ -69,7 +69,7 @@ void boottest(char *ifname, uint16 slave, char *filename)
if ( ec_config_init(FALSE) > 0 )
{
printf("%d slaves found and configured.\n",ec_slavecount);
printf("Request init state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_INIT;
ec_writestate(slave);
@ -104,7 +104,7 @@ void boottest(char *ifname, uint16 slave, char *filename)
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
/* program SM1 mailbox out for slave */
ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
printf("Request BOOT state for slave %d\n", slave);
ec_slave[slave].state = EC_STATE_BOOT;
ec_writestate(slave);
@ -140,15 +140,15 @@ void boottest(char *ifname, uint16 slave, char *filename)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
int main(int argc, char *argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
if (argc > 3)
{
{
argslave = atoi(argv[2]);
boottest(argv[1], argslave, argv[3]);
}
@ -159,8 +159,8 @@ int main(int argc, char *argv[])
printf("slave = slave number in EtherCAT order 1..n\n");
printf("fname = binary file to store in slave\n");
printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
}
}
printf("End program\n");
return (0);
}

68
test/win32/red_test/red_test.c
View File

@ -7,7 +7,7 @@
*
* This is a redundancy test.
*
* (c)Arthur Ketels 2008
* (c)Arthur Ketels 2008
*/
#include <stdio.h>
@ -50,12 +50,12 @@ int wcounter;
void redtest(char *ifname, char *ifname2)
{
int cnt, i, j, oloop, iloop;
printf("Starting Redundant test\n");
/* initialise SOEM, bind socket to ifname */
if (ec_init_redundant(ifname, ifname2))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
if ( ec_config(FALSE, &IOmap) > 0 )
@ -63,10 +63,10 @@ void redtest(char *ifname, char *ifname2)
printf("%d slaves found and configured.\n",ec_slavecount);
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE);
/* configure DC options for every DC capable slave found in the list */
ec_configdc();
/* read indevidual slave state and store in ec_slave[] */
ec_readstate();
for(cnt = 1; cnt <= ec_slavecount ; cnt++)
@ -80,7 +80,7 @@ void redtest(char *ifname, char *ifname2)
if( !digout && ((ec_slave[cnt].eep_id == 0x07d43052) || (ec_slave[cnt].eep_id == 0x07d83052)))
{
digout = ec_slave[cnt].outputs;
}
}
}
printf("Request operational state for all slaves\n");
ec_slave[0].state = EC_STATE_OPERATIONAL;
@ -110,7 +110,7 @@ void redtest(char *ifname, char *ifname2)
for(j = 0 ; j < iloop; j++)
{
printf(" %2.2x", *(ec_slave[0].inputs + j));
}
}
printf("\n");
usleep(20000);
}
@ -119,7 +119,7 @@ void redtest(char *ifname, char *ifname2)
else
{
printf("Not all slaves reached operational state.\n");
}
}
printf("Request safe operational state for all slaves\n");
ec_slave[0].state = EC_STATE_SAFE_OP;
/* request SAFE_OP state for all slaves */
@ -136,25 +136,25 @@ void redtest(char *ifname, char *ifname2)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
/* add ns to timespec */
void add_timespec(struct timespec *ts, int64 addtime)
{
int64 sec, nsec;
nsec = addtime % NSEC_PER_SEC;
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if ( ts->tv_nsec > NSEC_PER_SEC )
{
if ( ts->tv_nsec > NSEC_PER_SEC )
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
ts->tv_nsec = nsec;
}
}
}
}
/* PI calculation to get linux time synced to DC time */
void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
@ -167,7 +167,7 @@ void ec_sync(int64 reftime, int64 cycletime , int64 *offsettime)
if(delta>0){ integral++; }
if(delta<0){ integral--; }
*offsettime = -(delta / 100) - (integral / 20);
}
}
/* RT EtherCAT thread */
void ecatthread( void *ptr )
@ -177,7 +177,7 @@ void ecatthread( void *ptr )
int rc;
int ht;
int64 cycletime;
rc = pthread_mutex_lock(&mutex);
rc = gettimeofday(&tp, NULL);
@ -189,7 +189,7 @@ void ecatthread( void *ptr )
toff = 0;
dorun = 0;
while(1)
{
{
/* calculate next cycle start */
add_timespec(&ts, cycletime + toff);
/* wait to cycle start */
@ -199,20 +199,20 @@ void ecatthread( void *ptr )
rc = gettimeofday(&tp, NULL);
ec_send_processdata();
wcounter = ec_receive_processdata(EC_TIMEOUTRET);
dorun++;
/* if we have some digital output, cycle */
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
if( digout ) *digout = (uint8) ((dorun / 16) & 0xff);
if (ec_slave[0].hasdc)
{
{
/* calulate toff to get linux time and DC synced */
ec_sync(ec_DCtime, cycletime, &toff);
}
}
}
}
}
}
}
int main(int argc, char *argv[])
@ -221,9 +221,9 @@ int main(int argc, char *argv[])
int ctime;
struct sched_param param;
int policy = SCHED_OTHER;
printf("SOEM (Simple Open EtherCAT Master)\nRedundancy test\n");
memset(&schedp, 0, sizeof(schedp));
/* do not set priority above 49, otherwise sockets are starved */
schedp.sched_priority = 30;
@ -234,13 +234,13 @@ int main(int argc, char *argv[])
usleep(1000);
}
while (dorun);
if (argc > 3)
{
{
dorun = 1;
ctime = atoi(argv[3]);
/* create RT thread */
iret1 = pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
iret1 = pthread_create( &thread1, NULL, (void *) &ecatthread, (void*) &ctime);
memset(&param, 0, sizeof(param));
/* give it higher priority */
param.sched_priority = 40;
@ -252,8 +252,8 @@ int main(int argc, char *argv[])
else
{
printf("Usage: red_test ifname1 ifname2 cycletime\nifname = eth0 for example\ncycletime in us\n");
}
}
schedp.sched_priority = 0;
sched_setscheduler(0, SCHED_OTHER, &schedp);

48
test/win32/simple_test/simple_test.c
View File

@ -59,7 +59,7 @@ int EL7031setup(uint16 slave)
// Set PDO mapping using Complete Access
// Strange, writing CA works, reading CA doesn't
// This is a protocol error of the slave.
// This is a protocol error of the slave.
retval += ec_SDOwrite(slave, 0x1c12, 0x00, TRUE, sizeof(map_1c12), &map_1c12, EC_TIMEOUTSAFE);
retval += ec_SDOwrite(slave, 0x1c13, 0x00, TRUE, sizeof(map_1c13), &map_1c13, EC_TIMEOUTSAFE);
@ -130,10 +130,10 @@ void simpletest(char *ifname)
inOP = FALSE;
printf("Starting simple test\n");
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
@ -207,7 +207,7 @@ void simpletest(char *ifname)
wkc_count = 0;
inOP = TRUE;
/* cyclic loop, reads data from RT thread */
for(i = 1; i <= 500; i++)
{
@ -220,16 +220,16 @@ void simpletest(char *ifname)
printf(" %2.2x", *(ec_slave[0].outputs + j));
}
printf(" I:");
printf(" I:");
for(j = 0 ; j < iloop; j++)
{
printf(" %2.2x", *(ec_slave[0].inputs + j));
}
}
printf(" T:%lld\r",ec_DCtime);
needlf = TRUE;
}
osal_usleep(50000);
}
inOP = FALSE;
}
@ -245,7 +245,7 @@ void simpletest(char *ifname)
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
}
}
}
}
/* stop RT thread */
timeKillEvent(mmResult);
@ -266,11 +266,11 @@ void simpletest(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
//DWORD WINAPI ecatcheck( LPVOID lpParam )
OSAL_THREAD_FUNC ecatcheck(void *lpParam)
//DWORD WINAPI ecatcheck( LPVOID lpParam )
OSAL_THREAD_FUNC ecatcheck(void *lpParam)
{
int slave;
@ -301,16 +301,16 @@ OSAL_THREAD_FUNC ecatcheck(void *lpParam)
{
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
ec_slave[slave].state = EC_STATE_OPERATIONAL;
ec_writestate(slave);
ec_writestate(slave);
}
else if(ec_slave[slave].state > 0)
{
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d reconfigured\n",slave);
printf("MESSAGE : slave %d reconfigured\n",slave);
}
}
}
else if(!ec_slave[slave].islost)
{
/* re-check state */
@ -318,7 +318,7 @@ OSAL_THREAD_FUNC ecatcheck(void *lpParam)
if (!ec_slave[slave].state)
{
ec_slave[slave].islost = TRUE;
printf("ERROR : slave %d lost\n",slave);
printf("ERROR : slave %d lost\n",slave);
}
}
}
@ -329,13 +329,13 @@ OSAL_THREAD_FUNC ecatcheck(void *lpParam)
if (ec_recover_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d recovered\n",slave);
printf("MESSAGE : slave %d recovered\n",slave);
}
}
else
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d found\n",slave);
printf("MESSAGE : slave %d found\n",slave);
}
}
}
@ -343,20 +343,20 @@ OSAL_THREAD_FUNC ecatcheck(void *lpParam)
printf("OK : all slaves resumed OPERATIONAL.\n");
}
osal_usleep(10000);
}
}
return 0;
}
}
char ifbuf[1024];
int main(int argc, char *argv[])
{
ec_adaptert * adapter = NULL;
ec_adaptert * adapter = NULL;
printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
if (argc > 1)
{
{
/* create thread to handle slave error handling in OP */
osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime);
strcpy(ifbuf, argv[1]);
@ -374,8 +374,8 @@ int main(int argc, char *argv[])
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
adapter = adapter->next;
}
}
}
printf("End program\n");
return (0);
}

88
test/win32/slaveinfo/slaveinfo.c
View File

@ -108,7 +108,7 @@ char* dtype2string(uint16 dtype)
sprintf(hstr, "Type 0x%4.4X", dtype);
}
return hstr;
}
}
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
{
@ -137,50 +137,50 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
{
case ECT_BOOLEAN:
u8 = (uint8*) &usdo[0];
if (*u8) sprintf(hstr, "TRUE");
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);
sprintf(hstr, "0x%2.2x %d", *i8, *i8);
break;
case ECT_INTEGER16:
i16 = (int16*) &usdo[0];
sprintf(hstr, "0x%4.4x %d", *i16, *i16);
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);
sprintf(hstr, "0x%8.8x %d", *i32, *i32);
break;
case ECT_INTEGER64:
i64 = (int64*) &usdo[0];
sprintf(hstr, "0x%16.16llx %lld", *i64, *i64);
sprintf(hstr, "0x%16.16llx %lld", *i64, *i64);
break;
case ECT_UNSIGNED8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
break;
case ECT_UNSIGNED16:
u16 = (uint16*) &usdo[0];
sprintf(hstr, "0x%4.4x %u", *u16, *u16);
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);
sprintf(hstr, "0x%8.8x %u", *u32, *u32);
break;
case ECT_UNSIGNED64:
u64 = (uint64*) &usdo[0];
sprintf(hstr, "0x%16.16llx %llu", *u64, *u64);
sprintf(hstr, "0x%16.16llx %llu", *u64, *u64);
break;
case ECT_REAL32:
sr = (float*) &usdo[0];
sprintf(hstr, "%f", *sr);
sprintf(hstr, "%f", *sr);
break;
case ECT_REAL64:
dr = (double*) &usdo[0];
sprintf(hstr, "%f", *dr);
sprintf(hstr, "%f", *dr);
break;
case ECT_BIT1:
case ECT_BIT2:
@ -191,7 +191,7 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
case ECT_BIT7:
case ECT_BIT8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%x", *u8);
sprintf(hstr, "0x%x", *u8);
break;
case ECT_VISIBLE_STRING:
strcpy(hstr, usdo);
@ -199,7 +199,7 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
case ECT_OCTET_STRING:
hstr[0] = 0x00;
for (i = 0 ; i < l ; i++)
{
{
sprintf(es, "0x%2.2x ", usdo[i]);
strcat( hstr, es);
}
@ -321,22 +321,22 @@ int si_map_sdo(int slave)
}
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;
}
}
}
}
}
}
@ -395,10 +395,10 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
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);
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
@ -422,7 +422,7 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
str_name[0] = 0;
if(obj_name)
ec_siistring(str_name, slave, 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);
@ -438,7 +438,7 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
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);
@ -472,7 +472,7 @@ int si_map_sii(int slave)
void si_sdo(int cnt)
{
int i, j;
ODlist.Entries = 0;
memset(&ODlist, 0, sizeof(ODlist));
if( ec_readODlist(cnt, &ODlist))
@ -480,7 +480,7 @@ void si_sdo(int cnt)
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
for( i = 0 ; i < ODlist.Entries ; i++)
{
ec_readODdescription(i, &ODlist);
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]);
@ -498,8 +498,8 @@ void si_sdo(int cnt)
printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
}
}
}
}
}
}
}
else
{
@ -512,12 +512,12 @@ void slaveinfo(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 )
@ -525,7 +525,7 @@ void slaveinfo(char *ifname)
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;
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);
@ -542,8 +542,8 @@ void slaveinfo(char *ifname)
}
}
}
ec_readstate();
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
{
@ -552,8 +552,8 @@ void slaveinfo(char *ifname)
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 & 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);
@ -584,8 +584,8 @@ void slaveinfo(char *ifname)
if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
{
ec_slave[cnt].blockLRW = 1;
ec_slave[0].blockLRW++;
}
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;
@ -602,8 +602,8 @@ void slaveinfo(char *ifname)
si_map_sdo(cnt);
else
si_map_sii(cnt);
}
}
}
}
}
else
{
@ -616,8 +616,8 @@ void slaveinfo(char *ifname)
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
}
}
char ifbuf[1024];
@ -625,9 +625,9 @@ int main(int argc, char *argv[])
{
ec_adaptert * adapter = NULL;
printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
if (argc > 1)
{
{
if ((argc > 2) && (strncmp(argv[2], "-sdo", sizeof("-sdo")) == 0)) printSDO = TRUE;
if ((argc > 2) && (strncmp(argv[2], "-map", sizeof("-map")) == 0)) printMAP = TRUE;
/* start slaveinfo */
@ -645,8 +645,8 @@ int main(int argc, char *argv[])
printf ("Description : %s, Device to use for wpcap: %s\n", adapter->desc,adapter->name);
adapter = adapter->next;
}
}
}
printf("End program\n");
return (0);
}