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Impelmented EoE filter function in mailbox receive (#244)

pull/248/head
nakarlsson 2019-01-31 14:57:16 +01:00 committed by GitHub
parent 4427684cc5
commit 86a2584e47
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 1294 additions and 17 deletions
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1
soem/ethercat.h
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@ -19,6 +19,7 @@
#include "ethercatcoe.h"
#include "ethercatfoe.h"
#include "ethercatsoe.h"
#include "ethercateoe.h"
#include "ethercatconfig.h"
#include "ethercatprint.h"

628
soem/ethercateoe.c 100644
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@ -0,0 +1,628 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Ethernet over EtherCAT (EoE) module.
*
* Set / Get IP functions
* Blocking send/receive Ethernet Frame
* Read incoming EoE fragment to Ethernet Frame
*/
#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercat.h"
/** EoE utility function to convert uint32 to eoe ip bytes.
* @param[in] ip = ip in uint32
* @param[out] byte_ip = eoe ip 4th octet, 3ed octet, 2nd octet, 1st octet
*/
static void EOE_ip_uint32_to_byte(eoe_ip4_addr_t * ip, uint8_t * byte_ip)
{
byte_ip[3] = eoe_ip4_addr1(ip); /* 1st octet */
byte_ip[2] = eoe_ip4_addr2(ip); /* 2nd octet */
byte_ip[1] = eoe_ip4_addr3(ip); /* 3ed octet */
byte_ip[0] = eoe_ip4_addr4(ip); /* 4th octet */
}
/** EoE utility function to convert eoe ip bytes to uint32.
* @param[in] byte_ip = eoe ip 4th octet, 3ed octet, 2nd octet, 1st octet
* @param[out] ip = ip in uint32
*/
static void EOE_ip_byte_to_uint32(uint8_t * byte_ip, eoe_ip4_addr_t * ip)
{
EOE_IP4_ADDR_TO_U32(ip,
byte_ip[3], /* 1st octet */
byte_ip[2], /* 2nd octet */
byte_ip[1], /* 3ed octet */
byte_ip[0]); /* 4th octet */
}
/** EoE fragment data handler hook. Should not block.
*
* @param[in] context = context struct
* @param[in] hook = Pointer to hook function.
* @return 1
*/
int ecx_EOEdefinehook(ecx_contextt *context, void *hook)
{
context->EOEhook = hook;
return 1;
}
/** EoE EOE set IP, blocking. Waits for response from the slave.
*
* @param[in] context = Context struct
* @param[in] slave = Slave number
* @param[in] port = Port number on slave if applicable
* @param[in] ipparam = IP parameter data to be sent
* @param[in] Timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response or returned result code
*/
int ecx_EOEsetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t * ipparam, int timeout)
{
ec_EOEt *EOEp, *aEOEp;
ec_mbxbuft MbxIn, MbxOut;
uint16 frameinfo1, result;
uint8 cnt, data_offset;
uint8 flags = 0;
int wkc;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aEOEp = (ec_EOEt *)&MbxIn;
EOEp = (ec_EOEt *)&MbxOut;
EOEp->mbxheader.address = htoes(0x0000);
EOEp->mbxheader.priority = 0x00;
data_offset = EOE_PARAM_OFFSET;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + (cnt << 4); /* EoE */
EOEp->frameinfo1 = htoes(EOE_HDR_FRAME_TYPE_SET(EOE_INIT_REQ) |
EOE_HDR_FRAME_PORT_SET(port) |
EOE_HDR_LAST_FRAGMENT);
EOEp->frameinfo2 = 0;
/* The EoE frame will include "empty" IP/DNS entries, makes wireshark happy.
* Specification say they are optional, TwinCAT include empty entries.
*/
if (ipparam->mac_set)
{
flags |= EOE_PARAM_MAC_INCLUDE;
memcpy(&EOEp->data[data_offset], ipparam->mac.addr, EOE_ETHADDR_LENGTH);
}
data_offset += EOE_ETHADDR_LENGTH;
if (ipparam->ip_set)
{
flags |= EOE_PARAM_IP_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->ip, &EOEp->data[data_offset]);
}
data_offset += 4;
if (ipparam->subnet_set)
{
flags |= EOE_PARAM_SUBNET_IP_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->subnet, &EOEp->data[data_offset]);
}
data_offset += 4;
if (ipparam->default_gateway_set)
{
flags |= EOE_PARAM_DEFAULT_GATEWAY_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->default_gateway, &EOEp->data[data_offset]);
}
data_offset += 4;
if (ipparam->dns_ip_set)
{
flags |= EOE_PARAM_DNS_IP_INCLUDE;
EOE_ip_uint32_to_byte(&ipparam->dns_ip, &EOEp->data[data_offset]);
}
data_offset += 4;
if (ipparam->dns_name_set)
{
flags |= EOE_PARAM_DNS_NAME_INCLUDE;
memcpy(&EOEp->data[data_offset], (void *)ipparam->dns_name, EOE_DNS_NAME_LENGTH);
}
data_offset += EOE_DNS_NAME_LENGTH;
EOEp->mbxheader.length = htoes(EOE_PARAM_OFFSET + data_offset);
EOEp->data[0] = flags;
/* send EoE request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be FoE */
if ((aEOEp->mbxheader.mbxtype & 0x0f) == ECT_MBXT_EOE)
{
frameinfo1 = etohs(aEOEp->frameinfo1);
result = etohs(aEOEp->result);
if ((EOE_HDR_FRAME_TYPE_GET(frameinfo1) != EOE_INIT_RESP) ||
(result != EOE_RESULT_SUCCESS))
{
wkc = -result;
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
}
return wkc;
}
/** EoE EOE get IP, blocking. Waits for response from the slave.
*
* @param[in] context = Context struct
* @param[in] slave = Slave number
* @param[in] port = Port number on slave if applicable
* @param[out] ipparam = IP parameter data retrived from slave
* @param[in] Timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response or returned result code
*/
int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t * ipparam, int timeout)
{
ec_EOEt *EOEp, *aEOEp;
ec_mbxbuft MbxIn, MbxOut;
uint16 frameinfo1, eoedatasize;
uint8 cnt, data_offset;
uint8 flags = 0;
int wkc;
/* Empty slave out mailbox if something is in. Timout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aEOEp = (ec_EOEt *)&MbxIn;
EOEp = (ec_EOEt *)&MbxOut;
EOEp->mbxheader.address = htoes(0x0000);
EOEp->mbxheader.priority = 0x00;
data_offset = EOE_PARAM_OFFSET;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + (cnt << 4); /* EoE */
EOEp->frameinfo1 = htoes(EOE_HDR_FRAME_TYPE_SET(EOE_GET_IP_PARAM_REQ) |
EOE_HDR_FRAME_PORT_SET(port) |
EOE_HDR_LAST_FRAGMENT);
EOEp->frameinfo2 = 0;
EOEp->mbxheader.length = htoes(0x0004);
EOEp->data[0] = flags;
/* send EoE request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be FoE */
if ((aEOEp->mbxheader.mbxtype & 0x0f) == ECT_MBXT_EOE)
{
frameinfo1 = etohs(aEOEp->frameinfo1);
eoedatasize = etohs(aEOEp->mbxheader.length) - 0x0004;
if (EOE_HDR_FRAME_TYPE_GET(frameinfo1) != EOE_GET_IP_PARAM_RESP)
{
wkc = -EOE_RESULT_UNSUPPORTED_FRAME_TYPE;
}
else
{
/* The EoE frame will include "empty" IP/DNS entries, makes
* wireshark happy. Specification say they are optional, TwinCAT
* include empty entries.
*/
flags = aEOEp->data[0];
if (flags & EOE_PARAM_MAC_INCLUDE)
{
memcpy(ipparam->mac.addr,
&aEOEp->data[data_offset],
EOE_ETHADDR_LENGTH);
ipparam->mac_set = 1;
}
data_offset += EOE_ETHADDR_LENGTH;
if (flags & EOE_PARAM_IP_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->ip);
ipparam->ip_set = 1;
}
data_offset += 4;
if (flags & EOE_PARAM_SUBNET_IP_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->subnet);
ipparam->subnet_set = 1;
}
data_offset += 4;
if (flags & EOE_PARAM_DEFAULT_GATEWAY_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->default_gateway);
ipparam->default_gateway_set = 1;
}
data_offset += 4;
if (flags & EOE_PARAM_DNS_IP_INCLUDE)
{
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
&ipparam->dns_ip);
ipparam->dns_ip_set = 1;
}
data_offset += 4;
if (flags & EOE_PARAM_DNS_NAME_INCLUDE)
{
uint16_t dns_len;
if ((eoedatasize - data_offset) < EOE_DNS_NAME_LENGTH)
{
dns_len = (eoedatasize - data_offset);
}
else
{
dns_len = EOE_DNS_NAME_LENGTH;
}
/* Assume ZERO terminated string */
memcpy(ipparam->dns_name, &aEOEp->data[data_offset], dns_len);
ipparam->dns_name_set = 1;
}
data_offset += EOE_DNS_NAME_LENGTH;
/* Something os not correct, flag the error */
if(data_offset > eoedatasize)
{
wkc = -EC_ERR_TYPE_MBX_ERROR;
}
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
}
return wkc;
}
/** EoE ethernet buffer write, blocking.
*
* If the buffer is larger than the mailbox size then the buffer is sent in
* several fragments. The function will split the buf data in fragments and
* send them to the slave one by one.
*
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] port = Port number on slave if applicable
* @param[in] psize = Size in bytes of parameter buffer.
* @param[in] p = Pointer to parameter buffer
* @param[in] Timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave transmission
*/
int ecx_EOEsend(ecx_contextt *context, uint16 slave, uint8 port, int psize, void *p, int timeout)
{
ec_EOEt *EOEp;
ec_mbxbuft MbxOut;
uint16 frameinfo1, frameinfo2;
uint16 txframesize, txframeoffset;
uint8 cnt, txfragmentno;
boolean NotLast;
int wkc, maxdata;
const uint8 * buf = p;
static uint8_t txframeno = 0;
ec_clearmbx(&MbxOut);
EOEp = (ec_EOEt *)&MbxOut;
EOEp->mbxheader.address = htoes(0x0000);
EOEp->mbxheader.priority = 0x00;
/* data section=mailbox size - 6 mbx - 4 EoEh */
maxdata = context->slavelist[slave].mbx_l - 0x0A;
txframesize = psize;
txfragmentno = 0;
txframeoffset = 0;
NotLast = TRUE;
do
{
txframesize = psize - txframeoffset;
if (txframesize > maxdata)
{
/* Adjust to even 32-octect blocks */
txframesize = ((maxdata >> 5) << 5);
}
if (txframesize == (psize - txframeoffset))
{
frameinfo1 = (EOE_HDR_LAST_FRAGMENT_SET(1) | EOE_HDR_FRAME_PORT_SET(port));
NotLast = FALSE;
}
else
{
frameinfo1 = EOE_HDR_FRAME_PORT_SET(port);
}
frameinfo2 = EOE_HDR_FRAG_NO_SET(txfragmentno);
if (txfragmentno > 0)
{
frameinfo2 = frameinfo2 | (EOE_HDR_FRAME_OFFSET_SET((txframeoffset >> 5)));
}
else
{
frameinfo2 = frameinfo2 | (EOE_HDR_FRAME_OFFSET_SET(((psize + 31) >> 5)));
txframeno++;
}
frameinfo2 = frameinfo2 | EOE_HDR_FRAME_NO_SET(txframeno);
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
EOEp->mbxheader.length = htoes(4 + txframesize); /* no timestamp */
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + (cnt << 4); /* EoE */
EOEp->frameinfo1 = htoes(frameinfo1);
EOEp->frameinfo2 = htoes(frameinfo2);
memcpy(EOEp->data, &buf[txframeoffset], txframesize);
/* send EoE request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if ((NotLast == TRUE) && (wkc > 0))
{
txframeoffset += txframesize;
txfragmentno++;
}
} while ((NotLast == TRUE) && (wkc > 0));
return wkc;
}
/** EoE ethernet buffer read, blocking.
*
* If the buffer is larger than the mailbox size then the buffer is received
* by several fragments. The function will assamble the fragments into
* a complete Ethernet buffer.
*
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] port = Port number on slave if applicable
* @param[in/out] psize = Size in bytes of parameter buffer.
* @param[in] p = Pointer to parameter buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response or error code
*/
int ecx_EOErecv(ecx_contextt *context, uint16 slave, uint8 port, int * psize, void *p, int timeout)
{
ec_EOEt *aEOEp;
ec_mbxbuft MbxIn;
uint16 frameinfo1, frameinfo2, rxframesize, rxframeoffset, eoedatasize;
uint8 rxfragmentno, rxframeno;
boolean NotLast;
int wkc, buffersize;
uint8 * buf = p;
ec_clearmbx(&MbxIn);
aEOEp = (ec_EOEt *)&MbxIn;
NotLast = TRUE;
buffersize = *psize;
rxfragmentno = 0;
/* Hang for a while if nothing is in */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
while ((wkc > 0) && (NotLast == TRUE))
{
/* slave response should be FoE */
if ((aEOEp->mbxheader.mbxtype & 0x0f) == ECT_MBXT_EOE)
{
eoedatasize = etohs(aEOEp->mbxheader.length) - 0x00004;
frameinfo1 = etohs(aEOEp->frameinfo1);
frameinfo2 = etohs(aEOEp->frameinfo2);
if (rxfragmentno != EOE_HDR_FRAG_NO_GET(frameinfo2))
{
if (EOE_HDR_FRAG_NO_GET(frameinfo2) > 0)
{
wkc = -EC_ERR_TYPE_EOE_INVALID_RX_DATA;
/* Exit here*/
break;
}
}
if (rxfragmentno == 0)
{
rxframesize = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
rxframeoffset = 0;
rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2);
}
else
{
if (rxframeno != EOE_HDR_FRAME_NO_GET(frameinfo2))
{
wkc = -EC_ERR_TYPE_EOE_INVALID_RX_DATA;
/* Exit here*/
break;
}
else if (rxframeoffset != (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5))
{
wkc = -EC_ERR_TYPE_EOE_INVALID_RX_DATA;
/* Exit here*/
break;
}
}
if ((rxframeoffset + eoedatasize) <= buffersize)
{
memcpy(&buf[rxframeoffset], aEOEp->data, eoedatasize);
rxframeoffset += eoedatasize;
rxfragmentno++;
}
if (EOE_HDR_LAST_FRAGMENT_GET(frameinfo1))
{
/* Remove timestamp */
if (EOE_HDR_TIME_APPEND_GET(frameinfo1))
{
rxframeoffset -= 4;
}
NotLast = FALSE;
*psize = rxframeoffset;
}
else
{
/* Hang for a while if nothing is in */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
return wkc;
}
/** EoE mailbox fragment read
*
* Will take the data in incoming mailbox buffer and copy to destination
* Ethernet frame buffer at given offset and update current fragment variables
*
* @param[in] MbxIn = Received mailbox containing fragment data
* @param[in/out] rxfragmentno = Fragment number
* @param[in/out] rxframesize = Frame size
* @param[in/out] rxframeoffset = Frame offset
* @param[in/out] rxframeno = Frame number
* @param[in/out] psize = Size in bytes of frame buffer.
* @param[out] p = Pointer to frame buffer
* @return 0= if fragment OK, >0 if last fragment, <0 on error
*/
int ecx_EOEreadfragment(
ec_mbxbuft * MbxIn,
uint8 * rxfragmentno,
uint16 * rxframesize,
uint16 * rxframeoffset,
uint16 * rxframeno,
int * psize,
void *p)
{
uint16 frameinfo1, frameinfo2, eoedatasize;
int wkc;
ec_EOEt * aEOEp;
uint8 * buf;
aEOEp = (ec_EOEt *)MbxIn;
buf = p;
wkc = 0;
/* slave response should be EoE */
if ((aEOEp->mbxheader.mbxtype & 0x0f) == ECT_MBXT_EOE)
{
eoedatasize = etohs(aEOEp->mbxheader.length) - 0x00004;
frameinfo1 = etohs(aEOEp->frameinfo1);
frameinfo2 = etohs(aEOEp->frameinfo2);
/* Retrive fragment number, is it what we expect? */
if (*rxfragmentno != EOE_HDR_FRAG_NO_GET(frameinfo2))
{
/* If expected fragment number is not 0, reset working variables */
if (*rxfragmentno != 0)
{
*rxfragmentno = 0;
*rxframesize = 0;
*rxframeoffset = 0;
*rxframeno = 0;
}
/* If incoming fragment number is not 0 we can't recover, exit */
if (EOE_HDR_FRAG_NO_GET(frameinfo2) > 0)
{
wkc = -EC_ERR_TYPE_EOE_INVALID_RX_DATA;
return wkc;
}
}
/* Is it a new frame?*/
if (*rxfragmentno == 0)
{
*rxframesize = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
*rxframeoffset = 0;
*rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2);
}
else
{
/* If we're inside a frame, make sure it is the same */
if (*rxframeno != EOE_HDR_FRAME_NO_GET(frameinfo2))
{
*rxfragmentno = 0;
*rxframesize = 0;
*rxframeoffset = 0;
*rxframeno = 0;
wkc = -EC_ERR_TYPE_EOE_INVALID_RX_DATA;
return wkc;
}
else if (*rxframeoffset != (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5))
{
*rxfragmentno = 0;
*rxframesize = 0;
*rxframeoffset = 0;
*rxframeno = 0;
wkc = -EC_ERR_TYPE_EOE_INVALID_RX_DATA;
return wkc;
}
}
/* Make sure we're inside expected frame size */
if (((*rxframeoffset + eoedatasize) <= *rxframesize) &&
((*rxframeoffset + eoedatasize) <= *psize))
{
memcpy(&buf[*rxframeoffset], aEOEp->data, eoedatasize);
*rxframeoffset += eoedatasize;
*rxfragmentno += 1;
}
/* Is it the last fragment */
if (EOE_HDR_LAST_FRAGMENT_GET(frameinfo1))
{
/* Remove timestamp */
if (EOE_HDR_TIME_APPEND_GET(frameinfo1))
{
*rxframeoffset -= 4;
}
*psize = *rxframeoffset;
*rxfragmentno = 0;
*rxframesize = 0;
*rxframeoffset = 0;
*rxframeno = 0;
wkc = 1;
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
return wkc;
}

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soem/ethercateoe.h 100644
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@ -0,0 +1,206 @@
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* Headerfile for ethercatfoe.c
*/
#ifndef _ethercateoe_
#define _ethercateoe_
#ifdef __cplusplus
extern "C"
{
#endif
#include <ethercattype.h>
/** DNS length according to ETG 1000.6 */
#define EOE_DNS_NAME_LENGTH 32
/** Ethernet address length not including VLAN */
#define EOE_ETHADDR_LENGTH 6
#define EOE_MAKEU32(a,b,c,d) (((uint32_t)((a) & 0xff) << 24) | \
((uint32_t)((b) & 0xff) << 16) | \
((uint32_t)((c) & 0xff) << 8) | \
(uint32_t)((d) & 0xff))
#if !defined(EC_BIG_ENDIAN) && defined(EC_LITTLE_ENDIAN)
#define EOE_HTONS(x) ((((x) & 0x00ffUL) << 8) | (((x) & 0xff00UL) >> 8))
#define EOE_NTOHS(x) EOE_HTONS(x)
#define EOE_HTONL(x) ((((x) & 0x000000ffUL) << 24) | \
(((x) & 0x0000ff00UL) << 8) | \
(((x) & 0x00ff0000UL) >> 8) | \
(((x) & 0xff000000UL) >> 24))
#define EOE_NTOHL(x) EOE_HTONL(x)
#else
#define EOE_HTONS(x) (x)
#define EOE_NTOHS(x) (x)
#define EOE_HTONL(x) (x)
#define EOE_NTOHL(x) (x)
#endif /* !defined(EC_BIG_ENDIAN) && defined(EC_LITTLE_ENDIAN) */
/** Get one byte from the 4-byte address */
#define eoe_ip4_addr1(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[0])
#define eoe_ip4_addr2(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[1])
#define eoe_ip4_addr3(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[2])
#define eoe_ip4_addr4(ipaddr) (((const uint8_t*)(&(ipaddr)->addr))[3])
/** Set an IP address given by the four byte-parts */
#define EOE_IP4_ADDR_TO_U32(ipaddr,a,b,c,d) \
(ipaddr)->addr = EOE_HTONL(EOE_MAKEU32(a,b,c,d))
/** Header frame info 1 */
#define EOE_HDR_FRAME_TYPE_OFFSET 0
#define EOE_HDR_FRAME_TYPE (0xF << 0)
#define EOE_HDR_FRAME_TYPE_SET(x) (((x) & 0xF) << 0)
#define EOE_HDR_FRAME_TYPE_GET(x) (((x) >> 0) & 0xF)
#define EOE_HDR_FRAME_PORT_OFFSET 4
#define EOE_HDR_FRAME_PORT (0xF << 4)
#define EOE_HDR_FRAME_PORT_SET(x) (((x) & 0xF) << 4)
#define EOE_HDR_FRAME_PORT_GET(x) (((x) >> 4) & 0xF)
#define EOE_HDR_LAST_FRAGMENT_OFFSET 8
#define EOE_HDR_LAST_FRAGMENT (0x1 << 8)
#define EOE_HDR_LAST_FRAGMENT_SET(x) (((x) & 0x1) << 8)
#define EOE_HDR_LAST_FRAGMENT_GET(x) (((x) >> 8) & 0x1)
#define EOE_HDR_TIME_APPEND_OFFSET 9
#define EOE_HDR_TIME_APPEND (0x1 << 9)
#define EOE_HDR_TIME_APPEND_SET(x) (((x) & 0x1) << 9)
#define EOE_HDR_TIME_APPEND_GET(x) (((x) >> 9) & 0x1)
#define EOE_HDR_TIME_REQUEST_OFFSET 10
#define EOE_HDR_TIME_REQUEST (0x1 << 10)
#define EOE_HDR_TIME_REQUEST_SET(x) (((x) & 0x1) << 10)
#define EOE_HDR_TIME_REQUEST_GET(x) (((x) >> 10) & 0x1)
/** Header frame info 2 */
#define EOE_HDR_FRAG_NO_OFFSET 0
#define EOE_HDR_FRAG_NO (0x3F << 0)
#define EOE_HDR_FRAG_NO_SET(x) (((x) & 0x3F) << 0)
#define EOE_HDR_FRAG_NO_GET(x) (((x) >> 0) & 0x3F)
#define EOE_HDR_FRAME_OFFSET_OFFSET 6
#define EOE_HDR_FRAME_OFFSET (0x3F << 6)
#define EOE_HDR_FRAME_OFFSET_SET(x) (((x) & 0x3F) << 6)
#define EOE_HDR_FRAME_OFFSET_GET(x) (((x) >> 6) & 0x3F)
#define EOE_HDR_FRAME_NO_OFFSET 12
#define EOE_HDR_FRAME_NO (0xF << 12)
#define EOE_HDR_FRAME_NO_SET(x) (((x) & 0xF) << 12)
#define EOE_HDR_FRAME_NO_GET(x) (((x) >> 12) & 0xF)
/** EOE param */
#define EOE_PARAM_OFFSET 4
#define EOE_PARAM_MAC_INCLUDE (0x1 << 0)
#define EOE_PARAM_IP_INCLUDE (0x1 << 1)
#define EOE_PARAM_SUBNET_IP_INCLUDE (0x1 << 2)
#define EOE_PARAM_DEFAULT_GATEWAY_INCLUDE (0x1 << 3)
#define EOE_PARAM_DNS_IP_INCLUDE (0x1 << 4)
#define EOE_PARAM_DNS_NAME_INCLUDE (0x1 << 5)
/** EoE frame types */
#define EOE_FRAG_DATA 0
#define EOE_INIT_RESP_TIMESTAMP 1
#define EOE_INIT_REQ 2 /* Spec SET IP REQ */
#define EOE_INIT_RESP 3 /* Spec SET IP RESP */
#define EOE_SET_ADDR_FILTER_REQ 4
#define EOE_SET_ADDR_FILTER_RESP 5
#define EOE_GET_IP_PARAM_REQ 6
#define EOE_GET_IP_PARAM_RESP 7
#define EOE_GET_ADDR_FILTER_REQ 8
#define EOE_GET_ADDR_FILTER_RESP 9
/** EoE parameter result codes */
#define EOE_RESULT_SUCCESS 0x0000
#define EOE_RESULT_UNSPECIFIED_ERROR 0x0001
#define EOE_RESULT_UNSUPPORTED_FRAME_TYPE 0x0002
#define EOE_RESULT_NO_IP_SUPPORT 0x0201
#define EOE_RESULT_NO_DHCP_SUPPORT 0x0202
#define EOE_RESULT_NO_FILTER_SUPPORT 0x0401
/** EOE ip4 address in network order */
typedef struct eoe_ip4_addr {
uint32_t addr;
}eoe_ip4_addr_t;
/** EOE ethernet address */
PACKED_BEGIN
typedef struct PACKED eoe_ethaddr
{
uint8_t addr[EOE_ETHADDR_LENGTH];
} eoe_ethaddr_t;
PACKED_END
/** EoE IP request structure, storage only, no need to pack */
typedef struct eoe_param
{
uint8_t mac_set : 1;
uint8_t ip_set : 1;
uint8_t subnet_set : 1;
uint8_t default_gateway_set : 1;
uint8_t dns_ip_set : 1;
uint8_t dns_name_set : 1;
eoe_ethaddr_t mac;
eoe_ip4_addr_t ip;
eoe_ip4_addr_t subnet;
eoe_ip4_addr_t default_gateway;
eoe_ip4_addr_t dns_ip;
char dns_name[EOE_DNS_NAME_LENGTH];
} eoe_param_t;
/** EOE structure.
* Used to interpret EoE mailbox packets.
*/
PACKED_BEGIN
typedef struct PACKED
{
ec_mbxheadert mbxheader;
uint16_t frameinfo1;
union
{
uint16_t frameinfo2;
uint16_t result;
};
uint8 data[0];
} ec_EOEt;
PACKED_END
int ecx_EOEdefinehook(ecx_contextt *context, void *hook);
int ecx_EOEsetIp(ecx_contextt *context,
uint16 slave,
uint8 port,
eoe_param_t * ipparam,
int timeout);
int ecx_EOEgetIp(ecx_contextt *context,
uint16 slave,
uint8 port,
eoe_param_t * ipparam,
int timeout);
int ecx_EOEsend(ecx_contextt *context,
uint16 slave,
uint8 port,
int psize,
void *p,
int timeout);
int ecx_EOErecv(ecx_contextt *context,
uint16 slave,
uint8 port,
int * psize,
void *p,
int timeout);
int ecx_EOEreadfragment(
ec_mbxbuft * MbxIn,
uint8 * rxfragmentno,
uint16 * rxframesize,
uint16 * rxframeoffset,
uint16 * rxframeno,
int * psize,
void *p);
#ifdef __cplusplus
}
#endif
#endif

28
soem/ethercatmain.c
View File

@ -19,9 +19,7 @@
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercattype.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercat.h"
/** delay in us for eeprom ready loop */
@ -120,7 +118,8 @@ ecx_contextt ecx_context = {
&ec_PDOdesc[0], // .PDOdesc =
&ec_SM, // .eepSM =
&ec_FMMU, // .eepFMMU =
NULL // .FOEhook()
NULL, // .FOEhook()
NULL // .EOEhook()
};
#endif
@ -1042,7 +1041,7 @@ int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int tim
ecx_mbxerror(context, slave, etohs(MBXEp->Detail));
wkc = 0; /* prevent emergency to cascade up, it is already handled. */
}
else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == 0x03)) /* CoE response? */
else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == ECT_MBXT_COE)) /* CoE response? */
{
EMp = (ec_emcyt *)mbx;
if ((etohs(EMp->CANOpen) >> 12) == 0x01) /* Emergency request? */
@ -1052,6 +1051,25 @@ int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int tim
wkc = 0; /* prevent emergency to cascade up, it is already handled. */
}
}
else if ((wkc > 0) && ((mbxh->mbxtype & 0x0f) == ECT_MBXT_EOE)) /* EoE response? */
{
ec_EOEt * eoembx = (ec_EOEt *)mbx;
uint16 frameinfo1 = etohs(eoembx->frameinfo1);
/* All non fragment data frame types are expected to be handled by
* slave send/receive API if the EoE hook is set
*/
if (EOE_HDR_FRAME_TYPE_GET(frameinfo1) == EOE_FRAG_DATA)
{
if (context->EOEhook)
{
if (context->EOEhook(context, slave, eoembx) > 0)
{
/* Fragment handled by EoE hook */
wkc = 0;
}
}
}
}
else
{
if (wkc <= 0) /* read mailbox lost */

7
soem/ethercatmain.h
View File

@ -377,7 +377,8 @@ typedef struct PACKED ec_PDOdesc
PACKED_END
/** Context structure , referenced by all ecx functions*/
typedef struct ecx_context
typedef struct ecx_context ecx_contextt;
struct ecx_context
{
/** port reference, may include red_port */
ecx_portt *port;
@ -421,7 +422,9 @@ typedef struct ecx_context
ec_eepromFMMUt *eepFMMU;
/** registered FoE hook */
int (*FOEhook)(uint16 slave, int packetnumber, int datasize);
} ecx_contextt;
/** registered EoE hook */
int (*EOEhook)(ecx_contextt * context, uint16 slave, void * eoembx);
};
#ifdef EC_VER1
/** global struct to hold default master context */

21
soem/ethercattype.h
View File

@ -450,16 +450,17 @@ enum
/** Error types */
typedef enum
{
EC_ERR_TYPE_SDO_ERROR = 0,
EC_ERR_TYPE_EMERGENCY = 1,
EC_ERR_TYPE_PACKET_ERROR = 3,
EC_ERR_TYPE_SDOINFO_ERROR = 4,
EC_ERR_TYPE_FOE_ERROR = 5,
EC_ERR_TYPE_FOE_BUF2SMALL = 6,
EC_ERR_TYPE_FOE_PACKETNUMBER = 7,
EC_ERR_TYPE_SOE_ERROR = 8,
EC_ERR_TYPE_MBX_ERROR = 9,
EC_ERR_TYPE_FOE_FILE_NOTFOUND = 10
EC_ERR_TYPE_SDO_ERROR = 0,
EC_ERR_TYPE_EMERGENCY = 1,
EC_ERR_TYPE_PACKET_ERROR = 3,
EC_ERR_TYPE_SDOINFO_ERROR = 4,
EC_ERR_TYPE_FOE_ERROR = 5,
EC_ERR_TYPE_FOE_BUF2SMALL = 6,
EC_ERR_TYPE_FOE_PACKETNUMBER = 7,
EC_ERR_TYPE_SOE_ERROR = 8,
EC_ERR_TYPE_MBX_ERROR = 9,
EC_ERR_TYPE_FOE_FILE_NOTFOUND = 10,
EC_ERR_TYPE_EOE_INVALID_RX_DATA = 11
} ec_err_type;
/** Struct to retrieve errors. */

420
test/linux/eoe_test/eoe_test.c 100644
View File

@ -0,0 +1,420 @@
/** \file
* \brief Example code for Simple Open EtherCAT master EoE
*
* This example will run the follwing EoE functions
* SetIP
* GetIP
*
* Loop
* Send fragment data (Layer 2 0x88A4)
* Receive fragment data (Layer 2 0x88A4)
*
* For this to work, a special slave test code is running that
* will bounce the sent 0x88A4 back to receive.
*
* Usage : eoe_test [ifname1]
* ifname is NIC interface, f.e. eth0
*
* This is a minimal test.
*
* (c)Arthur Ketels 2010 - 2011
*/
#include <stdio.h>
#include <string.h>
#include <inttypes.h>
#include "ethercat.h"
#define EC_TIMEOUTMON 500
char IOmap[4096];
int expectedWKC;
boolean needlf;
volatile int globalwkc;
boolean inOP;
uint8 currentgroup = 0;
OSAL_THREAD_HANDLE thread1;
OSAL_THREAD_HANDLE thread2;
uint8 txbuf[1024];
/** Current RX fragment number */
uint8_t rxfragmentno = 0;
/** Complete RX frame size of current frame */
uint16_t rxframesize = 0;
/** Current RX data offset in frame */
uint16_t rxframeoffset = 0;
/** Current RX frame number */
uint16_t rxframeno = 0;
uint8 rxbuf[1024];
int size_of_rx = sizeof(rxbuf);
/** registered EoE hook */
int eoe_hook(ecx_contextt * context, uint16 slave, void * eoembx)
{
int wkc;
/* Pass received Mbx data to EoE recevive fragment function that
* that will start/continue fill an Ethernet frame buffer
*/
size_of_rx = sizeof(rxbuf);
wkc = ecx_EOEreadfragment(eoembx,
&rxfragmentno,
&rxframesize,
&rxframeoffset,
&rxframeno,
&size_of_rx,
rxbuf);
printf("Read frameno %d, fragmentno %d\n", rxframeno, rxfragmentno);
/* wkc == 1 would mean a frame is complete , last fragment flag have been set and all
* other checks must have past
*/
if (wkc > 0)
{
ec_etherheadert *bp = (ec_etherheadert *)rxbuf;
uint16 type = ntohs(bp->etype);
printf("Frameno %d, type 0x%x complete\n", rxframeno, type);
if (type == ETH_P_ECAT)
{
/* Sanity check that received buffer still is OK */
if (sizeof(txbuf) != size_of_rx)
{
printf("Size differs, expected %d , received %d\n", sizeof(txbuf), size_of_rx);
}
else
{
printf("Size OK, expected %d , received %d\n", sizeof(txbuf), size_of_rx);
}
/* Check that the TX and RX frames are EQ */
if (memcmp(rxbuf, txbuf, size_of_rx))
{
printf("memcmp result != 0\n");
}
else
{
printf("memcmp result == 0\n");
}
/* Send a new frame */
int ixme;
for (ixme = ETH_HEADERSIZE; ixme < sizeof(txbuf); ixme++)
{
txbuf[ixme] = (uint8)rand();
}
printf("Send a new frame\n");
ecx_EOEsend(context, 1, 0, sizeof(txbuf), txbuf, EC_TIMEOUTRXM);
}
else
{
printf("Skip type 0x%x\n", type);
}
}
/* No point in returning as unhandled */
return 1;
}
OSAL_THREAD_FUNC mailbox_reader(void *lpParam)
{
ecx_contextt *context = (ecx_contextt *)lpParam;
int wkc;
ec_mbxbuft MbxIn;
ec_mbxheadert * MbxHdr = (ec_mbxheadert *)MbxIn;
int ixme;
ec_setupheader(&txbuf);
for (ixme = ETH_HEADERSIZE; ixme < sizeof(txbuf); ixme++)
{
txbuf[ixme] = (uint8)rand();
}
/* Send a made up frame to trigger a fragmented transfer
* Used with a special bound impelmentaion of SOES. Will
* trigger a fragmented transfer back of the same frame.
*/
ecx_EOEsend(context, 1, 0, sizeof(txbuf), txbuf, EC_TIMEOUTRXM);
for (;;)
{
/* Read mailbox if no other mailbox conversation is ongoing eg. SDOwrite/SDOwrite etc.*/
wkc = ecx_mbxreceive(context, 1, (ec_mbxbuft *)&MbxIn, 0);
if (wkc > 0)
{
printf("Unhandled mailbox response 0x%x\n", MbxHdr->mbxtype);
}
osal_usleep(1 * 1000 * 1000);
}
}
void test_eoe(ecx_contextt * context)
{
/* Set the HOOK */
ecx_EOEdefinehook(context, eoe_hook);
eoe_param_t ipsettings, re_ipsettings;
memset(&ipsettings, 0, sizeof(ipsettings));
memset(&re_ipsettings, 0, sizeof(re_ipsettings));
ipsettings.ip_set = 1;
ipsettings.subnet_set = 1;
ipsettings.default_gateway_set = 1;
EOE_IP4_ADDR_TO_U32(&ipsettings.ip, 192, 168, 9, 200);
EOE_IP4_ADDR_TO_U32(&ipsettings.subnet, 255, 255, 255, 0);
EOE_IP4_ADDR_TO_U32(&ipsettings.default_gateway, 0, 0, 0, 0);
/* Send a set IP request */
ecx_EOEsetIp(context, 1, 0, &ipsettings, EC_TIMEOUTRXM);
/* Send a get IP request, should return the expected IP back */
ecx_EOEgetIp(context, 1, 0, &re_ipsettings, EC_TIMEOUTRXM);
/* Trigger an MBX read request, to be replaced by slave Mbx
* full notification via polling of FMMU status process data
*/
printf("recieved IP (%d.%d.%d.%d)\n",
eoe_ip4_addr1(&re_ipsettings.ip),
eoe_ip4_addr2(&re_ipsettings.ip),
eoe_ip4_addr3(&re_ipsettings.ip),
eoe_ip4_addr4(&re_ipsettings.ip));
printf("recieved subnet (%d.%d.%d.%d)\n",
eoe_ip4_addr1(&re_ipsettings.subnet),
eoe_ip4_addr2(&re_ipsettings.subnet),
eoe_ip4_addr3(&re_ipsettings.subnet),
eoe_ip4_addr4(&re_ipsettings.subnet));
printf("recieved gateway (%d.%d.%d.%d)\n",
eoe_ip4_addr1(&re_ipsettings.default_gateway),
eoe_ip4_addr2(&re_ipsettings.default_gateway),
eoe_ip4_addr3(&re_ipsettings.default_gateway),
eoe_ip4_addr4(&re_ipsettings.default_gateway));
/* Create a asyncronous EoE reader */
osal_thread_create(&thread2, 128000, &mailbox_reader, &ecx_context);
}
void teststarter(char *ifname)
{
int i, oloop, iloop, chk;
needlf = FALSE;
inOP = FALSE;
printf("Starting eoe 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 )
{
printf("%d slaves found and configured.\n",ec_slavecount);
ec_config_map(&IOmap);
ec_configdc();
printf("Slaves mapped, state to SAFE_OP.\n");
/* wait for all slaves to reach SAFE_OP state */
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4);
oloop = ec_slave[0].Obytes;
if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1;
if (oloop > 8) oloop = 8;
iloop = ec_slave[0].Ibytes;
if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1;
if (iloop > 8) iloop = 8;
printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]);
printf("Request operational state for all slaves\n");
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC);
ec_slave[0].state = EC_STATE_OPERATIONAL;
/* send one valid process data to make outputs in slaves happy*/
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
/* Simple EoE test */
test_eoe(&ecx_context);
/* request OP state for all slaves */
ec_writestate(0);
chk = 40;
/* wait for all slaves to reach OP state */
do
{
ec_send_processdata();
ec_receive_processdata(EC_TIMEOUTRET);
ec_statecheck(0, EC_STATE_OPERATIONAL, 50000);
}
while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL));
if (ec_slave[0].state == EC_STATE_OPERATIONAL )
{
printf("Operational state reached for all slaves.\n");
globalwkc = expectedWKC;
inOP = TRUE;
/* cyclic loop */
for(i = 1; i <= 10000; i++)
{
ec_send_processdata();
globalwkc = ec_receive_processdata(EC_TIMEOUTRET * 5);
#if PRINT_EOE_INFO_INSTEAD
int j;
if(globalwkc >= expectedWKC)
{
printf("Processdata cycle %4d, WKC %d , O:", i, globalwkc);
for(j = 0 ; j < oloop; j++)
{
printf(" %2.2x", *(ec_slave[0].outputs + j));
}
printf(" I:");
for(j = 0 ; j < iloop; j++)
{
printf(" %2.2x", *(ec_slave[0].inputs + j));
}
printf(" T:%"PRId64"\r",ec_DCtime);
needlf = TRUE;
}
#endif
osal_usleep(1000);
}
inOP = FALSE;
}
else
{
printf("Not all slaves reached operational state.\n");
ec_readstate();
for(i = 1; i<=ec_slavecount ; i++)
{
if(ec_slave[i].state != EC_STATE_OPERATIONAL)
{
printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n",
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 */
ec_writestate(0);
}
else
{
printf("No slaves found!\n");
}
printf("End eoe test, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
OSAL_THREAD_FUNC ecatcheck( void *ptr )
{
int slave;
(void)ptr; /* Not used */
while(1)
{
if( inOP && ((globalwkc < expectedWKC) || ec_group[currentgroup].docheckstate))
{
if (globalwkc < expectedWKC)
{
printf("(wkc < expectedWKC) , globalwkc %d\n", globalwkc);
}
if (ec_group[currentgroup].docheckstate)
{
printf("(ec_group[currentgroup].docheckstate)\n");
}
if (needlf)
{
needlf = FALSE;
printf("\n");
}
/* one ore more slaves are not responding */
ec_group[currentgroup].docheckstate = FALSE;
ec_readstate();
for (slave = 1; slave <= ec_slavecount; slave++)
{
if ((ec_slave[slave].group == currentgroup) && (ec_slave[slave].state != EC_STATE_OPERATIONAL))
{
ec_group[currentgroup].docheckstate = TRUE;
if (ec_slave[slave].state == (EC_STATE_SAFE_OP + EC_STATE_ERROR))
{
printf("ERROR : slave %d is in SAFE_OP + ERROR, attempting ack.\n", slave);
ec_slave[slave].state = (EC_STATE_SAFE_OP + EC_STATE_ACK);
ec_writestate(slave);
}
else if(ec_slave[slave].state == EC_STATE_SAFE_OP)
{
printf("WARNING : slave %d is in SAFE_OP, change to OPERATIONAL.\n", slave);
ec_slave[slave].state = EC_STATE_OPERATIONAL;
ec_writestate(slave);
}
else if(ec_slave[slave].state > EC_STATE_NONE)
{
if (ec_reconfig_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d reconfigured\n",slave);
}
}
else if(!ec_slave[slave].islost)
{
/* re-check state */
ec_statecheck(slave, EC_STATE_OPERATIONAL, EC_TIMEOUTRET);
if (ec_slave[slave].state == EC_STATE_NONE)
{
ec_slave[slave].islost = TRUE;
printf("ERROR : slave %d lost\n",slave);
}
}
}
if (ec_slave[slave].islost)
{
if(ec_slave[slave].state == EC_STATE_NONE)
{
if (ec_recover_slave(slave, EC_TIMEOUTMON))
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d recovered\n",slave);
}
}
else
{
ec_slave[slave].islost = FALSE;
printf("MESSAGE : slave %d found\n",slave);
}
}
}
if(!ec_group[currentgroup].docheckstate)
printf("OK : all slaves resumed OPERATIONAL.\n");
}
osal_usleep(10000);
}
}
int main(int argc, char *argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nEoE test\n");
if (argc > 1)
{
/* create thread to handle slave error handling in OP */
// pthread_create( &thread1, NULL, (void *) &ecatcheck, (void*) &ctime);
osal_thread_create(&thread1, 128000, &ecatcheck, (void*) &ctime);
/* start cyclic part */
teststarter(argv[1]);
}
else
{
printf("Usage: eoe_test ifname1\nifname = eth0 for example\n");
}
printf("End program\n");
return (0);
}