Added circle implementation.
Davide Pippa
parent
a75da437c5
commit
b0f8ea5a24
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@ -1,6 +1,6 @@
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cmake_minimum_required(VERSION 2.8.4)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules")
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project(SOEM C)
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project(SOEM C CXX)
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if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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# Default to installing in SOEM source directory
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@ -43,13 +43,23 @@ elseif(${CMAKE_SYSTEM_NAME} MATCHES "rtems")
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set(OS "rtems")
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set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
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set(BUILD_TESTS FALSE)
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elseif(${CMAKE_SYSTEM_NAME} MATCHES "circle")
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set(OS "circle")
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set(CMAKE_C_COMPILER arm-none-eabi-gcc)
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set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DAARCH=32 -march=armv8-a -mtune=cortex-a53 -marm -mfpu=neon-fp-armv8 -mfloat-abi=hard")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DAARCH=32 -march=armv8-a -mtune=cortex-a53 -marm -mfpu=neon-fp-armv8 -mfloat-abi=hard")
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include_directories(./libs/circle-stdlib/libs/circle/include)
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include_directories(./libs/circle-stdlib/libs/circle-newlib/include)
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include_directories(./libs/circle-stdlib/libs/circle-newlib/newlib/libc/include)
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include_directories(./libs/circle-stdlib/libs/circle-newlib/newlib/libm/include)
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endif()
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message("OS is ${OS}")
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file(GLOB SOEM_SOURCES soem/*.c)
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file(GLOB OSAL_SOURCES osal/${OS}/*.c)
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file(GLOB OSHW_SOURCES oshw/${OS}/*.c)
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file(GLOB OSAL_SOURCES osal/${OS}/*.c osal/${OS}/*.cpp)
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file(GLOB OSHW_SOURCES oshw/${OS}/*.c oshw/${OS}/*.cpp)
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file(GLOB SOEM_HEADERS soem/*.h)
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file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
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@ -76,7 +86,9 @@ install(FILES
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${OSHW_HEADERS}
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DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})
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if(BUILD_TESTS)
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if(${OS} MATCHES "circle")
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elseif(BUILD_TESTS)
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add_subdirectory(test/linux/slaveinfo)
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add_subdirectory(test/linux/eepromtool)
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add_subdirectory(test/linux/simple_test)
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@ -0,0 +1,137 @@
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#include "cethercatmaster.h"
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#include <circle/sched/scheduler.h>
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#include <circle/synchronize.h>
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#include <circle/timer.h>
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#include <circle/types.h>
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#include <circle/alloc.h>
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#include <assert.h>
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#include <osal.h>
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#include <time.h>
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CEtherCATMaster *_instance = 0L;
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CEtherCATMaster::CEtherCATMaster(bool use_scheduler)
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: _use_scheduler(use_scheduler)
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{
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// Cannot create more than one instance
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assert(_instance == 0L);
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_instance = this;
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}
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bool CEtherCATMaster::IsSchedulerFriendly() const
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{
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return _use_scheduler;
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}
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bool CEtherCATMaster::IsActive()
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{
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return (_instance != 0L);
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}
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CEtherCATMaster *CEtherCATMaster::Get()
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{
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assert(_instance != 0L);
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return _instance;
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}
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int osal_usleep(uint32 usec)
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{
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if (!CScheduler::IsActive()) {
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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} else if (!CEtherCATMaster::IsActive()) {
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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} else if (!CEtherCATMaster::Get()->IsSchedulerFriendly()) {
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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} else {
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// Scheduler-friendly sleep
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CScheduler::Get()->usSleep(usec);
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}
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return 0;
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}
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static long long get_monotonic_clock()
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{
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// Copied from circle's timer, using both words to get 64bit monotonic clock
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InstructionSyncBarrier();
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u32 nCNTPCTLow, nCNTPCTHigh;
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asm volatile ("mrrc p15, 0, %0, %1, c14" : "=r" (nCNTPCTLow), "=r" (nCNTPCTHigh));
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return (((long long)nCNTPCTHigh) << 32) | nCNTPCTLow;
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}
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
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{
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long long usec = get_monotonic_clock();
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tv->tv_sec = usec / 1000000LL;
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tv->tv_usec = usec % 1000000LL;
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return 0;
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}
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ec_timet osal_current_time(void)
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{
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struct timeval current_time;
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ec_timet return_value;
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osal_gettimeofday(¤t_time, 0);
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return_value.sec = current_time.tv_sec;
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return_value.usec = current_time.tv_usec;
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return return_value;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + 1000000 - start->usec;
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} else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start(osal_timert * self, uint32 timeout_usec)
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{
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long long stop_time_usec = get_monotonic_clock() + (long long)timeout_usec;
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self->stop_time.sec = stop_time_usec / 1000000LL;
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self->stop_time.usec = stop_time_usec % 1000000LL;
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}
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boolean osal_timer_is_expired(osal_timert * self)
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{
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long long now_usec = get_monotonic_clock();
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long long stop_time_usec = self->stop_time.sec * 1000000LL + self->stop_time.usec;
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return (now_usec >= stop_time_usec);
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}
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void *osal_malloc(size_t size)
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{
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// Use circle's malloc
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return malloc(size);
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}
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void osal_free(void *ptr)
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{
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// Use circle's free
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free(ptr);
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}
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int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
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{
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// Not supported
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return 0;
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}
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int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
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{
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// Not supported
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return 0;
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}
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@ -0,0 +1,19 @@
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#ifndef CETHERCATMASTER_H
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#define CETHERCATMASTER_H
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class CEtherCATMaster
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{
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public:
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CEtherCATMaster(bool use_scheduler);
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bool IsSchedulerFriendly() const;
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static bool IsActive();
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static CEtherCATMaster* Get();
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private:
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bool _use_scheduler;
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};
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#endif // CETHERCATMASTER_H
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@ -0,0 +1,102 @@
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#include <circle/sched/scheduler.h>
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#include <circle/synchronize.h>
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#include <circle/timer.h>
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#include <circle/types.h>
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#include <circle/alloc.h>
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#include <assert.h>
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#include <osal.h>
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#include <time.h>
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int osal_usleep(uint32 usec)
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{
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if (CScheduler::IsActive()) {
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// Scheduler-friendly sleep
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CScheduler::Get()->usSleep(usec);
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} else {
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// Busy-waiting sleep
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CTimer::SimpleusDelay(usec);
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}
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return 0;
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}
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static long long get_monotonic_clock()
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{
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// Copied from circle's timer, using both words to get 64bit monotonic clock
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InstructionSyncBarrier();
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u32 nCNTPCTLow, nCNTPCTHigh;
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asm volatile ("mrrc p15, 0, %0, %1, c14" : "=r" (nCNTPCTLow), "=r" (nCNTPCTHigh));
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return (((long long)nCNTPCTHigh) << 32) | nCNTPCTLow;
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}
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
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{
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long long usec = get_monotonic_clock();
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tv->tv_sec = usec / 1000000LL;
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tv->tv_usec = usec % 1000000LL;
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return 0;
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}
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ec_timet osal_current_time(void)
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{
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struct timeval current_time;
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ec_timet return_value;
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osal_gettimeofday(¤t_time, 0);
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return_value.sec = current_time.tv_sec;
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return_value.usec = current_time.tv_usec;
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return return_value;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + 1000000 - start->usec;
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} else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start(osal_timert * self, uint32 timeout_usec)
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{
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long long stop_time_usec = get_monotonic_clock() + (long long)timeout_usec;
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self->stop_time.sec = stop_time_usec / 1000000LL;
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self->stop_time.usec = stop_time_usec % 1000000LL;
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}
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boolean osal_timer_is_expired(osal_timert * self)
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{
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long long now_usec = get_monotonic_clock();
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long long stop_time_usec = self->stop_time.sec * 1000000LL + self->stop_time.usec;
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return (now_usec >= stop_time_usec);
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}
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void *osal_malloc(size_t size)
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{
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// Use circle's malloc
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return malloc(size);
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}
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void osal_free(void *ptr)
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{
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// Use circle's free
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free(ptr);
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}
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int osal_thread_create(void *thandle, int stacksize, void *func, void *param)
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{
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// Not supported
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return 0;
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}
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int osal_thread_create_rt(void *thandle, int stacksize, void *func, void *param)
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{
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// Not supported
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return 0;
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}
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@ -0,0 +1,44 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef _osal_defs_
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#define _osal_defs_
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#include <circle/types.h>
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#include <circle/macros.h>
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#define _osal_defs_circle_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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// define if debug printf is needed
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//#define EC_DEBUG
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#ifdef EC_DEBUG
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#define EC_PRINT printf
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#else
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#define EC_PRINT(...) do {} while (0)
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#endif
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#ifndef PACKED_BEGIN
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#define PACKED_BEGIN
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#endif
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#ifndef PACKED_END
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#define PACKED_END
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#endif
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#define OSAL_THREAD_HANDLE void *
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#define OSAL_THREAD_FUNC void
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#define OSAL_THREAD_FUNC_RT void
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#ifdef __cplusplus
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}
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#endif
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#endif
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@ -15,9 +15,12 @@ extern "C"
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#include <stdint.h>
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/* General types */
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#ifndef _osal_defs_circle_
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typedef uint8_t boolean;
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#define TRUE 1
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#define FALSE 0
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#endif // _osal_defs_circle_
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typedef int8_t int8;
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typedef int16_t int16;
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typedef int32_t int32;
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@ -0,0 +1,579 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* EtherCAT RAW socket driver.
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*
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* Low level interface functions to send and receive EtherCAT packets.
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* EtherCAT has the property that packets are only send by the master,
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* and the send packets always return in the receive buffer.
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* There can be multiple packets "on the wire" before they return.
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* To combine the received packets with the original send packets a buffer
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* system is installed. The identifier is put in the index item of the
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* EtherCAT header. The index is stored and compared when a frame is received.
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* If there is a match the packet can be combined with the transmit packet
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* and returned to the higher level function.
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*
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* The socket layer can exhibit a reversal in the packet order (rare).
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* If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer
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* will reorder the packets automatically.
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*
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* The "redundant" option will configure two sockets and two NIC interfaces.
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* Slaves are connected to both interfaces, one on the IN port and one on the
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* OUT port. Packets are send via both interfaces. Any one of the connections
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* (also an interconnect) can be removed and the slaves are still serviced with
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* packets. The software layer will detect the possible failure modes and
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* compensate. If needed the packets from interface A are resent through interface B.
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* This layer if fully transparent for the higher layers.
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*/
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#include "osal.h"
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#include "oshw.h"
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#include "ethercattype.h"
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#include <circle/devicenameservice.h>
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#include <circle/usb/netdevice.h>
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#include <string.h>
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/** Redundancy modes */
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enum
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{
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/** No redundancy, single NIC mode */
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ECT_RED_NONE,
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/** Double redundant NIC connecetion */
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ECT_RED_DOUBLE
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};
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static void ecx_clear_rxbufstat(int *rxbufstat)
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{
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int i;
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for(i = 0; i < EC_MAXBUF; i++)
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{
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rxbufstat[i] = EC_BUF_EMPTY;
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}
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}
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/** Primary source MAC address used for EtherCAT.
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* This address is not the MAC address used from the NIC.
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* EtherCAT does not care about MAC addressing, but it is used here to
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* differentiate the route the packet traverses through the EtherCAT
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* segment. This is needed to find out the packet flow in redundant
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* configurations. */
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const uint16 priMAC[3] = { 0x0101, 0x0101, 0x0101 };
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/** Secondary source MAC address used for EtherCAT. */
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const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 };
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/** second MAC word is used for identification */
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#define RX_PRIM priMAC[1]
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/** second MAC word is used for identification */
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#define RX_SEC secMAC[1]
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/** Basic setup to connect NIC to socket.
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* @param[in] port = port context struct
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* @param[in] ifname = Name of NIC device, f.e. "eth0"
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* @param[in] secondary = if >0 then use secondary stack instead of primary
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* @return >0 if succeeded
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*/
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int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary)
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{
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int i;
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CNetDevice *nd = reinterpret_cast< CNetDevice* >(CDeviceNameService::Get()->GetDevice(ifname, FALSE));
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if (!nd)
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return 0;
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// TODO any support for redundancy make sense? rpi has 1 native port, then now no support.
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if (secondary)
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return 0;
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port->device = nd;
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port->lastidx = 0;
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port->redstate = ECT_RED_NONE;
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port->stack.device = &(port->device);
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port->stack.txbuf = &(port->txbuf);
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port->stack.txbuflength = &(port->txbuflength);
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port->stack.tempbuf = &(port->tempinbuf);
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port->stack.rxbuf = &(port->rxbuf);
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port->stack.rxbufstat = &(port->rxbufstat);
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port->stack.rxsa = &(port->rxsa);
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ecx_clear_rxbufstat(&(port->rxbufstat[0]));
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/* we use RAW packet socket, with packet type ETH_P_ECAT */
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/* set flags of NIC interface, here promiscuous and broadcast */
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//TODO ifr.ifr_flags = ifr.ifr_flags | IFF_PROMISC | IFF_BROADCAST;
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/* setup ethernet headers in tx buffers so we don't have to repeat it */
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for (i = 0; i < EC_MAXBUF; i++)
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{
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ec_setupheader(&(port->txbuf[i]));
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port->rxbufstat[i] = EC_BUF_EMPTY;
|
||||
}
|
||||
ec_setupheader(&(port->txbuf2));
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
/** Close sockets used
|
||||
* @param[in] port = port context struct
|
||||
* @return 0
|
||||
*/
|
||||
int ecx_closenic(ecx_portt *port)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
/** Fill buffer with ethernet header structure.
|
||||
* Destination MAC is always broadcast.
|
||||
* Ethertype is always ETH_P_ECAT.
|
||||
* @param[out] p = buffer
|
||||
*/
|
||||
void ec_setupheader(void *p)
|
||||
{
|
||||
ec_etherheadert *bp;
|
||||
bp = reinterpret_cast< ec_etherheadert* >(p);
|
||||
bp->da0 = oshw_htons(0xffff);
|
||||
bp->da1 = oshw_htons(0xffff);
|
||||
bp->da2 = oshw_htons(0xffff);
|
||||
bp->sa0 = oshw_htons(priMAC[0]);
|
||||
bp->sa1 = oshw_htons(priMAC[1]);
|
||||
bp->sa2 = oshw_htons(priMAC[2]);
|
||||
bp->etype = oshw_htons(ETH_P_ECAT);
|
||||
}
|
||||
|
||||
/** Get new frame identifier index and allocate corresponding rx buffer.
|
||||
* @param[in] port = port context struct
|
||||
* @return new index.
|
||||
*/
|
||||
int ecx_getindex(ecx_portt *port)
|
||||
{
|
||||
int idx;
|
||||
int cnt;
|
||||
|
||||
idx = port->lastidx + 1;
|
||||
/* index can't be larger than buffer array */
|
||||
if (idx >= EC_MAXBUF)
|
||||
{
|
||||
idx = 0;
|
||||
}
|
||||
cnt = 0;
|
||||
/* try to find unused index */
|
||||
while ((port->rxbufstat[idx] != EC_BUF_EMPTY) && (cnt < EC_MAXBUF))
|
||||
{
|
||||
idx++;
|
||||
cnt++;
|
||||
if (idx >= EC_MAXBUF)
|
||||
{
|
||||
idx = 0;
|
||||
}
|
||||
}
|
||||
port->rxbufstat[idx] = EC_BUF_ALLOC;
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
port->redport->rxbufstat[idx] = EC_BUF_ALLOC;
|
||||
port->lastidx = idx;
|
||||
|
||||
return idx;
|
||||
}
|
||||
|
||||
/** Set rx buffer status.
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index in buffer array
|
||||
* @param[in] bufstat = status to set
|
||||
*/
|
||||
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
|
||||
{
|
||||
port->rxbufstat[idx] = bufstat;
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
port->redport->rxbufstat[idx] = bufstat;
|
||||
}
|
||||
|
||||
/** Transmit buffer over socket (non blocking).
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index in tx buffer array
|
||||
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||
* @return socket send result
|
||||
*/
|
||||
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
|
||||
{
|
||||
int lp;
|
||||
ec_stackT *stack;
|
||||
|
||||
if (!stacknumber)
|
||||
{
|
||||
stack = &(port->stack);
|
||||
}
|
||||
else
|
||||
{
|
||||
stack = &(port->redport->stack);
|
||||
}
|
||||
lp = (*stack->txbuflength)[idx];
|
||||
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(*stack->device);
|
||||
boolean rval = nd->SendFrame((*stack->txbuf)[idx], lp);
|
||||
(*stack->rxbufstat)[idx] = EC_BUF_TX;
|
||||
|
||||
return rval ? lp : -1;
|
||||
}
|
||||
|
||||
/** Transmit buffer over socket (non blocking).
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index in tx buffer array
|
||||
* @return socket send result
|
||||
*/
|
||||
int ecx_outframe_red(ecx_portt *port, int idx)
|
||||
{
|
||||
ec_comt *datagramP;
|
||||
ec_etherheadert *ehp;
|
||||
int rval;
|
||||
|
||||
ehp = (ec_etherheadert *)&(port->txbuf[idx]);
|
||||
/* rewrite MAC source address 1 to primary */
|
||||
ehp->sa1 = oshw_htons(priMAC[1]);
|
||||
/* transmit over primary socket */
|
||||
rval = ecx_outframe(port, idx, 0);
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
{
|
||||
ehp = (ec_etherheadert *)&(port->txbuf2);
|
||||
/* use dummy frame for secondary socket transmit (BRD) */
|
||||
datagramP = (ec_comt*)&(port->txbuf2[ETH_HEADERSIZE]);
|
||||
/* write index to frame */
|
||||
datagramP->index = idx;
|
||||
/* rewrite MAC source address 1 to secondary */
|
||||
ehp->sa1 = oshw_htons(secMAC[1]);
|
||||
/* transmit over secondary socket */
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(port->redport->device);
|
||||
nd->SendFrame(&(port->txbuf2), port->txbuflength2);
|
||||
port->redport->rxbufstat[idx] = EC_BUF_TX;
|
||||
}
|
||||
|
||||
return rval;
|
||||
}
|
||||
|
||||
/** Non blocking read of socket. Put frame in temporary buffer.
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] stacknumber = 0=primary 1=secondary stack
|
||||
* @return >0 if frame is available and read
|
||||
*/
|
||||
static int ecx_recvpkt(ecx_portt *port, int stacknumber)
|
||||
{
|
||||
int lp;
|
||||
unsigned bytesrx;
|
||||
ec_stackT *stack;
|
||||
|
||||
if (!stacknumber)
|
||||
{
|
||||
stack = &(port->stack);
|
||||
}
|
||||
else
|
||||
{
|
||||
stack = &(port->redport->stack);
|
||||
}
|
||||
lp = sizeof(port->tempinbuf);
|
||||
CNetDevice *nd = reinterpret_cast< CNetDevice* >(*stack->device);
|
||||
boolean rval = nd->ReceiveFrame((*stack->tempbuf), &bytesrx);
|
||||
port->tempinbufs = bytesrx;
|
||||
|
||||
return rval && (bytesrx > 0);
|
||||
}
|
||||
|
||||
|
||||
/** Non blocking receive frame function. Uses RX buffer and index to combine
|
||||
* read frame with transmitted frame. To compensate for received frames that
|
||||
* are out-of-order all frames are stored in their respective indexed buffer.
|
||||
* If a frame was placed in the buffer previously, the function retreives it
|
||||
* from that buffer index without calling ec_recvpkt. If the requested index
|
||||
* is not already in the buffer it calls ec_recvpkt to fetch it. There are
|
||||
* three options now, 1 no frame read, so exit. 2 frame read but other
|
||||
* than requested index, store in buffer and exit. 3 frame read with matching
|
||||
* index, store in buffer, set completed flag in buffer status and exit.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = requested index of frame
|
||||
* @param[in] stacknumber = 0=primary 1=secondary stack
|
||||
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||
* EC_NOFRAME or EC_OTHERFRAME.
|
||||
*/
|
||||
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
|
||||
{
|
||||
uint16 l;
|
||||
int rval;
|
||||
int idxf;
|
||||
ec_etherheadert *ehp;
|
||||
ec_comt *ecp;
|
||||
ec_stackT *stack;
|
||||
ec_buf_circleT *rxbuf;
|
||||
|
||||
if (!stacknumber)
|
||||
{
|
||||
stack = &(port->stack);
|
||||
}
|
||||
else
|
||||
{
|
||||
stack = &(port->redport->stack);
|
||||
}
|
||||
rval = EC_NOFRAME;
|
||||
rxbuf = &(*stack->rxbuf)[idx];
|
||||
/* check if requested index is already in buffer ? */
|
||||
if ((idx < EC_MAXBUF) && ((*stack->rxbufstat)[idx] == EC_BUF_RCVD))
|
||||
{
|
||||
l = (*rxbuf)[0] + ((uint16)((*rxbuf)[1] & 0x0f) << 8);
|
||||
/* return WKC */
|
||||
rval = ((*rxbuf)[l] + ((uint16)(*rxbuf)[l + 1] << 8));
|
||||
/* mark as completed */
|
||||
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* non blocking call to retrieve frame from socket */
|
||||
if (ecx_recvpkt(port, stacknumber))
|
||||
{
|
||||
rval = EC_OTHERFRAME;
|
||||
ehp =(ec_etherheadert*)(stack->tempbuf);
|
||||
/* check if it is an EtherCAT frame */
|
||||
if (ehp->etype == oshw_htons(ETH_P_ECAT))
|
||||
{
|
||||
ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
|
||||
l = etohs(ecp->elength) & 0x0fff;
|
||||
idxf = ecp->index;
|
||||
/* found index equals reqested index ? */
|
||||
if (idxf == idx)
|
||||
{
|
||||
/* yes, put it in the buffer array (strip ethernet header) */
|
||||
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idx] - ETH_HEADERSIZE);
|
||||
/* return WKC */
|
||||
rval = ((*rxbuf)[l] + ((uint16)((*rxbuf)[l + 1]) << 8));
|
||||
/* mark as completed */
|
||||
(*stack->rxbufstat)[idx] = EC_BUF_COMPLETE;
|
||||
/* store MAC source word 1 for redundant routing info */
|
||||
(*stack->rxsa)[idx] = oshw_ntohs(ehp->sa1);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* check if index exist and someone is waiting for it */
|
||||
if (idxf < EC_MAXBUF && (*stack->rxbufstat)[idxf] == EC_BUF_TX)
|
||||
{
|
||||
rxbuf = &(*stack->rxbuf)[idxf];
|
||||
/* put it in the buffer array (strip ethernet header) */
|
||||
memcpy(rxbuf, &(*stack->tempbuf)[ETH_HEADERSIZE], (*stack->txbuflength)[idxf] - ETH_HEADERSIZE);
|
||||
/* mark as received */
|
||||
(*stack->rxbufstat)[idxf] = EC_BUF_RCVD;
|
||||
(*stack->rxsa)[idxf] = oshw_ntohs(ehp->sa1);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* strange things happend */
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* WKC if mathing frame found */
|
||||
return rval;
|
||||
}
|
||||
|
||||
/** Blocking redundant receive frame function. If redundant mode is not active then
|
||||
* it skips the secondary stack and redundancy functions. In redundant mode it waits
|
||||
* for both (primary and secondary) frames to come in. The result goes in an decision
|
||||
* tree that decides, depending on the route of the packet and its possible missing arrival,
|
||||
* how to reroute the original packet to get the data in an other try.
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = requested index of frame
|
||||
* @param[in] timer = absolute timeout time
|
||||
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||
* EC_NOFRAME.
|
||||
*/
|
||||
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
|
||||
{
|
||||
osal_timert timer2;
|
||||
int wkc = EC_NOFRAME;
|
||||
int wkc2 = EC_NOFRAME;
|
||||
int primrx, secrx;
|
||||
|
||||
/* if not in redundant mode then always assume secondary is OK */
|
||||
if (port->redstate == ECT_RED_NONE)
|
||||
wkc2 = 0;
|
||||
do
|
||||
{
|
||||
/* only read frame if not already in */
|
||||
if (wkc <= EC_NOFRAME)
|
||||
wkc = ecx_inframe(port, idx, 0);
|
||||
/* only try secondary if in redundant mode */
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
{
|
||||
/* only read frame if not already in */
|
||||
if (wkc2 <= EC_NOFRAME)
|
||||
wkc2 = ecx_inframe(port, idx, 1);
|
||||
}
|
||||
/* wait for both frames to arrive or timeout */
|
||||
} while (((wkc <= EC_NOFRAME) || (wkc2 <= EC_NOFRAME)) && !osal_timer_is_expired(timer));
|
||||
/* only do redundant functions when in redundant mode */
|
||||
if (port->redstate != ECT_RED_NONE)
|
||||
{
|
||||
/* primrx if the reveived MAC source on primary socket */
|
||||
primrx = 0;
|
||||
if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
|
||||
/* secrx if the reveived MAC source on psecondary socket */
|
||||
secrx = 0;
|
||||
if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
|
||||
|
||||
/* primary socket got secondary frame and secondary socket got primary frame */
|
||||
/* normal situation in redundant mode */
|
||||
if ( ((primrx == RX_SEC) && (secrx == RX_PRIM)) )
|
||||
{
|
||||
/* copy secondary buffer to primary */
|
||||
memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
|
||||
wkc = wkc2;
|
||||
}
|
||||
/* primary socket got nothing or primary frame, and secondary socket got secondary frame */
|
||||
/* we need to resend TX packet */
|
||||
if ( ((primrx == 0) && (secrx == RX_SEC)) ||
|
||||
((primrx == RX_PRIM) && (secrx == RX_SEC)) )
|
||||
{
|
||||
/* If both primary and secondary have partial connection retransmit the primary received
|
||||
* frame over the secondary socket. The result from the secondary received frame is a combined
|
||||
* frame that traversed all slaves in standard order. */
|
||||
if ( (primrx == RX_PRIM) && (secrx == RX_SEC) )
|
||||
{
|
||||
/* copy primary rx to tx buffer */
|
||||
memcpy(&(port->txbuf[idx][ETH_HEADERSIZE]), &(port->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
|
||||
}
|
||||
osal_timer_start (&timer2, EC_TIMEOUTRET);
|
||||
/* resend secondary tx */
|
||||
ecx_outframe(port, idx, 1);
|
||||
do
|
||||
{
|
||||
/* retrieve frame */
|
||||
wkc2 = ecx_inframe(port, idx, 1);
|
||||
} while ((wkc2 <= EC_NOFRAME) && !osal_timer_is_expired(&timer2));
|
||||
if (wkc2 > EC_NOFRAME)
|
||||
{
|
||||
/* copy secondary result to primary rx buffer */
|
||||
memcpy(&(port->rxbuf[idx]), &(port->redport->rxbuf[idx]), port->txbuflength[idx] - ETH_HEADERSIZE);
|
||||
wkc = wkc2;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* return WKC or EC_NOFRAME */
|
||||
return wkc;
|
||||
}
|
||||
|
||||
/** Blocking receive frame function. Calls ec_waitinframe_red().
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = requested index of frame
|
||||
* @param[in] timeout = timeout in us
|
||||
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||
* EC_NOFRAME.
|
||||
*/
|
||||
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||
{
|
||||
int wkc;
|
||||
osal_timert timer;
|
||||
|
||||
osal_timer_start (&timer, timeout);
|
||||
wkc = ecx_waitinframe_red(port, idx, &timer);
|
||||
/* if nothing received, clear buffer index status so it can be used again */
|
||||
if (wkc <= EC_NOFRAME)
|
||||
{
|
||||
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
|
||||
}
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
/** Blocking send and recieve frame function. Used for non processdata frames.
|
||||
* A datagram is build into a frame and transmitted via this function. It waits
|
||||
* for an answer and returns the workcounter. The function retries if time is
|
||||
* left and the result is WKC=0 or no frame received.
|
||||
*
|
||||
* The function calls ec_outframe_red() and ec_waitinframe_red().
|
||||
*
|
||||
* @param[in] port = port context struct
|
||||
* @param[in] idx = index of frame
|
||||
* @param[in] timeout = timeout in us
|
||||
* @return Workcounter or EC_NOFRAME
|
||||
*/
|
||||
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
|
||||
{
|
||||
int wkc = EC_NOFRAME;
|
||||
osal_timert timer1, timer2;
|
||||
|
||||
osal_timer_start (&timer1, timeout);
|
||||
do
|
||||
{
|
||||
/* tx frame on primary and if in redundant mode a dummy on secondary */
|
||||
ecx_outframe_red(port, idx);
|
||||
if (timeout < EC_TIMEOUTRET)
|
||||
{
|
||||
osal_timer_start (&timer2, timeout);
|
||||
}
|
||||
else
|
||||
{
|
||||
/* normally use partial timout for rx */
|
||||
osal_timer_start (&timer2, EC_TIMEOUTRET);
|
||||
}
|
||||
/* get frame from primary or if in redundant mode possibly from secondary */
|
||||
wkc = ecx_waitinframe_red(port, idx, &timer2);
|
||||
/* wait for answer with WKC>=0 or otherwise retry until timeout */
|
||||
} while ((wkc <= EC_NOFRAME) && !osal_timer_is_expired (&timer1));
|
||||
/* if nothing received, clear buffer index status so it can be used again */
|
||||
if (wkc <= EC_NOFRAME)
|
||||
{
|
||||
ecx_setbufstat(port, idx, EC_BUF_EMPTY);
|
||||
}
|
||||
|
||||
return wkc;
|
||||
}
|
||||
|
||||
#ifdef EC_VER1
|
||||
int ec_setupnic(const char *ifname, int secondary)
|
||||
{
|
||||
return ecx_setupnic(&ecx_port, ifname, secondary);
|
||||
}
|
||||
|
||||
int ec_closenic(void)
|
||||
{
|
||||
return ecx_closenic(&ecx_port);
|
||||
}
|
||||
|
||||
int ec_getindex(void)
|
||||
{
|
||||
return ecx_getindex(&ecx_port);
|
||||
}
|
||||
|
||||
void ec_setbufstat(int idx, int bufstat)
|
||||
{
|
||||
ecx_setbufstat(&ecx_port, idx, bufstat);
|
||||
}
|
||||
|
||||
int ec_outframe(int idx, int stacknumber)
|
||||
{
|
||||
return ecx_outframe(&ecx_port, idx, stacknumber);
|
||||
}
|
||||
|
||||
int ec_outframe_red(int idx)
|
||||
{
|
||||
return ecx_outframe_red(&ecx_port, idx);
|
||||
}
|
||||
|
||||
int ec_inframe(int idx, int stacknumber)
|
||||
{
|
||||
return ecx_inframe(&ecx_port, idx, stacknumber);
|
||||
}
|
||||
|
||||
int ec_waitinframe(int idx, int timeout)
|
||||
{
|
||||
return ecx_waitinframe(&ecx_port, idx, timeout);
|
||||
}
|
||||
|
||||
int ec_srconfirm(int idx, int timeout)
|
||||
{
|
||||
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,120 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for nicdrv.cpp
|
||||
*/
|
||||
|
||||
#ifndef _nicdrvh_
|
||||
#define _nicdrvh_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C"
|
||||
{
|
||||
#endif
|
||||
|
||||
// CNetDevice requires buffer size 1600
|
||||
#define FRAME_BUFFER_SIZE 1600
|
||||
|
||||
typedef uint8 ec_buf_circleT[FRAME_BUFFER_SIZE];
|
||||
|
||||
/** pointer structure to Tx and Rx stacks */
|
||||
typedef struct
|
||||
{
|
||||
/** socket connection used */
|
||||
void **device;
|
||||
/** tx buffer */
|
||||
ec_buf_circleT (*txbuf)[EC_MAXBUF];
|
||||
/** tx buffer lengths */
|
||||
int (*txbuflength)[EC_MAXBUF];
|
||||
/** temporary receive buffer */
|
||||
ec_buf_circleT *tempbuf;
|
||||
/** rx buffers */
|
||||
ec_buf_circleT (*rxbuf)[EC_MAXBUF];
|
||||
/** rx buffer status fields */
|
||||
int (*rxbufstat)[EC_MAXBUF];
|
||||
/** received MAC source address (middle word) */
|
||||
int (*rxsa)[EC_MAXBUF];
|
||||
} ec_stackT;
|
||||
|
||||
/** pointer structure to buffers for redundant port */
|
||||
typedef struct
|
||||
{
|
||||
ec_stackT stack;
|
||||
void *device;
|
||||
/** rx buffers */
|
||||
ec_buf_circleT rxbuf[EC_MAXBUF];
|
||||
/** rx buffer status */
|
||||
int rxbufstat[EC_MAXBUF];
|
||||
/** rx MAC source address */
|
||||
int rxsa[EC_MAXBUF];
|
||||
/** temporary rx buffer */
|
||||
ec_buf_circleT tempinbuf;
|
||||
} ecx_redportt;
|
||||
|
||||
/** pointer structure to buffers, vars and mutexes for port instantiation */
|
||||
typedef struct
|
||||
{
|
||||
ec_stackT stack;
|
||||
void *device;
|
||||
/** rx buffers */
|
||||
ec_buf_circleT rxbuf[EC_MAXBUF];
|
||||
/** rx buffer status */
|
||||
int rxbufstat[EC_MAXBUF];
|
||||
/** rx MAC source address */
|
||||
int rxsa[EC_MAXBUF];
|
||||
/** temporary rx buffer */
|
||||
ec_buf_circleT tempinbuf;
|
||||
/** temporary rx buffer status */
|
||||
int tempinbufs;
|
||||
/** transmit buffers */
|
||||
ec_buf_circleT txbuf[EC_MAXBUF];
|
||||
/** transmit buffer lenghts */
|
||||
int txbuflength[EC_MAXBUF];
|
||||
/** temporary tx buffer */
|
||||
ec_buf_circleT txbuf2;
|
||||
/** temporary tx buffer length */
|
||||
int txbuflength2;
|
||||
/** last used frame index */
|
||||
int lastidx;
|
||||
/** current redundancy state */
|
||||
int redstate;
|
||||
/** pointer to redundancy port and buffers */
|
||||
ecx_redportt *redport;
|
||||
} ecx_portt;
|
||||
|
||||
extern const uint16 priMAC[3];
|
||||
extern const uint16 secMAC[3];
|
||||
|
||||
#ifdef EC_VER1
|
||||
extern ecx_portt ecx_port;
|
||||
extern ecx_redportt ecx_redport;
|
||||
|
||||
int ec_setupnic(const char * ifname, int secondary);
|
||||
int ec_closenic(void);
|
||||
void ec_setbufstat(int idx, int bufstat);
|
||||
int ec_getindex(void);
|
||||
int ec_outframe(int idx, int sock);
|
||||
int ec_outframe_red(int idx);
|
||||
int ec_waitinframe(int idx, int timeout);
|
||||
int ec_srconfirm(int idx,int timeout);
|
||||
#endif
|
||||
|
||||
void ec_setupheader(void *p);
|
||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||
int ecx_closenic(ecx_portt *port);
|
||||
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||
int ecx_getindex(ecx_portt *port);
|
||||
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
#include <machine/endian.h>
|
||||
#include <osal.h>
|
||||
#include <oshw.h>
|
||||
|
||||
/**
|
||||
* Host to Network byte order (i.e. to big endian).
|
||||
*
|
||||
* Note that Ethercat uses little endian byte order, except for the Ethernet
|
||||
* header which is big endian as usual.
|
||||
*/
|
||||
uint16 oshw_htons(uint16 host)
|
||||
{
|
||||
uint16 network = __htons(host);
|
||||
return network;
|
||||
}
|
||||
|
||||
/**
|
||||
* Network (i.e. big endian) to Host byte order.
|
||||
*
|
||||
* Note that Ethercat uses little endian byte order, except for the Ethernet
|
||||
* header which is big endian as usual.
|
||||
*/
|
||||
uint16 oshw_ntohs(uint16 network)
|
||||
{
|
||||
uint16 host = __ntohs(network);
|
||||
return host;
|
||||
}
|
||||
|
||||
/** Create list over available network adapters.
|
||||
* @return First element in linked list of adapters
|
||||
*/
|
||||
ec_adaptert *oshw_find_adapters(void)
|
||||
{
|
||||
// TODO might use devicenameservice.h to check if eth1,eth2,ethX exist!
|
||||
// TODO should return a copy of this, const-ness not guaranteed!
|
||||
static ec_adaptert _s_native_eth = {
|
||||
"eth0",
|
||||
"native ethernet",
|
||||
0L
|
||||
};
|
||||
|
||||
return &_s_native_eth;
|
||||
}
|
||||
|
||||
/** Free memory allocated memory used by adapter collection.
|
||||
* @param[in] adapter = First element in linked list of adapters
|
||||
* EC_NOFRAME.
|
||||
*/
|
||||
void oshw_free_adapters(ec_adaptert * adapter)
|
||||
{
|
||||
}
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
/*
|
||||
* Licensed under the GNU General Public License version 2 with exceptions. See
|
||||
* LICENSE file in the project root for full license information
|
||||
*/
|
||||
|
||||
/** \file
|
||||
* \brief
|
||||
* Headerfile for ethercatbase.c
|
||||
*/
|
||||
|
||||
#ifndef _oshw_
|
||||
#define _oshw_
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
#include "ethercattype.h"
|
||||
#include "nicdrv.h"
|
||||
#include "ethercatmain.h"
|
||||
|
||||
uint16 oshw_htons(uint16 hostshort);
|
||||
uint16 oshw_ntohs(uint16 networkshort);
|
||||
ec_adaptert *oshw_find_adapters(void);
|
||||
void oshw_free_adapters(ec_adaptert * adapter);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue