improve firmware update example (can handle write while busy and wait for slaves which update in BOOT2INIT transition
Sebastian Block
parent
8f1cc8dad0
commit
f7dce28f68
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@ -0,0 +1,14 @@
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set(SOURCES firm_update.c)
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add_executable(firm_update ${SOURCES})
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target_link_libraries(firm_update soem)
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if(WIN32)
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target_link_libraries(firm_update wpcap.lib Packet.lib Ws2_32.lib Winmm.lib)
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elseif(UNIX)
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target_link_libraries(firm_update pthread rt)
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elseif(${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
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target_link_libraries(firm_update "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
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endif()
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install(TARGETS firm_update DESTINATION bin)
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@ -20,13 +20,13 @@
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#include "ethercat.h"
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#define FWBUFSIZE (8 * 1024 * 1024)
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#define FWBUFSIZE (20 * 1024 * 1024)
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uint8 ob;
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uint16 ow;
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uint32 data;
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char filename[256];
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char filebuffer[FWBUFSIZE]; // 8MB buffer
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char filebuffer[FWBUFSIZE]; // 20MB buffer
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int filesize;
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int j;
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uint16 argslave;
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@ -48,8 +48,9 @@ int input_bin(char *fname, int *length)
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}
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void boottest(char *ifname, uint16 slave, char *filename)
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int boottest(char *ifname, uint16 slave, char *filename)
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{
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int retval = 0;
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printf("Starting firmware update example\n");
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/* initialise SOEM, bind socket to ifname */
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@ -61,15 +62,47 @@ void boottest(char *ifname, uint16 slave, char *filename)
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if ( ec_config_init(FALSE) > 0 )
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{
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int counter = 3;
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char sm_zero[sizeof(ec_smt)*2];
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char fmmu_zero[sizeof(ec_fmmut)];
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unsigned char rd_stat = 0xff;
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memset(sm_zero, 0, sizeof(sm_zero));
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memset(fmmu_zero, 0, sizeof(fmmu_zero));
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printf("%d slaves found and configured.\n",ec_slavecount);
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counter = 3;
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do {
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/* wait for slave to reach PREOP state */
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if (ec_statecheck(slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE * 4) == EC_STATE_PRE_OP) {
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printf("Slave is in PREOP state\n");
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counter = 0;
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}
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}
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while (counter-- > 0);
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counter = 3;
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do {
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printf("Request init state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_INIT;
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ec_writestate(slave);
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/* wait for slave to reach INIT state */
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ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4);
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printf("Slave %d state to INIT.\n", slave);
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if (ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4) == EC_STATE_INIT)
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counter = 0;;
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}
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while (counter-- > 0);
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printf("Slave %d state to INIT. counter: %d\n", slave, counter);
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/* clean FMMUs */
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ec_FPWR(ec_slave[slave].configadr, ECT_REG_FMMU0, sizeof(fmmu_zero), fmmu_zero, EC_TIMEOUTRET3);
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ec_FPWR(ec_slave[slave].configadr, ECT_REG_FMMU1, sizeof(fmmu_zero), fmmu_zero, EC_TIMEOUTRET3);
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/* clean all SM0 / SM1 to set new bootstrap values later */
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ec_FPWR(ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt) * 2, sm_zero, EC_TIMEOUTRET3);
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ec_FPRD(ec_slave[slave].configadr, ECT_REG_SM1STAT, 1, &rd_stat, EC_TIMEOUTRET3);
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printf("Read back Status of SM1: %02x\n", rd_stat);
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/* read BOOT mailbox data, master -> slave */
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data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
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@ -98,9 +131,24 @@ void boottest(char *ifname, uint16 slave, char *filename)
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/* program SM1 mailbox out for slave */
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ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
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printf("Request BOOT state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_BOOT;
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ec_writestate(slave);
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/* give EEPROM control to PDI */
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rd_stat = 1;
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ec_FPWR (ec_slave[slave].configadr, ECT_REG_EEPCFG, 1, &rd_stat, EC_TIMEOUTRET);
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counter = 3;
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do {
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uint16 ret;
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printf("Request BOOT state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_BOOT;
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printf("ec_writestate returned: %d\n", ec_writestate(slave));
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ret = ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE );
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printf("ec_statecheck returned: %d\n", ret);
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if (ret == EC_STATE_BOOT)
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counter = 0;
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} while(counter-- > 0);
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printf("check BOOT state again\n");
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/* wait for slave to reach BOOT state */
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if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
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@ -109,22 +157,65 @@ void boottest(char *ifname, uint16 slave, char *filename)
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if (input_bin(filename, &filesize))
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{
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char *short_filename = strrchr(filename, '/'); /* search for last / */
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if (short_filename)
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short_filename++; /* jump over the \ */
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else
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short_filename = filename; /* no \ found -> must be a short filename */
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printf("File read OK, %d bytes.\n",filesize);
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printf("FoE write....");
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j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
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printf("FoE write %s....\n", short_filename);
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j = ec_FOEwrite(slave, short_filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
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printf("result %d.\n",j);
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printf("Request init state for slave %d\n", slave);
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ec_slave[slave].state = EC_STATE_INIT;
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ec_writestate(slave);
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}
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else
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printf("File not read OK.\n");
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}
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if (j == 0) retval = 5;
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else if (j != 1) retval = j;
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if (retval == 0) {
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/* wait max 600s => 10 minutes for firmware update to complete */
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counter = 60;
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retval = 6; /* only success switch to init state afterwards completes firmware update */
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do {
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uint16 ret;
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printf("Request init state for slave %d (counter: %d)\n", slave, counter);
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ec_slave[slave].state = EC_STATE_INIT;
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ec_writestate(slave);
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ret = ec_statecheck(slave, EC_STATE_INIT, 10000000);
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if (ret == 0) {
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int count;
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if ((count = ec_config_init(FALSE)) >= slave) {
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ec_slave[slave].state = EC_STATE_INIT;
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ec_writestate(slave);
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ret = ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 10);
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}
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else {
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printf("Slaves found: %d Needed: %d .. will try it again\n", count, slave);
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#ifndef WIN32
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sleep(10);
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#endif
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ret = 25555;
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}
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}
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if (ret == EC_STATE_INIT) {
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counter = 0;
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printf("State change to init success\n");
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retval = 0;
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}
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} while (counter-- > 0);
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}
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}
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else {
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printf("File not read OK.\n");
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retval = 4;
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}
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}
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else {
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printf("Failed to enter boot mode\n");
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retval = 3;
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}
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}
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else
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{
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printf("No slaves found!\n");
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retval = 2;
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}
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printf("End firmware update example, close socket\n");
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/* stop SOEM, close socket */
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@ -133,17 +224,20 @@ void boottest(char *ifname, uint16 slave, char *filename)
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else
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{
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printf("No socket connection on %s\nExcecute as root\n",ifname);
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retval = 1;
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}
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return retval;
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}
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int main(int argc, char *argv[])
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{
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int ret = 0;
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printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
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if (argc > 3)
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{
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argslave = atoi(argv[2]);
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boottest(argv[1], argslave, argv[3]);
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ret = boottest(argv[1], argslave, argv[3]);
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}
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else
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{
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@ -155,5 +249,6 @@ int main(int argc, char *argv[])
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}
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printf("End program\n");
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return (0);
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return ret;
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}
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