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ln-dotnet:v1.3.3-beta.1
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1 Commits
master ... feature/so

Author SHA1 Message Date
Andreas Karlsson 18287382b6 Fix doxygen build warnings for SOEM 1.4.0 2019-06-13 08:03:04 +02:00
38 changed files with 495 additions and 504 deletions
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6
.travis.yml
View File

@ -1,9 +1,3 @@
jobs:
include:
- dist: xenial
- dist: bionic
- os: osx
language: c
script:

37
CMakeLists.txt
View File

@ -1,10 +1,10 @@
cmake_minimum_required(VERSION 2.8.12)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
cmake_minimum_required(VERSION 2.8.4)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules")
project(SOEM C)
if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
# Default to installing in SOEM source directory
set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_LIST_DIR}/install)
set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/install)
endif()
set(SOEM_INCLUDE_INSTALL_DIR include/soem)
@ -15,9 +15,9 @@ if(WIN32)
set(OS "win32")
include_directories(oshw/win32/wpcap/Include)
if(CMAKE_SIZEOF_VOID_P EQUAL 8)
link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib/x64)
link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib/x64)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib)
link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib)
endif()
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /WX")
@ -60,6 +60,11 @@ file(GLOB SOEM_HEADERS soem/*.h)
file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
include_directories(soem)
include_directories(osal)
include_directories(osal/${OS})
include_directories(oshw/${OS})
add_library(soem STATIC
${SOEM_SOURCES}
${OSAL_SOURCES}
@ -67,29 +72,9 @@ add_library(soem STATIC
${OSHW_EXTRA_SOURCES})
target_link_libraries(soem ${OS_LIBS})
target_include_directories(soem PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
$<INSTALL_INTERFACE:include/soem>)
target_include_directories(soem PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
$<INSTALL_INTERFACE:include/soem>)
target_include_directories(soem PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal/${OS}>
$<INSTALL_INTERFACE:include/soem>)
target_include_directories(soem
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
$<INSTALL_INTERFACE:include/soem>
)
message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
install(EXPORT soemConfig DESTINATION share/soem/cmake)
install(TARGETS soem DESTINATION ${SOEM_LIB_INSTALL_DIR})
install(FILES
${SOEM_HEADERS}
${OSAL_HEADERS}

34
oshw/erika/nicdrv.c
View File

@ -165,10 +165,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt = 0;
int idx;
int cnt = 0;
ee_port_lock();
@ -199,7 +199,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -212,7 +212,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int lp;
ec_stackT *stack;
@ -234,7 +234,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -300,11 +300,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
uint8 idxf;
int idxf;
ec_etherheadert *ehp;
ec_comt *ecp;
ec_stackT *stack;
@ -389,7 +389,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -464,7 +464,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -487,7 +487,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
@ -529,32 +529,32 @@ int ec_getindex(void)
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

30
oshw/erika/nicdrv.h
View File

@ -73,7 +73,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -94,26 +94,26 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
int ec_inframe(uint8 idx, int stacknumber);
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);
int ec_inframe(int idx, int stacknumber);
#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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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);
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber);
int ecx_inframe(ecx_portt *port, int idx, int stacknumber);
#ifdef __cplusplus
}

32
oshw/intime/nicdrv.c
View File

@ -267,10 +267,10 @@ void ec_setupheader(void *p)
/** Get new frame identifier index and allocate corresponding rx buffer.
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int cnt;
WaitForRtControl(port->getindex_region);
@ -307,7 +307,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -321,7 +321,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
HPESTATUS status;
DWORD txstate;
@ -384,7 +384,7 @@ end:
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
HPESTATUS status;
ec_comt *datagramP;
@ -471,7 +471,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
@ -560,7 +560,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -646,7 +646,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -681,7 +681,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1;
@ -706,37 +706,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/intime/nicdrv.h
View File

@ -74,7 +74,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -97,20 +97,20 @@ extern const uint16 secMAC[3];
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setupheader(void *p);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
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);
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
int ecx_closenic(ecx_portt *port);
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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);
#endif

36
oshw/linux/nicdrv.c
View File

@ -215,10 +215,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int idx;
int cnt;
pthread_mutex_lock( &(port->getindex_mutex) );
@ -254,7 +254,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -267,7 +267,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int lp, rval;
ec_stackT *stack;
@ -296,7 +296,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -370,11 +370,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
uint8 idxf;
int idxf;
ec_etherheadert *ehp;
ec_comt *ecp;
ec_stackT *stack;
@ -464,7 +464,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -547,7 +547,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -570,7 +570,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
@ -608,37 +608,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/linux/nicdrv.h
View File

@ -76,7 +76,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -95,23 +95,23 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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
}

14
oshw/linux/oshw.c
View File

@ -42,6 +42,7 @@ uint16 oshw_ntohs(uint16 network)
ec_adaptert * oshw_find_adapters(void)
{
int i;
int string_len;
struct if_nameindex *ids;
ec_adaptert * adapter;
ec_adaptert * prev_adapter;
@ -74,10 +75,15 @@ ec_adaptert * oshw_find_adapters(void)
if (ids[i].if_name)
{
strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
string_len = strlen(ids[i].if_name);
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
{
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->name, ids[i].if_name,string_len);
adapter->name[string_len] = '\0';
strncpy(adapter->desc, ids[i].if_name,string_len);
adapter->desc[string_len] = '\0';
}
else
{

37
oshw/macosx/nicdrv.c
View File

@ -201,10 +201,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int idx;
int cnt;
pthread_mutex_lock(&(port->getindex_mutex));
@ -240,7 +240,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -253,7 +253,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int lp, rval;
ec_stackT *stack;
@ -282,7 +282,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -371,11 +371,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
uint8 idxf;
int idxf;
ec_etherheadert *ehp;
ec_comt *ecp;
ec_stackT *stack;
@ -440,6 +440,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
}
else
{
assert(0);
/* strange things happened */
}
}
@ -465,7 +466,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -548,7 +549,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -571,7 +572,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
@ -611,37 +612,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/macosx/nicdrv.h
View File

@ -76,7 +76,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -95,23 +95,23 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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
}

16
oshw/macosx/oshw.c
View File

@ -42,6 +42,7 @@ uint16 oshw_ntohs(uint16 network)
ec_adaptert * oshw_find_adapters(void)
{
int i;
int string_len;
struct if_nameindex *ids;
ec_adaptert * adapter;
ec_adaptert * prev_adapter;
@ -69,15 +70,20 @@ ec_adaptert * oshw_find_adapters(void)
ret_adapter = adapter;
}
/* fetch description and name, in macosx we use the same on both */
/* fetch description and name, in Linux we use the same on both */
adapter->next = NULL;
if (ids[i].if_name)
{
strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
string_len = strlen(ids[i].if_name);
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
{
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->name, ids[i].if_name,string_len);
adapter->name[string_len] = '\0';
strncpy(adapter->desc, ids[i].if_name,string_len);
adapter->desc[string_len] = '\0';
}
else
{

36
oshw/rtems/nicdrv.c
View File

@ -260,10 +260,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int idx;
int cnt;
pthread_mutex_lock( &(port->getindex_mutex) );
@ -299,7 +299,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -312,7 +312,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int lp, rval;
ec_stackT *stack;
@ -342,7 +342,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -418,11 +418,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
uint8 idxf;
int idxf;
ec_etherheadert *ehp;
ec_comt *ecp;
ec_stackT *stack;
@ -515,7 +515,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -598,7 +598,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -621,7 +621,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
@ -659,37 +659,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/rtems/nicdrv.h
View File

@ -76,7 +76,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -95,23 +95,23 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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
}

16
oshw/rtems/oshw.c
View File

@ -42,6 +42,7 @@ uint16 oshw_ntohs(uint16 network)
ec_adaptert * oshw_find_adapters(void)
{
int i;
int string_len;
struct if_nameindex *ids;
ec_adaptert * adapter;
ec_adaptert * prev_adapter;
@ -69,15 +70,20 @@ ec_adaptert * oshw_find_adapters(void)
ret_adapter = adapter;
}
/* fetch description and name, in rtems we use the same on both */
/* fetch description and name, in Linux we use the same on both */
adapter->next = NULL;
if (ids[i].if_name)
{
strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
string_len = strlen(ids[i].if_name);
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
{
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->name, ids[i].if_name,string_len);
adapter->name[string_len] = '\0';
strncpy(adapter->desc, ids[i].if_name,string_len);
adapter->desc[string_len] = '\0';
}
else
{

34
oshw/rtk/nicdrv.c
View File

@ -192,10 +192,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int idx;
int cnt;
mtx_lock (port->getindex_mutex);
@ -233,7 +233,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -248,7 +248,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int lp, rval;
ec_stackT *stack;
@ -273,7 +273,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -347,7 +347,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
@ -441,7 +441,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert timer)
{
int wkc = EC_NOFRAME;
int wkc2 = EC_NOFRAME;
@ -534,7 +534,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -557,7 +557,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer;
@ -590,37 +590,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/rtk/nicdrv.h
View File

@ -69,7 +69,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -88,22 +88,22 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int stacknumber);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
void ec_setbufstat(int idx, int bufstat);
int ec_getindex(void);
int ec_outframe(int idx, int stacknumber);
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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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 stacknumber);
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);
#endif

40
oshw/vxworks/nicdrv.c
View File

@ -371,10 +371,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int idx;
int cnt;
semTake(port->sem_get_index, WAIT_FOREVER);
@ -408,7 +408,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -423,7 +423,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] len = bytes to send
* @return driver send result
*/
static int ec_outfram_send(ETHERCAT_PKT_DEV * pPktDev, uint8 idx, void * buf, int len)
static int ec_outfram_send(ETHERCAT_PKT_DEV * pPktDev, int idx, void * buf, int len)
{
STATUS status = OK;
M_BLK_ID pPacket = NULL;
@ -500,7 +500,7 @@ static int ec_outfram_send(ETHERCAT_PKT_DEV * pPktDev, uint8 idx, void * buf, in
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int rval = 0;
ec_stackT *stack;
@ -537,7 +537,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -581,7 +581,7 @@ int ecx_outframe_red(ecx_portt *port, uint8 idx)
static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg)
{
BOOL ret = FALSE;
uint8 idxf;
int idxf;
ec_comt *ecp;
ec_bufT * tempbuf;
ecx_portt * port;
@ -678,7 +678,7 @@ static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO
* @param[in] timeout = timeout in us
* @return >0 if frame is available and read
*/
static int ecx_recvpkt(ecx_portt *port, uint8 idx, int stacknumber, M_BLK_ID * pMblk, int timeout)
static int ecx_recvpkt(ecx_portt *port, int idx, int stacknumber, M_BLK_ID * pMblk, int timeout)
{
int bytesrx = 0;
MSG_Q_ID msgQId;
@ -728,7 +728,7 @@ static int ecx_recvpkt(ecx_portt *port, uint8 idx, int stacknumber, M_BLK_ID * p
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber, int timeout)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber, int timeout)
{
uint16 l;
int rval;
@ -792,7 +792,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber, int timeout)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer, int timeout)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer, int timeout)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -881,7 +881,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer, i
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -904,7 +904,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
@ -943,37 +943,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber, int timeout)
int ec_inframe(int idx, int stacknumber, int timeout)
{
return ecx_inframe(&ecx_port, idx, stacknumber, timeout);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/vxworks/nicdrv.h
View File

@ -85,7 +85,7 @@ typedef struct ecx_port
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -105,23 +105,23 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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
}

36
oshw/win32/nicdrv.c
View File

@ -202,10 +202,10 @@ void ec_setupheader(void *p)
* @param[in] port = port context struct
* @return new index.
*/
uint8 ecx_getindex(ecx_portt *port)
int ecx_getindex(ecx_portt *port)
{
uint8 idx;
uint8 cnt;
int idx;
int cnt;
EnterCriticalSection(&(port->getindex_mutex));
@ -241,7 +241,7 @@ uint8 ecx_getindex(ecx_portt *port)
* @param[in] idx = index in buffer array
* @param[in] bufstat = status to set
*/
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
{
port->rxbufstat[idx] = bufstat;
if (port->redstate != ECT_RED_NONE)
@ -254,7 +254,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
int lp, rval;
ec_stackT *stack;
@ -283,7 +283,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
* @param[in] idx = index in tx buffer array
* @return socket send result
*/
int ecx_outframe_red(ecx_portt *port, uint8 idx)
int ecx_outframe_red(ecx_portt *port, int idx)
{
ec_comt *datagramP;
ec_etherheadert *ehp;
@ -371,11 +371,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME or EC_OTHERFRAME.
*/
int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
{
uint16 l;
int rval;
uint8 idxf;
int idxf;
ec_etherheadert *ehp;
ec_comt *ecp;
ec_stackT *stack;
@ -465,7 +465,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
{
osal_timert timer2;
int wkc = EC_NOFRAME;
@ -548,7 +548,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
* @return Workcounter if a frame is found with corresponding index, otherwise
* EC_NOFRAME.
*/
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
{
int wkc;
osal_timert timer;
@ -571,7 +571,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
* @param[in] timeout = timeout in us
* @return Workcounter or EC_NOFRAME
*/
int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
{
int wkc = EC_NOFRAME;
osal_timert timer1, timer2;
@ -611,37 +611,37 @@ int ec_closenic(void)
return ecx_closenic(&ecx_port);
}
uint8 ec_getindex(void)
int ec_getindex(void)
{
return ecx_getindex(&ecx_port);
}
void ec_setbufstat(uint8 idx, int bufstat)
void ec_setbufstat(int idx, int bufstat)
{
ecx_setbufstat(&ecx_port, idx, bufstat);
}
int ec_outframe(uint8 idx, int stacknumber)
int ec_outframe(int idx, int stacknumber)
{
return ecx_outframe(&ecx_port, idx, stacknumber);
}
int ec_outframe_red(uint8 idx)
int ec_outframe_red(int idx)
{
return ecx_outframe_red(&ecx_port, idx);
}
int ec_inframe(uint8 idx, int stacknumber)
int ec_inframe(int idx, int stacknumber)
{
return ecx_inframe(&ecx_port, idx, stacknumber);
}
int ec_waitinframe(uint8 idx, int timeout)
int ec_waitinframe(int idx, int timeout)
{
return ecx_waitinframe(&ecx_port, idx, timeout);
}
int ec_srconfirm(uint8 idx, int timeout)
int ec_srconfirm(int idx, int timeout)
{
return ecx_srconfirm(&ecx_port, idx, timeout);
}

26
oshw/win32/nicdrv.h
View File

@ -79,7 +79,7 @@ typedef struct
/** temporary tx buffer length */
int txbuflength2;
/** last used frame index */
uint8 lastidx;
int lastidx;
/** current redundancy state */
int redstate;
/** pointer to redundancy port and buffers */
@ -98,23 +98,23 @@ extern ecx_redportt ecx_redport;
int ec_setupnic(const char * ifname, int secondary);
int ec_closenic(void);
void ec_setbufstat(uint8 idx, int bufstat);
uint8 ec_getindex(void);
int ec_outframe(uint8 idx, int sock);
int ec_outframe_red(uint8 idx);
int ec_waitinframe(uint8 idx, int timeout);
int ec_srconfirm(uint8 idx,int timeout);
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, uint8 idx, int bufstat);
uint8 ecx_getindex(ecx_portt *port);
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
int ecx_outframe_red(ecx_portt *port, uint8 idx);
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
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
}

19
oshw/win32/oshw.c
View File

@ -42,6 +42,7 @@ ec_adaptert * oshw_find_adapters (void)
ec_adaptert * prev_adapter;
ec_adaptert * ret_adapter = NULL;
char errbuf[PCAP_ERRBUF_SIZE];
size_t string_len;
/* find all devices */
if (pcap_findalldevs(&alldevs, errbuf) == -1)
@ -72,8 +73,13 @@ ec_adaptert * oshw_find_adapters (void)
adapter->next = NULL;
if (d->name)
{
strncpy(adapter->name, d->name, EC_MAXLEN_ADAPTERNAME);
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
string_len = strlen(d->name);
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
{
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->name, d->name,string_len);
adapter->name[string_len] = '\0';
}
else
{
@ -81,8 +87,13 @@ ec_adaptert * oshw_find_adapters (void)
}
if (d->description)
{
strncpy(adapter->desc, d->description, EC_MAXLEN_ADAPTERNAME);
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
string_len = strlen(d->description);
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
{
string_len = EC_MAXLEN_ADAPTERNAME - 1;
}
strncpy(adapter->desc, d->description,string_len);
adapter->desc[string_len] = '\0';
}
else
{

6
soem/ethercatbase.c
View File

@ -103,7 +103,7 @@ int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16
* @param[in] data = databuffer to be copied in datagram
* @return Offset to data in rx frame, usefull to retrieve data after RX.
*/
uint16 ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
ec_comt *datagramP;
uint8 *frameP;
@ -111,7 +111,7 @@ uint16 ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boole
frameP = frame;
/* copy previous frame size */
prevlength = (uint16)port->txbuflength[idx];
prevlength = port->txbuflength[idx];
datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
/* add new datagram to ethernet frame size */
datagramP->elength = htoes( etohs(datagramP->elength) + EC_HEADERSIZE + length );
@ -541,7 +541,7 @@ int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO,
return ecx_setupdatagram (&ecx_port, frame, com, idx, ADP, ADO, length, data);
}
uint16 ec_adddatagram (void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
int ec_adddatagram (void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data)
{
return ecx_adddatagram (&ecx_port, frame, com, idx, more, ADP, ADO, length, data);
}

4
soem/ethercatbase.h
View File

@ -17,7 +17,7 @@ extern "C"
#endif
int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
uint16 ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
int ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
int ecx_BWR(ecx_portt *port, uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
int ecx_BRD(ecx_portt *port, uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
int ecx_APRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
@ -37,7 +37,7 @@ int ecx_LRWDC(ecx_portt *port, uint32 LogAdr, uint16 length, void *data, uint16
#ifdef EC_VER1
int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
uint16 ec_adddatagram(void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
int ec_adddatagram(void *frame, uint8 com, uint8 idx, boolean more, uint16 ADP, uint16 ADO, uint16 length, void *data);
int ec_BWR(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
int ec_BRD(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);

64
soem/ethercatcoe.c
View File

@ -142,7 +142,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
if (CA)
{
@ -218,7 +218,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
SDOp->MbxHeader.priority = 0x00;
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
SDOp->Command = ECT_SDO_SEG_UP_REQ + toggle; /* segment upload request */
SDOp->Index = htoes(index);
@ -331,9 +331,10 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
boolean CA, int psize, void *p, int Timeout)
{
ec_SDOt *SDOp, *aSDOp;
int wkc, maxdata, framedatasize;
int wkc, maxdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt, toggle;
uint16 framedatasize;
boolean NotLast;
uint8 *hp;
@ -353,7 +354,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits */
SDOp->Command = ECT_SDO_DOWN_EXP | (((4 - psize) << 2) & 0x0c); /* expedited SDO download transfer */
SDOp->Index = htoes(Index);
@ -403,13 +404,13 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
framedatasize = maxdata; /* segmented transfer needed */
NotLast = TRUE;
}
SDOp->MbxHeader.length = htoes((uint16)(0x0a + framedatasize));
SDOp->MbxHeader.length = htoes(0x0a + framedatasize);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits */
if (CA)
{
@ -465,18 +466,18 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
if (!NotLast && (framedatasize < 7))
{
SDOp->MbxHeader.length = htoes(0x0a); /* minimum size */
SDOp->Command = (uint8)(0x01 + ((7 - framedatasize) << 1)); /* last segment reduced octets */
SDOp->Command = 0x01 + ((7 - framedatasize) << 1); /* last segment reduced octets */
}
else
{
SDOp->MbxHeader.length = htoes((uint16)(framedatasize + 3)); /* data + 2 CoE + 1 SDO */
SDOp->MbxHeader.length = htoes(framedatasize + 3); /* data + 2 CoE + 1 SDO */
}
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
SDOp->Command = SDOp->Command + toggle; /* add toggle bit to command byte */
/* copy parameter data to mailbox */
@ -551,9 +552,10 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize, void *p)
{
ec_SDOt *SDOp;
int wkc, maxdata, framedatasize;
int wkc, maxdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
uint16 framedatasize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
@ -566,13 +568,13 @@ int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize
{
framedatasize = maxdata; /* limit transfer */
}
SDOp->MbxHeader.length = htoes((uint16)(0x02 + framedatasize));
SDOp->MbxHeader.length = htoes(0x02 + framedatasize);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes((RxPDOnumber & 0x01ff) + (ECT_COES_RXPDO << 12)); /* number 9bits service upper 4 bits */
/* copy PDO data to mailbox */
memcpy(&SDOp->Command, p, framedatasize);
@ -614,7 +616,7 @@ int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psi
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes((TxPDOnumber & 0x01ff) + (ECT_COES_TXPDO_RR << 12)); /* number 9bits service upper 4 bits */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0)
@ -670,13 +672,12 @@ int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psi
* @param[in] PDOassign = PDO assign object
* @return total bitlength of PDO assign
*/
uint32 ecx_readPDOassign(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
int ecx_readPDOassign(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
{
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
uint8 subcnt;
int wkc, rdl;
int wkc, bsize = 0, rdl;
int32 rdat2;
uint32 bsize = 0;
rdl = sizeof(rdat); rdat = 0;
/* read PDO assign subindex 0 ( = number of PDO's) */
@ -736,12 +737,11 @@ uint32 ecx_readPDOassign(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
* @param[in] PDOassign = PDO assign object
* @return total bitlength of PDO assign
*/
uint32 ecx_readPDOassignCA(ecx_contextt *context, uint16 Slave, int Thread_n,
int ecx_readPDOassignCA(ecx_contextt *context, uint16 Slave, int Thread_n,
uint16 PDOassign)
{
uint16 idxloop, nidx, subidxloop, idx, subidx;
int wkc, rdl;
uint32 bsize = 0;
int wkc, bsize = 0, rdl;
/* find maximum size of PDOassign buffer */
rdl = sizeof(ec_PDOassignt);
@ -807,12 +807,12 @@ uint32 ecx_readPDOassignCA(ecx_contextt *context, uint16 Slave, int Thread_n,
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping successful.
*/
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *Isize)
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
{
int wkc, rdl;
int retVal = 0;
uint8 nSM, iSM, tSM;
uint32 Tsize;
int Tsize;
uint8 SMt_bug_add;
*Isize = 0;
@ -868,7 +868,7 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *I
/* if a mapping is found */
if (Tsize)
{
context->slavelist[Slave].SM[iSM].SMlength = htoes((uint16)((Tsize + 7) / 8));
context->slavelist[Slave].SM[iSM].SMlength = htoes((Tsize + 7) / 8);
if (tSM == 3)
{
/* we are doing outputs */
@ -907,12 +907,12 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *I
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping successful.
*/
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize)
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize)
{
int wkc, rdl;
int retVal = 0;
uint8 nSM, iSM, tSM;
uint32 Tsize;
int Tsize;
uint8 SMt_bug_add;
*Isize = 0;
@ -964,7 +964,7 @@ int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *
/* if a mapping is found */
if (Tsize)
{
context->slavelist[Slave].SM[iSM].SMlength = htoes((uint16)((Tsize + 7) / 8));
context->slavelist[Slave].SM[iSM].SMlength = htoes((Tsize + 7) / 8);
if (tSM == 3)
{
/* we are doing outputs */
@ -1019,7 +1019,7 @@ int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
/* Get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
SDOp->Opcode = ECT_GET_ODLIST_REQ; /* get object description list request */
SDOp->Reserved = 0;
@ -1139,7 +1139,7 @@ int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlis
/* Get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
SDOp->Opcode = ECT_GET_OD_REQ; /* get object description request */
SDOp->Reserved = 0;
@ -1224,7 +1224,7 @@ int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt
/* Get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* CoE */
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
SDOp->Opcode = ECT_GET_OE_REQ; /* get object entry description request */
SDOp->Reserved = 0;
@ -1408,7 +1408,7 @@ int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout
* @param[in] PDOassign = PDO assign object
* @return total bitlength of PDO assign
*/
uint32 ec_readPDOassign(uint16 Slave, uint16 PDOassign)
int ec_readPDOassign(uint16 Slave, uint16 PDOassign)
{
return ecx_readPDOassign(&ecx_context, Slave, PDOassign);
}
@ -1420,7 +1420,7 @@ uint32 ec_readPDOassign(uint16 Slave, uint16 PDOassign)
* @return total bitlength of PDO assign
* @see ecx_readPDOmap
*/
uint32 ec_readPDOassignCA(uint16 Slave, uint16 PDOassign, int Thread_n)
int ec_readPDOassignCA(uint16 Slave, uint16 PDOassign, int Thread_n)
{
return ecx_readPDOassignCA(&ecx_context, Slave, Thread_n, PDOassign);
}
@ -1438,7 +1438,7 @@ uint32 ec_readPDOassignCA(uint16 Slave, uint16 PDOassign, int Thread_n)
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping succesful.
*/
int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize)
int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize)
{
return ecx_readPDOmap(&ecx_context, Slave, Osize, Isize);
}
@ -1456,7 +1456,7 @@ int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize)
* @return >0 if mapping succesful.
* @see ecx_readPDOmap ec_readPDOmapCA
*/
int ec_readPDOmapCA(uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize)
int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize)
{
return ecx_readPDOmapCA(&ecx_context, Slave, Thread_n, Osize, Isize);
}

8
soem/ethercatcoe.h
View File

@ -66,8 +66,8 @@ int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
boolean CA, int psize, void *p, int Timeout);
int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize);
int ec_readPDOmapCA(uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
@ -81,8 +81,8 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
boolean CA, int psize, void *p, int Timeout);
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *Isize);
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize);
int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist);
int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);

87
soem/ethercatconfig.c
View File

@ -484,7 +484,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
context->slavelist[slave].mbx_proto = (uint16)etohl(eedat);
context->slavelist[slave].mbx_proto = etohl(eedat);
}
cindex = 0;
/* use configuration table ? */
@ -607,7 +607,7 @@ int ecx_config_init(ecx_contextt *context, uint8 usetable)
/* If slave has SII mapping and same slave ID done before, use previous mapping.
* This is safe because SII mapping is constant for same slave ID.
*/
static int ecx_lookup_mapping(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize)
static int ecx_lookup_mapping(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
{
int i, nSM;
if ((slave > 1) && (*(context->slavecount) > 0))
@ -629,8 +629,8 @@ static int ecx_lookup_mapping(ecx_contextt *context, uint16 slave, uint32 *Osize
}
*Osize = context->slavelist[i].Obits;
*Isize = context->slavelist[i].Ibits;
context->slavelist[slave].Obits = (uint16)*Osize;
context->slavelist[slave].Ibits = (uint16)*Isize;
context->slavelist[slave].Obits = *Osize;
context->slavelist[slave].Ibits = *Isize;
EC_PRINT("Copy mapping slave %d from %d.\n", slave, i);
return 1;
}
@ -640,7 +640,7 @@ static int ecx_lookup_mapping(ecx_contextt *context, uint16 slave, uint32 *Osize
static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
{
uint32 Isize, Osize;
int Isize, Osize;
int rval;
ecx_statecheck(context, slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */
@ -675,18 +675,18 @@ static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
/* read PDO mapping via CoE */
rval = ecx_readPDOmap(context, slave, &Osize, &Isize);
}
EC_PRINT(" CoE Osize:%u Isize:%u\n", Osize, Isize);
EC_PRINT(" CoE Osize:%d Isize:%d\n", Osize, Isize);
}
if ((!Isize && !Osize) && (context->slavelist[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
{
/* read AT / MDT mapping via SoE */
rval = ecx_readIDNmap(context, slave, &Osize, &Isize);
context->slavelist[slave].SM[2].SMlength = htoes((uint16)((Osize + 7) / 8));
context->slavelist[slave].SM[3].SMlength = htoes((uint16)((Isize + 7) / 8));
EC_PRINT(" SoE Osize:%u Isize:%u\n", Osize, Isize);
context->slavelist[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
context->slavelist[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
EC_PRINT(" SoE Osize:%d Isize:%d\n", Osize, Isize);
}
context->slavelist[slave].Obits = (uint16)Osize;
context->slavelist[slave].Ibits = (uint16)Isize;
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
}
return 1;
@ -694,7 +694,7 @@ static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
static int ecx_map_sii(ecx_contextt *context, uint16 slave)
{
uint32 Isize, Osize;
int Isize, Osize;
int nSM;
ec_eepromPDOt eepPDO;
@ -708,8 +708,8 @@ static int ecx_map_sii(ecx_contextt *context, uint16 slave)
if (!Isize && !Osize) /* find PDO mapping by SII */
{
memset(&eepPDO, 0, sizeof(eepPDO));
Isize = ecx_siiPDO(context, slave, &eepPDO, 0);
EC_PRINT(" SII Isize:%u\n", Isize);
Isize = (int)ecx_siiPDO(context, slave, &eepPDO, 0);
EC_PRINT(" SII Isize:%d\n", Isize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
@ -719,8 +719,8 @@ static int ecx_map_sii(ecx_contextt *context, uint16 slave)
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
}
}
Osize = ecx_siiPDO(context, slave, &eepPDO, 1);
EC_PRINT(" SII Osize:%u\n", Osize);
Osize = (int)ecx_siiPDO(context, slave, &eepPDO, 1);
EC_PRINT(" SII Osize:%d\n", Osize);
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
{
if (eepPDO.SMbitsize[nSM] > 0)
@ -731,8 +731,8 @@ static int ecx_map_sii(ecx_contextt *context, uint16 slave)
}
}
}
context->slavelist[slave].Obits = (uint16)Osize;
context->slavelist[slave].Ibits = (uint16)Isize;
context->slavelist[slave].Obits = Osize;
context->slavelist[slave].Ibits = Isize;
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);
@ -897,10 +897,9 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
uint8 group, int16 slave, uint32 * LogAddr, uint8 * BitPos)
{
int BitCount = 0;
int ByteCount = 0;
int FMMUsize = 0;
int FMMUdone = 0;
int AddToInputsWKC = 0;
uint16 ByteCount = 0;
uint16 FMMUsize = 0;
uint8 SMc = 0;
uint16 EndAddr;
uint16 SMlength;
@ -963,7 +962,7 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
*LogAddr += 1;
*BitPos -= 8;
}
FMMUsize = (uint16)(*LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1);
FMMUsize = *LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
*BitPos += 1;
@ -987,7 +986,7 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Ibytes)
{
FMMUsize = (uint16)(context->slavelist[slave].Ibytes - FMMUdone);
FMMUsize = context->slavelist[slave].Ibytes - FMMUdone;
}
*LogAddr += FMMUsize;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
@ -1003,9 +1002,8 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
/* program FMMU for input */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
/* Set flag to add one for an input FMMU,
a single ESC can only contribute once */
AddToInputsWKC = 1;
/* add one for an input FMMU */
context->grouplist[group].inputsWKC++;
}
if (!context->slavelist[slave].inputs)
{
@ -1031,20 +1029,15 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
FMMUc++;
}
context->slavelist[slave].FMMUunused = FMMUc;
/* Add one WKC for an input if flag is true */
if (AddToInputsWKC)
context->grouplist[group].inputsWKC++;
}
static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOmap,
uint8 group, int16 slave, uint32 * LogAddr, uint8 * BitPos)
{
int BitCount = 0;
int ByteCount = 0;
int FMMUsize = 0;
int FMMUdone = 0;
int AddToOutputsWKC = 0;
uint16 ByteCount = 0;
uint16 FMMUsize = 0;
uint8 SMc = 0;
uint16 EndAddr;
uint16 SMlength;
@ -1101,7 +1094,7 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
*LogAddr += 1;
*BitPos -= 8;
}
FMMUsize = (uint16)(*LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1);
FMMUsize = *LogAddr - etohl(context->slavelist[slave].FMMU[FMMUc].LogStart) + 1;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
*BitPos += 1;
@ -1125,7 +1118,7 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
FMMUsize = ByteCount;
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Obytes)
{
FMMUsize = (uint16)(context->slavelist[slave].Obytes - FMMUdone);
FMMUsize = context->slavelist[slave].Obytes - FMMUdone;
}
*LogAddr += FMMUsize;
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(FMMUsize);
@ -1133,18 +1126,13 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
*BitPos = 0;
}
FMMUdone += FMMUsize;
if (context->slavelist[slave].FMMU[FMMUc].LogLength)
{
context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 2;
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for output */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
/* Set flag to add one for an output FMMU,
a single ESC can only contribute once */
AddToOutputsWKC = 1;
}
context->slavelist[slave].FMMU[FMMUc].PhysStartBit = 0;
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 2;
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
/* program FMMU for output */
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
context->grouplist[group].outputsWKC++;
if (!context->slavelist[slave].outputs)
{
if (group)
@ -1170,9 +1158,6 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
FMMUc++;
}
context->slavelist[slave].FMMUunused = FMMUc;
/* Add one WKC for an output if flag is true */
if (AddToOutputsWKC)
context->grouplist[group].outputsWKC++;
}
/** Map all PDOs in one group of slaves to IOmap with Outputs/Inputs
@ -1259,7 +1244,7 @@ int ecx_config_map_group(ecx_contextt *context, void *pIOmap, uint8 group)
context->grouplist[group].Obytes = LogAddr - context->grouplist[group].logstartaddr;
context->grouplist[group].nsegments = currentsegment + 1;
context->grouplist[group].Isegment = currentsegment;
context->grouplist[group].Ioffset = (uint16)segmentsize;
context->grouplist[group].Ioffset = segmentsize;
if (!group)
{
context->slavelist[0].outputs = pIOmap;

53
soem/ethercateoe.c
View File

@ -87,50 +87,52 @@ int ecx_EOEsetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + MBX_HDR_SET_CNT(cnt); /* EoE */
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + (cnt << 4); /* EoE */
EOEp->frameinfo1 = htoes(EOE_HDR_FRAME_TYPE_SET(EOE_INIT_REQ) |
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;
}
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 += EOE_IP4_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
data_offset += 4;
if (ipparam->dns_name_set)
{
/* TwinCAT include EOE_DNS_NAME_LENGTH chars even if name is shorter */
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;
}
data_offset += EOE_DNS_NAME_LENGTH;
EOEp->mbxheader.length = htoes(EOE_PARAM_OFFSET + data_offset);
EOEp->data[0] = flags;
@ -198,9 +200,9 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + MBX_HDR_SET_CNT(cnt); /* EoE */
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + (cnt << 4); /* EoE */
EOEp->frameinfo1 = htoes(EOE_HDR_FRAME_TYPE_SET(EOE_GET_IP_PARAM_REQ) |
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;
@ -229,6 +231,10 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
}
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)
{
@ -236,36 +242,36 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
&aEOEp->data[data_offset],
EOE_ETHADDR_LENGTH);
ipparam->mac_set = 1;
data_offset += EOE_ETHADDR_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
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 += EOE_IP4_LENGTH;
}
data_offset += 4;
if (flags & EOE_PARAM_DNS_NAME_INCLUDE)
{
uint16_t dns_len;
@ -280,8 +286,8 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
/* 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;
}
data_offset += EOE_DNS_NAME_LENGTH;
/* Something os not correct, flag the error */
if(data_offset > eoedatasize)
{
@ -318,9 +324,10 @@ int ecx_EOEsend(ecx_contextt *context, uint16 slave, uint8 port, int psize, void
ec_EOEt *EOEp;
ec_mbxbuft MbxOut;
uint16 frameinfo1, frameinfo2;
uint16 txframesize, txframeoffset;
uint8 cnt, txfragmentno;
boolean NotLast;
int wkc, maxdata, txframesize, txframeoffset;
int wkc, maxdata;
const uint8 * buf = p;
static uint8_t txframeno = 0;
@ -370,8 +377,8 @@ int ecx_EOEsend(ecx_contextt *context, uint16 slave, uint8 port, int psize, void
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
EOEp->mbxheader.length = htoes((uint16)(4 + txframesize)); /* no timestamp */
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + MBX_HDR_SET_CNT(cnt); /* EoE */
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);
@ -409,10 +416,10 @@ int ecx_EOErecv(ecx_contextt *context, uint16 slave, uint8 port, int * psize, vo
{
ec_EOEt *aEOEp;
ec_mbxbuft MbxIn;
uint16 frameinfo1, frameinfo2;
uint16 frameinfo1, frameinfo2, rxframesize, rxframeoffset, eoedatasize;
uint8 rxfragmentno, rxframeno;
boolean NotLast;
int wkc, buffersize, rxframesize, rxframeoffset, eoedatasize;
int wkc, buffersize;
uint8 * buf = p;
ec_clearmbx(&MbxIn);
@ -572,7 +579,7 @@ int ecx_EOEreadfragment(
/* Is it a new frame?*/
if (*rxfragmentno == 0)
{
*rxframesize = (uint16)(EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
*rxframesize = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
*rxframeoffset = 0;
*rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2);
}

15
soem/ethercateoe.h
View File

@ -18,15 +18,10 @@ extern "C"
#include <ethercattype.h>
/* use maximum size for EOE mailbox data */
#define EC_MAXEOEDATA EC_MAXMBX
/** DNS length according to ETG 1000.6 */
#define EOE_DNS_NAME_LENGTH 32
/** Ethernet address length not including VLAN */
#define EOE_ETHADDR_LENGTH 6
/** IPv4 address length */
#define EOE_IP4_LENGTH sizeof(uint32_t)
#define EOE_MAKEU32(a,b,c,d) (((uint32_t)((a) & 0xff) << 24) | \
((uint32_t)((b) & 0xff) << 16) | \
@ -66,7 +61,7 @@ extern "C"
#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) ((uint16)(((x) & 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)
@ -84,15 +79,15 @@ extern "C"
/** 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) ((uint16)(((x) & 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) ((uint16)(((x) & 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) ((uint16)(((x) & 0xF) << 12))
#define EOE_HDR_FRAME_NO_SET(x) (((x) & 0xF) << 12)
#define EOE_HDR_FRAME_NO_GET(x) (((x) >> 12) & 0xF)
/** EOE param */
@ -168,7 +163,7 @@ typedef struct PACKED
uint16_t frameinfo2;
uint16_t result;
};
uint8 data[EC_MAXEOEDATA];
uint8 data[0];
} ec_EOEt;
PACKED_END

10
soem/ethercatfoe.c
View File

@ -98,7 +98,7 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + MBX_HDR_SET_CNT(cnt); /* FoE */
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_READ;
FOEp->Password = htoel(password);
/* copy filename in mailbox */
@ -138,7 +138,7 @@ int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 pass
/* get new mailbox count value */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + MBX_HDR_SET_CNT(cnt); /* FoE */
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_ACK;
FOEp->PacketNumber = htoel(packetnumber);
/* send FoE ack to slave */
@ -227,7 +227,7 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + MBX_HDR_SET_CNT(cnt); /* FoE */
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_WRITE;
FOEp->Password = htoel(password);
/* copy filename in mailbox */
@ -276,13 +276,13 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
{
dofinalzero = TRUE;
}
FOEp->MbxHeader.length = htoes((uint16)(0x0006 + segmentdata));
FOEp->MbxHeader.length = htoes(0x0006 + segmentdata);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + MBX_HDR_SET_CNT(cnt); /* FoE */
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_DATA;
sendpacket++;
FOEp->PacketNumber = htoel(sendpacket);

102
soem/ethercatmain.c
View File

@ -110,6 +110,8 @@ ecx_contextt ecx_context = {
&ec_elist, // .elist =
&ec_idxstack, // .idxstack =
&EcatError, // .ecaterror =
0, // .DCtO =
0, // .DCl =
&ec_DCtime, // .DCtime =
&ec_SMcommtype[0], // .SMcommtype =
&ec_PDOassign[0], // .PDOassign =
@ -347,7 +349,7 @@ uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
if (address < EC_MAXEEPBUF)
{
mapw = address >> 5;
mapb = (uint16)(address - (mapw << 5));
mapb = address - (mapw << 5);
if (context->esimap[mapw] & (uint32)(1 << mapb))
{
/* byte is already in buffer */
@ -375,7 +377,7 @@ uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
}
/* find bitmap location */
mapw = eadr >> 4;
mapb = (uint16)((eadr << 1) - (mapw << 5));
mapb = (eadr << 1) - (mapw << 5);
for(lp = 0 ; lp < cnt ; lp++)
{
/* set bitmap for each byte that is read */
@ -550,7 +552,7 @@ uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM)
a = SM->Startpos;
w = ecx_siigetbyte(context, slave, a++);
w += (ecx_siigetbyte(context, slave, a++) << 8);
SM->nSM = (uint8)(w / 4);
SM->nSM = (w / 4);
SM->PhStart = ecx_siigetbyte(context, slave, a++);
SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8);
SM->Plength = ecx_siigetbyte(context, slave, a++);
@ -609,7 +611,7 @@ uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint
* @param[in] t = 0=RXPDO 1=TXPDO
* @return mapping size in bits of PDO
*/
uint32 ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t)
int ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t)
{
uint16 a , w, c, e, er, Size;
uint8 eectl = context->slavelist[slave].eep_pdi;
@ -683,7 +685,7 @@ int ecx_FPRD_multi(ecx_contextt *context, int n, uint16 *configlst, ec_alstatust
int wkc;
uint8 idx;
ecx_portt *port;
uint16 sldatapos[MAX_FPRD_MULTI];
int sldatapos[MAX_FPRD_MULTI];
int slcnt;
port = context->port;
@ -787,7 +789,7 @@ int ecx_readstate(ecx_contextt *context)
fslave = 1;
do
{
lslave = (uint16)*(context->slavecount);
lslave = *(context->slavecount);
if ((lslave - fslave) >= MAX_FPRD_MULTI)
{
lslave = fslave + MAX_FPRD_MULTI - 1;
@ -1111,7 +1113,8 @@ int ecx_mbxreceive(ecx_contextt *context, uint16 slave, ec_mbxbuft *mbx, int tim
*/
void ecx_esidump(ecx_contextt *context, uint16 slave, uint8 *esibuf)
{
uint16 configadr, address, incr;
int address, incr;
uint16 configadr;
uint64 *p64;
uint16 *p16;
uint64 edat;
@ -1239,8 +1242,7 @@ int ecx_eeprom2pdi(ecx_contextt *context, uint16 slave)
uint16 ecx_eeprom_waitnotbusyAP(ecx_contextt *context, uint16 aiadr,uint16 *estat, int timeout)
{
int wkc, cnt = 0;
uint16 retval = 0;
int wkc, cnt = 0, retval = 0;
osal_timert timer;
osal_timer_start(&timer, timeout);
@ -1409,8 +1411,7 @@ int ecx_writeeepromAP(ecx_contextt *context, uint16 aiadr, uint16 eeproma, uint1
uint16 ecx_eeprom_waitnotbusyFP(ecx_contextt *context, uint16 configadr,uint16 *estat, int timeout)
{
int wkc, cnt = 0;
uint16 retval = 0;
int wkc, cnt = 0, retval = 0;
osal_timert timer;
osal_timer_start(&timer, timeout);
@ -1640,16 +1641,14 @@ uint32 ecx_readeeprom2(ecx_contextt *context, uint16 slave, int timeout)
* @param[in] idx = Used datagram index.
* @param[in] data = Pointer to process data segment.
* @param[in] length = Length of data segment in bytes.
* @param[in] DCO = Offset position of DC frame.
*/
static void ecx_pushindex(ecx_contextt *context, uint8 idx, void *data, uint16 length, uint16 DCO)
static void ecx_pushindex(ecx_contextt *context, uint8 idx, void *data, uint16 length)
{
if(context->idxstack->pushed < EC_MAXBUF)
{
context->idxstack->idx[context->idxstack->pushed] = idx;
context->idxstack->data[context->idxstack->pushed] = data;
context->idxstack->length[context->idxstack->pushed] = length;
context->idxstack->dcoffset[context->idxstack->pushed] = DCO;
context->idxstack->pushed++;
}
}
@ -1699,15 +1698,13 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
{
uint32 LogAdr;
uint16 w1, w2;
int length;
uint16 sublength;
int length, sublength;
uint8 idx;
int wkc;
uint8* data;
boolean first=FALSE;
uint16 currentsegment = 0;
uint32 iomapinputoffset;
uint16 DCO;
wkc = 0;
if(context->grouplist[group].hasdc)
@ -1750,22 +1747,22 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
{
if(currentsegment == context->grouplist[group].Isegment)
{
sublength = (uint16)(context->grouplist[group].IOsegment[currentsegment++] - context->grouplist[group].Ioffset);
sublength = context->grouplist[group].IOsegment[currentsegment++] - context->grouplist[group].Ioffset;
}
else
{
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
sublength = context->grouplist[group].IOsegment[currentsegment++];
}
/* get new index */
idx = ecx_getindex(context->port);
w1 = LO_WORD(LogAdr);
w2 = HI_WORD(LogAdr);
DCO = 0;
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRD, idx, w1, w2, sublength, data);
if(first)
{
context->DCl = sublength;
/* FPRMW in second datagram */
DCO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
context->DCtO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
context->slavelist[context->grouplist[group].DCnext].configadr,
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
first = FALSE;
@ -1773,7 +1770,7 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
/* send frame */
ecx_outframe_red(context->port, idx);
/* push index and data pointer on stack */
ecx_pushindex(context, idx, data, sublength, DCO);
ecx_pushindex(context, idx, data, sublength);
length -= sublength;
LogAdr += sublength;
data += sublength;
@ -1789,21 +1786,21 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
/* segment transfer if needed */
do
{
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
sublength = context->grouplist[group].IOsegment[currentsegment++];
if((length - sublength) < 0)
{
sublength = (uint16)length;
sublength = length;
}
/* get new index */
idx = ecx_getindex(context->port);
w1 = LO_WORD(LogAdr);
w2 = HI_WORD(LogAdr);
DCO = 0;
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LWR, idx, w1, w2, sublength, data);
if(first)
{
context->DCl = sublength;
/* FPRMW in second datagram */
DCO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
context->DCtO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
context->slavelist[context->grouplist[group].DCnext].configadr,
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
first = FALSE;
@ -1811,7 +1808,7 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
/* send frame */
ecx_outframe_red(context->port, idx);
/* push index and data pointer on stack */
ecx_pushindex(context, idx, data, sublength, DCO);
ecx_pushindex(context, idx, data, sublength);
length -= sublength;
LogAdr += sublength;
data += sublength;
@ -1834,17 +1831,17 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
/* segment transfer if needed */
do
{
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
sublength = context->grouplist[group].IOsegment[currentsegment++];
/* get new index */
idx = ecx_getindex(context->port);
w1 = LO_WORD(LogAdr);
w2 = HI_WORD(LogAdr);
DCO = 0;
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRW, idx, w1, w2, sublength, data);
if(first)
{
context->DCl = sublength;
/* FPRMW in second datagram */
DCO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
context->DCtO = ecx_adddatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_FRMW, idx, FALSE,
context->slavelist[context->grouplist[group].DCnext].configadr,
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
first = FALSE;
@ -1856,7 +1853,7 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
* in the IOmap if we use an overlapping IOmap. If a regular IOmap
* is used it should always be 0.
*/
ecx_pushindex(context, idx, (data + iomapinputoffset), sublength, DCO);
ecx_pushindex(context, idx, (data + iomapinputoffset), sublength);
length -= sublength;
LogAdr += sublength;
data += sublength;
@ -1912,57 +1909,56 @@ int ecx_send_processdata_group(ecx_contextt *context, uint8 group)
*/
int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeout)
{
uint8 idx;
int pos;
int pos, idx;
int wkc = 0, wkc2;
uint16 le_wkc = 0;
int valid_wkc = 0;
int64 le_DCtime;
ec_idxstackT *idxstack;
ec_bufT *rxbuf;
boolean first = FALSE;
/* just to prevent compiler warning for unused group */
wkc2 = group;
idxstack = context->idxstack;
rxbuf = context->port->rxbuf;
if(context->grouplist[group].hasdc)
{
first = TRUE;
}
/* get first index */
pos = ecx_pullindex(context);
/* read the same number of frames as send */
while (pos >= 0)
{
idx = idxstack->idx[pos];
wkc2 = ecx_waitinframe(context->port, idx, timeout);
idx = context->idxstack->idx[pos];
wkc2 = ecx_waitinframe(context->port, context->idxstack->idx[pos], timeout);
/* check if there is input data in frame */
if (wkc2 > EC_NOFRAME)
{
if((rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD) || (rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRW))
if((context->port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRD) || (context->port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LRW))
{
if(idxstack->dcoffset[pos] > 0)
if(first)
{
memcpy(idxstack->data[pos], &(rxbuf[idx][EC_HEADERSIZE]), idxstack->length[pos]);
memcpy(&le_wkc, &(rxbuf[idx][EC_HEADERSIZE + idxstack->length[pos]]), EC_WKCSIZE);
memcpy(context->idxstack->data[pos], &(context->port->rxbuf[idx][EC_HEADERSIZE]), context->DCl);
memcpy(&le_wkc, &(context->port->rxbuf[idx][EC_HEADERSIZE + context->DCl]), EC_WKCSIZE);
wkc = etohs(le_wkc);
memcpy(&le_DCtime, &(rxbuf[idx][idxstack->dcoffset[pos]]), sizeof(le_DCtime));
memcpy(&le_DCtime, &(context->port->rxbuf[idx][context->DCtO]), sizeof(le_DCtime));
*(context->DCtime) = etohll(le_DCtime);
first = FALSE;
}
else
{
/* copy input data back to process data buffer */
memcpy(idxstack->data[pos], &(rxbuf[idx][EC_HEADERSIZE]), idxstack->length[pos]);
memcpy(context->idxstack->data[pos], &(context->port->rxbuf[idx][EC_HEADERSIZE]), context->idxstack->length[pos]);
wkc += wkc2;
}
valid_wkc = 1;
}
else if(rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LWR)
else if(context->port->rxbuf[idx][EC_CMDOFFSET]==EC_CMD_LWR)
{
if(idxstack->dcoffset[pos] > 0)
if(first)
{
memcpy(&le_wkc, &(rxbuf[idx][EC_HEADERSIZE + idxstack->length[pos]]), EC_WKCSIZE);
memcpy(&le_wkc, &(context->port->rxbuf[idx][EC_HEADERSIZE + context->DCl]), EC_WKCSIZE);
/* output WKC counts 2 times when using LRW, emulate the same for LWR */
wkc = etohs(le_wkc) * 2;
memcpy(&le_DCtime, &(rxbuf[idx][idxstack->dcoffset[pos]]), sizeof(le_DCtime));
memcpy(&le_DCtime, &(context->port->rxbuf[idx][context->DCtO]), sizeof(le_DCtime));
*(context->DCtime) = etohll(le_DCtime);
first = FALSE;
}
else
{
@ -2130,7 +2126,7 @@ uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n)
* @return mapping size in bits of PDO
* @see ecx_siiPDO
*/
uint32 ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t)
int ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t)
{
return ecx_siiPDO (&ecx_context, slave, PDO, t);
}

9
soem/ethercatmain.h
View File

@ -340,7 +340,6 @@ typedef struct ec_idxstack
uint8 idx[EC_MAXBUF];
void *data[EC_MAXBUF];
uint16 length[EC_MAXBUF];
uint16 dcoffset[EC_MAXBUF];
} ec_idxstackT;
/** ringbuf for error storage */
@ -408,6 +407,10 @@ struct ecx_context
ec_idxstackT *idxstack;
/** reference to ecaterror state */
boolean *ecaterror;
/** internal, position of DC datagram in process data packet */
uint16 DCtO;
/** internal, length of DC datagram */
uint16 DCl;
/** reference to last DC time from slaves */
int64 *DCtime;
/** internal, SM buffer */
@ -453,7 +456,7 @@ void ec_siistring(char *str, uint16 slave, uint16 Sn);
uint16 ec_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU);
uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n);
uint32 ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ec_siiPDO(uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ec_readstate(void);
int ec_writestate(uint16 slave);
uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout);
@ -496,7 +499,7 @@ void ecx_siistring(ecx_contextt *context, char *str, uint16 slave, uint16 Sn);
uint16 ecx_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU);
uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM);
uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n);
uint32 ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ecx_siiPDO(ecx_contextt *context, uint16 slave, ec_eepromPDOt* PDO, uint8 t);
int ecx_readstate(ecx_contextt *context);
int ecx_writestate(ecx_contextt *context, uint16 slave);
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout);

22
soem/ethercatsoe.c
View File

@ -78,7 +78,7 @@ void ecx_SoEerror(ecx_contextt *context, uint16 Slave, uint16 idn, uint16 Error)
int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)
{
ec_SoEt *SoEp, *aSoEp;
int totalsize, framedatasize;
uint16 totalsize, framedatasize;
int wkc;
uint8 *bp;
uint8 *mp;
@ -99,7 +99,7 @@ int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elemen
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SoEp->MbxHeader.mbxtype = ECT_MBXT_SOE + MBX_HDR_SET_CNT(cnt); /* SoE */
SoEp->MbxHeader.mbxtype = ECT_MBXT_SOE + (cnt << 4); /* SoE */
SoEp->opCode = ECT_SOE_READREQ;
SoEp->incomplete = 0;
SoEp->error = 0;
@ -200,7 +200,7 @@ int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elemen
int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)
{
ec_SoEt *SoEp, *aSoEp;
int framedatasize, maxdata;
uint16 framedatasize, maxdata;
int wkc;
uint8 *mp;
uint8 *hp;
@ -236,13 +236,13 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
framedatasize = maxdata; /* segmented transfer needed */
NotLast = TRUE;
SoEp->incomplete = 1;
SoEp->fragmentsleft = (uint16)(psize / maxdata);
SoEp->fragmentsleft = psize / maxdata;
}
SoEp->MbxHeader.length = htoes((uint16)(sizeof(ec_SoEt) - sizeof(ec_mbxheadert) + framedatasize));
SoEp->MbxHeader.length = htoes(sizeof(ec_SoEt) - sizeof(ec_mbxheadert) + framedatasize);
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SoEp->MbxHeader.mbxtype = ECT_MBXT_SOE + MBX_HDR_SET_CNT(cnt); /* SoE */
SoEp->MbxHeader.mbxtype = ECT_MBXT_SOE + (cnt << 4); /* SoE */
/* copy parameter data to mailbox */
memcpy(mp, hp, framedatasize);
hp += framedatasize;
@ -309,12 +309,12 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
* @param[out] Isize = Size in bits of input mapping (AT) found
* @return >0 if mapping successful.
*/
int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize)
int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize)
{
int retVal = 0;
int wkc;
int psize;
uint8 driveNr;
int driveNr;
uint16 entries, itemcount;
ec_SoEmappingt SoEmapping;
ec_SoEattributet SoEattribute;
@ -329,7 +329,7 @@ int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *I
if ((wkc > 0) && (psize >= 4) && ((entries = etohs(SoEmapping.currentlength) / 2) > 0) && (entries <= EC_SOE_MAXMAPPING))
{
/* command word (uint16) is always mapped but not in list */
*Osize += 16;
*Osize = 16;
for (itemcount = 0 ; itemcount < entries ; itemcount++)
{
psize = sizeof(SoEattribute);
@ -348,7 +348,7 @@ int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *I
if ((wkc > 0) && (psize >= 4) && ((entries = etohs(SoEmapping.currentlength) / 2) > 0) && (entries <= EC_SOE_MAXMAPPING))
{
/* status word (uint16) is always mapped but not in list */
*Isize += 16;
*Isize = 16;
for (itemcount = 0 ; itemcount < entries ; itemcount++)
{
psize = sizeof(SoEattribute);
@ -382,7 +382,7 @@ int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int
return ecx_SoEwrite(&ecx_context, slave, driveNo, elementflags, idn, psize, p, timeout);
}
int ec_readIDNmap(uint16 slave, uint32 *Osize, uint32 *Isize)
int ec_readIDNmap(uint16 slave, int *Osize, int *Isize)
{
return ecx_readIDNmap(&ecx_context, slave, Osize, Isize);
}

4
soem/ethercatsoe.h
View File

@ -116,12 +116,12 @@ PACKED_END
#ifdef EC_VER1
int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
int ec_readIDNmap(uint16 slave, uint32 *Osize, uint32 *Isize);
int ec_readIDNmap(uint16 slave, int *Osize, int *Isize);
#endif
int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout);
int ecx_readIDNmap(ecx_contextt *context, uint16 slave, uint32 *Osize, uint32 *Isize);
int ecx_readIDNmap(ecx_contextt *context, uint16 slave, int *Osize, int *Isize);
#ifdef __cplusplus
}

4
soem/ethercattype.h
View File

@ -506,10 +506,6 @@ typedef struct
} ec_errort;
/** Helper macros */
/** Set the count value in the Mailbox header */
#define MBX_HDR_SET_CNT(cnt) ((uint8)((cnt) << 4))
/** Macro to make a word from 2 bytes */
#define MK_WORD(msb, lsb) ((((uint16)(msb))<<8) | (lsb))
/** Macro to get hi byte of a word */

2
test/linux/red_test/red_test.c
View File

@ -164,7 +164,7 @@ void add_timespec(struct timespec *ts, int64 addtime)
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if ( ts->tv_nsec >= NSEC_PER_SEC )
if ( ts->tv_nsec > NSEC_PER_SEC )
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;

2
test/linux/simple_test/simple_test.c
View File

@ -139,7 +139,7 @@ void simpletest(char *ifname)
}
else
{
printf("No socket connection on %s\nExecute as root\n",ifname);
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}

2
test/win32/red_test/red_test.c
View File

@ -142,7 +142,7 @@ void add_timespec(struct timespec *ts, int64 addtime)
sec = (addtime - nsec) / NSEC_PER_SEC;
ts->tv_sec += sec;
ts->tv_nsec += nsec;
if ( ts->tv_nsec >= NSEC_PER_SEC )
if ( ts->tv_nsec > NSEC_PER_SEC )
{
nsec = ts->tv_nsec % NSEC_PER_SEC;
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;