Compare commits
No commits in common. "master" and "v1.4.0" have entirely different histories.
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@ -1,9 +1,3 @@
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jobs:
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include:
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- dist: xenial
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- dist: bionic
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- os: osx
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language: c
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language: c
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script:
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script:
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@ -1,10 +1,10 @@
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cmake_minimum_required(VERSION 2.8.12)
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cmake_minimum_required(VERSION 2.8.4)
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules")
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project(SOEM C)
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project(SOEM C)
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if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
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# Default to installing in SOEM source directory
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# Default to installing in SOEM source directory
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set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_LIST_DIR}/install)
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set(CMAKE_INSTALL_PREFIX ${CMAKE_SOURCE_DIR}/install)
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endif()
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endif()
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set(SOEM_INCLUDE_INSTALL_DIR include/soem)
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set(SOEM_INCLUDE_INSTALL_DIR include/soem)
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@ -15,9 +15,9 @@ if(WIN32)
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set(OS "win32")
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set(OS "win32")
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include_directories(oshw/win32/wpcap/Include)
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include_directories(oshw/win32/wpcap/Include)
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if(CMAKE_SIZEOF_VOID_P EQUAL 8)
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if(CMAKE_SIZEOF_VOID_P EQUAL 8)
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link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib/x64)
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link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib/x64)
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elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
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elseif(CMAKE_SIZEOF_VOID_P EQUAL 4)
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link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib)
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link_directories(${CMAKE_SOURCE_DIR}/oshw/win32/wpcap/Lib)
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endif()
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endif()
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /WX")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /WX")
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@ -60,6 +60,11 @@ file(GLOB SOEM_HEADERS soem/*.h)
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file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
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file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
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file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
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file(GLOB OSHW_HEADERS oshw/${OS}/*.h)
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include_directories(soem)
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include_directories(osal)
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include_directories(osal/${OS})
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include_directories(oshw/${OS})
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add_library(soem STATIC
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add_library(soem STATIC
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${SOEM_SOURCES}
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${SOEM_SOURCES}
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${OSAL_SOURCES}
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${OSAL_SOURCES}
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@ -67,29 +72,9 @@ add_library(soem STATIC
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${OSHW_EXTRA_SOURCES})
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${OSHW_EXTRA_SOURCES})
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target_link_libraries(soem ${OS_LIBS})
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target_link_libraries(soem ${OS_LIBS})
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target_include_directories(soem PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
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$<INSTALL_INTERFACE:include/soem>)
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target_include_directories(soem PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
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$<INSTALL_INTERFACE:include/soem>)
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target_include_directories(soem PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal/${OS}>
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$<INSTALL_INTERFACE:include/soem>)
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target_include_directories(soem
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
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$<INSTALL_INTERFACE:include/soem>
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)
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message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
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message("LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")
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install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})
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install(TARGETS soem DESTINATION ${SOEM_LIB_INSTALL_DIR})
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install(EXPORT soemConfig DESTINATION share/soem/cmake)
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install(FILES
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install(FILES
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${SOEM_HEADERS}
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${SOEM_HEADERS}
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${OSAL_HEADERS}
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${OSAL_HEADERS}
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@ -165,10 +165,10 @@ void ec_setupheader(void *p)
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* @param[in] port = port context struct
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* @param[in] port = port context struct
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* @return new index.
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* @return new index.
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*/
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*/
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uint8 ecx_getindex(ecx_portt *port)
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int ecx_getindex(ecx_portt *port)
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{
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{
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uint8 idx;
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int idx;
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uint8 cnt = 0;
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int cnt = 0;
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ee_port_lock();
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ee_port_lock();
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@ -199,7 +199,7 @@ uint8 ecx_getindex(ecx_portt *port)
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* @param[in] idx = index in buffer array
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* @param[in] idx = index in buffer array
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* @param[in] bufstat = status to set
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* @param[in] bufstat = status to set
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*/
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*/
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void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
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void ecx_setbufstat(ecx_portt *port, int idx, int bufstat)
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{
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{
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port->rxbufstat[idx] = bufstat;
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port->rxbufstat[idx] = bufstat;
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if (port->redstate != ECT_RED_NONE)
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if (port->redstate != ECT_RED_NONE)
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@ -212,7 +212,7 @@ void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat)
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* @param[in] stacknumber = 0=Primary 1=Secondary stack
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* @param[in] stacknumber = 0=Primary 1=Secondary stack
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* @return socket send result
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* @return socket send result
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*/
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*/
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int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
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int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
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{
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{
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int lp;
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int lp;
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ec_stackT *stack;
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ec_stackT *stack;
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@ -234,7 +234,7 @@ int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber)
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* @param[in] idx = index in tx buffer array
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* @param[in] idx = index in tx buffer array
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* @return socket send result
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* @return socket send result
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*/
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*/
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int ecx_outframe_red(ecx_portt *port, uint8 idx)
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int ecx_outframe_red(ecx_portt *port, int idx)
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{
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{
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ec_comt *datagramP;
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ec_comt *datagramP;
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ec_etherheadert *ehp;
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ec_etherheadert *ehp;
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@ -300,11 +300,11 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
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* @return Workcounter if a frame is found with corresponding index, otherwise
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* @return Workcounter if a frame is found with corresponding index, otherwise
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* EC_NOFRAME or EC_OTHERFRAME.
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* EC_NOFRAME or EC_OTHERFRAME.
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*/
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*/
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int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
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int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
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{
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{
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uint16 l;
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uint16 l;
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int rval;
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int rval;
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uint8 idxf;
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int idxf;
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ec_etherheadert *ehp;
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ec_etherheadert *ehp;
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ec_comt *ecp;
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ec_comt *ecp;
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ec_stackT *stack;
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ec_stackT *stack;
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@ -389,7 +389,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
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* @return Workcounter if a frame is found with corresponding index, otherwise
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* @return Workcounter if a frame is found with corresponding index, otherwise
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* EC_NOFRAME.
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* EC_NOFRAME.
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*/
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*/
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static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
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static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
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{
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{
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osal_timert timer2;
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osal_timert timer2;
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int wkc = EC_NOFRAME;
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int wkc = EC_NOFRAME;
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@ -464,7 +464,7 @@ static int ecx_waitinframe_red(ecx_portt *port, uint8 idx, osal_timert *timer)
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* @return Workcounter if a frame is found with corresponding index, otherwise
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* @return Workcounter if a frame is found with corresponding index, otherwise
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* EC_NOFRAME.
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* EC_NOFRAME.
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*/
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*/
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int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
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int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
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{
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{
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int wkc;
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int wkc;
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osal_timert timer;
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osal_timert timer;
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@ -487,7 +487,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
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* @param[in] timeout = timeout in us
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* @param[in] timeout = timeout in us
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* @return Workcounter or EC_NOFRAME
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* @return Workcounter or EC_NOFRAME
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*/
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*/
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int ecx_srconfirm(ecx_portt *port, uint8 idx, int timeout)
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int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
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{
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{
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int wkc = EC_NOFRAME;
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int wkc = EC_NOFRAME;
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osal_timert timer1, timer2;
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osal_timert timer1, timer2;
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@ -529,32 +529,32 @@ int ec_getindex(void)
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return ecx_getindex(&ecx_port);
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return ecx_getindex(&ecx_port);
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}
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}
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void ec_setbufstat(uint8 idx, int bufstat)
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void ec_setbufstat(int idx, int bufstat)
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{
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{
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ecx_setbufstat(&ecx_port, idx, bufstat);
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ecx_setbufstat(&ecx_port, idx, bufstat);
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}
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}
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int ec_outframe(uint8 idx, int stacknumber)
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int ec_outframe(int idx, int stacknumber)
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{
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{
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return ecx_outframe(&ecx_port, idx, stacknumber);
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return ecx_outframe(&ecx_port, idx, stacknumber);
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}
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}
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int ec_outframe_red(uint8 idx)
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int ec_outframe_red(int idx)
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{
|
{
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return ecx_outframe_red(&ecx_port, idx);
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return ecx_outframe_red(&ecx_port, idx);
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}
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}
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||||||
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|
||||||
int ec_inframe(uint8 idx, int stacknumber)
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int ec_inframe(int idx, int stacknumber)
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{
|
{
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return ecx_inframe(&ecx_port, idx, stacknumber);
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return ecx_inframe(&ecx_port, idx, stacknumber);
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||||||
}
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}
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||||||
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||||||
int ec_waitinframe(uint8 idx, int timeout)
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int ec_waitinframe(int idx, int timeout)
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||||||
{
|
{
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||||||
return ecx_waitinframe(&ecx_port, idx, timeout);
|
return ecx_waitinframe(&ecx_port, idx, timeout);
|
||||||
}
|
}
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||||||
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|
||||||
int ec_srconfirm(uint8 idx, int timeout)
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int ec_srconfirm(int idx, int timeout)
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||||||
{
|
{
|
||||||
return ecx_srconfirm(&ecx_port, idx, timeout);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
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||||||
|
|
|
||||||
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|
@ -73,7 +73,7 @@ typedef struct
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/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
int ec_inframe(uint8 idx, int stacknumber);
|
int ec_inframe(int idx, int stacknumber);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 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
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -267,10 +267,10 @@ void ec_setupheader(void *p)
|
||||||
/** Get new frame identifier index and allocate corresponding rx buffer.
|
/** Get new frame identifier index and allocate corresponding rx buffer.
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
uint8 idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
WaitForRtControl(port->getindex_region);
|
WaitForRtControl(port->getindex_region);
|
||||||
|
|
||||||
|
|
@ -307,7 +307,7 @@ uint8 ecx_getindex(ecx_portt *port)
|
||||||
* @param[in] idx = index in buffer array
|
* @param[in] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
HPESTATUS status;
|
||||||
DWORD txstate;
|
DWORD txstate;
|
||||||
|
|
@ -384,7 +384,7 @@ end:
|
||||||
* @param[in] idx = index in tx buffer array
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @return socket send result
|
||||||
*/
|
*/
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx)
|
int ecx_outframe_red(ecx_portt *port, int idx)
|
||||||
{
|
{
|
||||||
HPESTATUS status;
|
HPESTATUS status;
|
||||||
ec_comt *datagramP;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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;
|
osal_timert timer2;
|
||||||
int wkc = EC_NOFRAME;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -681,7 +681,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer1;
|
osal_timert timer1;
|
||||||
|
|
@ -706,37 +706,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -74,7 +74,7 @@ typedef struct
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
|
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -215,10 +215,10 @@ void ec_setupheader(void *p)
|
||||||
* @param[in] port = port context struct
|
* @param[in] port = port context struct
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
pthread_mutex_lock( &(port->getindex_mutex) );
|
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] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
int lp, rval;
|
||||||
ec_stackT *stack;
|
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
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @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_comt *datagramP;
|
||||||
ec_etherheadert *ehp;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
int rval;
|
||||||
uint8 idxf;
|
int idxf;
|
||||||
ec_etherheadert *ehp;
|
ec_etherheadert *ehp;
|
||||||
ec_comt *ecp;
|
ec_comt *ecp;
|
||||||
ec_stackT *stack;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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;
|
osal_timert timer2;
|
||||||
int wkc = EC_NOFRAME;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -570,7 +570,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer1, timer2;
|
osal_timert timer1, timer2;
|
||||||
|
|
@ -608,37 +608,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -76,7 +76,7 @@ typedef struct
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -42,6 +42,7 @@ uint16 oshw_ntohs(uint16 network)
|
||||||
ec_adaptert * oshw_find_adapters(void)
|
ec_adaptert * oshw_find_adapters(void)
|
||||||
{
|
{
|
||||||
int i;
|
int i;
|
||||||
|
int string_len;
|
||||||
struct if_nameindex *ids;
|
struct if_nameindex *ids;
|
||||||
ec_adaptert * adapter;
|
ec_adaptert * adapter;
|
||||||
ec_adaptert * prev_adapter;
|
ec_adaptert * prev_adapter;
|
||||||
|
|
@ -74,10 +75,15 @@ ec_adaptert * oshw_find_adapters(void)
|
||||||
|
|
||||||
if (ids[i].if_name)
|
if (ids[i].if_name)
|
||||||
{
|
{
|
||||||
strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
|
string_len = strlen(ids[i].if_name);
|
||||||
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
|
||||||
strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
|
{
|
||||||
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
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
|
else
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -201,10 +201,10 @@ void ec_setupheader(void *p)
|
||||||
* @param[in] port = port context struct
|
* @param[in] port = port context struct
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
pthread_mutex_lock(&(port->getindex_mutex));
|
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] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
int lp, rval;
|
||||||
ec_stackT *stack;
|
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
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @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_comt *datagramP;
|
||||||
ec_etherheadert *ehp;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
int rval;
|
||||||
uint8 idxf;
|
int idxf;
|
||||||
ec_etherheadert *ehp;
|
ec_etherheadert *ehp;
|
||||||
ec_comt *ecp;
|
ec_comt *ecp;
|
||||||
ec_stackT *stack;
|
ec_stackT *stack;
|
||||||
|
|
@ -440,6 +440,7 @@ int ecx_inframe(ecx_portt *port, uint8 idx, int stacknumber)
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
|
assert(0);
|
||||||
/* strange things happened */
|
/* 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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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;
|
osal_timert timer2;
|
||||||
int wkc = EC_NOFRAME;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -571,7 +572,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer1, timer2;
|
osal_timert timer1, timer2;
|
||||||
|
|
@ -611,37 +612,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -76,7 +76,7 @@ typedef struct
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -42,6 +42,7 @@ uint16 oshw_ntohs(uint16 network)
|
||||||
ec_adaptert * oshw_find_adapters(void)
|
ec_adaptert * oshw_find_adapters(void)
|
||||||
{
|
{
|
||||||
int i;
|
int i;
|
||||||
|
int string_len;
|
||||||
struct if_nameindex *ids;
|
struct if_nameindex *ids;
|
||||||
ec_adaptert * adapter;
|
ec_adaptert * adapter;
|
||||||
ec_adaptert * prev_adapter;
|
ec_adaptert * prev_adapter;
|
||||||
|
|
@ -69,15 +70,20 @@ ec_adaptert * oshw_find_adapters(void)
|
||||||
ret_adapter = adapter;
|
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;
|
adapter->next = NULL;
|
||||||
|
|
||||||
if (ids[i].if_name)
|
if (ids[i].if_name)
|
||||||
{
|
{
|
||||||
strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
|
string_len = strlen(ids[i].if_name);
|
||||||
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
|
||||||
strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
|
{
|
||||||
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
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
|
else
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -260,10 +260,10 @@ void ec_setupheader(void *p)
|
||||||
* @param[in] port = port context struct
|
* @param[in] port = port context struct
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
pthread_mutex_lock( &(port->getindex_mutex) );
|
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] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
int lp, rval;
|
||||||
ec_stackT *stack;
|
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
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @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_comt *datagramP;
|
||||||
ec_etherheadert *ehp;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
int rval;
|
||||||
uint8 idxf;
|
int idxf;
|
||||||
ec_etherheadert *ehp;
|
ec_etherheadert *ehp;
|
||||||
ec_comt *ecp;
|
ec_comt *ecp;
|
||||||
ec_stackT *stack;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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;
|
osal_timert timer2;
|
||||||
int wkc = EC_NOFRAME;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -621,7 +621,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer1, timer2;
|
osal_timert timer1, timer2;
|
||||||
|
|
@ -659,37 +659,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -76,7 +76,7 @@ typedef struct
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -42,6 +42,7 @@ uint16 oshw_ntohs(uint16 network)
|
||||||
ec_adaptert * oshw_find_adapters(void)
|
ec_adaptert * oshw_find_adapters(void)
|
||||||
{
|
{
|
||||||
int i;
|
int i;
|
||||||
|
int string_len;
|
||||||
struct if_nameindex *ids;
|
struct if_nameindex *ids;
|
||||||
ec_adaptert * adapter;
|
ec_adaptert * adapter;
|
||||||
ec_adaptert * prev_adapter;
|
ec_adaptert * prev_adapter;
|
||||||
|
|
@ -69,15 +70,20 @@ ec_adaptert * oshw_find_adapters(void)
|
||||||
ret_adapter = adapter;
|
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;
|
adapter->next = NULL;
|
||||||
|
|
||||||
if (ids[i].if_name)
|
if (ids[i].if_name)
|
||||||
{
|
{
|
||||||
strncpy(adapter->name, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
|
string_len = strlen(ids[i].if_name);
|
||||||
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
if (string_len > (EC_MAXLEN_ADAPTERNAME - 1))
|
||||||
strncpy(adapter->desc, ids[i].if_name, EC_MAXLEN_ADAPTERNAME);
|
{
|
||||||
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
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
|
else
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -192,10 +192,10 @@ void ec_setupheader(void *p)
|
||||||
* @param[in] port = port context struct
|
* @param[in] port = port context struct
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
mtx_lock (port->getindex_mutex);
|
mtx_lock (port->getindex_mutex);
|
||||||
|
|
||||||
|
|
@ -233,7 +233,7 @@ uint8 ecx_getindex(ecx_portt *port)
|
||||||
* @param[in] idx = index in buffer array
|
* @param[in] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
int lp, rval;
|
||||||
ec_stackT *stack;
|
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
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @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_comt *datagramP;
|
||||||
ec_etherheadert *ehp;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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 wkc = EC_NOFRAME;
|
||||||
int wkc2 = 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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -557,7 +557,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -590,37 +590,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -69,7 +69,7 @@ typedef struct
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int stacknumber);
|
int ec_outframe(int idx, int stacknumber);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int stacknumber);
|
int ecx_outframe(ecx_portt *port, int idx, int stacknumber);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -371,10 +371,10 @@ void ec_setupheader(void *p)
|
||||||
* @param[in] port = port context struct
|
* @param[in] port = port context struct
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
semTake(port->sem_get_index, WAIT_FOREVER);
|
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] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] len = bytes to send
|
||||||
* @return driver send result
|
* @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;
|
STATUS status = OK;
|
||||||
M_BLK_ID pPacket = NULL;
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
int rval = 0;
|
||||||
ec_stackT *stack;
|
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
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @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_comt *datagramP;
|
||||||
ec_etherheadert *ehp;
|
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)
|
static int mux_rx_callback(void* pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO *llHdrInfo, void *muxUserArg)
|
||||||
{
|
{
|
||||||
BOOL ret = FALSE;
|
BOOL ret = FALSE;
|
||||||
uint8 idxf;
|
int idxf;
|
||||||
ec_comt *ecp;
|
ec_comt *ecp;
|
||||||
ec_bufT * tempbuf;
|
ec_bufT * tempbuf;
|
||||||
ecx_portt * port;
|
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
|
* @param[in] timeout = timeout in us
|
||||||
* @return >0 if frame is available and read
|
* @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;
|
int bytesrx = 0;
|
||||||
MSG_Q_ID msgQId;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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;
|
osal_timert timer2;
|
||||||
int wkc = EC_NOFRAME;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -904,7 +904,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer1, timer2;
|
osal_timert timer1, timer2;
|
||||||
|
|
@ -943,37 +943,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -85,7 +85,7 @@ typedef struct ecx_port
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -202,10 +202,10 @@ void ec_setupheader(void *p)
|
||||||
* @param[in] port = port context struct
|
* @param[in] port = port context struct
|
||||||
* @return new index.
|
* @return new index.
|
||||||
*/
|
*/
|
||||||
uint8 ecx_getindex(ecx_portt *port)
|
int ecx_getindex(ecx_portt *port)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int idx;
|
||||||
uint8 cnt;
|
int cnt;
|
||||||
|
|
||||||
EnterCriticalSection(&(port->getindex_mutex));
|
EnterCriticalSection(&(port->getindex_mutex));
|
||||||
|
|
||||||
|
|
@ -241,7 +241,7 @@ uint8 ecx_getindex(ecx_portt *port)
|
||||||
* @param[in] idx = index in buffer array
|
* @param[in] idx = index in buffer array
|
||||||
* @param[in] bufstat = status to set
|
* @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;
|
port->rxbufstat[idx] = bufstat;
|
||||||
if (port->redstate != ECT_RED_NONE)
|
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
|
* @param[in] stacknumber = 0=Primary 1=Secondary stack
|
||||||
* @return socket send result
|
* @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;
|
int lp, rval;
|
||||||
ec_stackT *stack;
|
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
|
* @param[in] idx = index in tx buffer array
|
||||||
* @return socket send result
|
* @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_comt *datagramP;
|
||||||
ec_etherheadert *ehp;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME or EC_OTHERFRAME.
|
* 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;
|
uint16 l;
|
||||||
int rval;
|
int rval;
|
||||||
uint8 idxf;
|
int idxf;
|
||||||
ec_etherheadert *ehp;
|
ec_etherheadert *ehp;
|
||||||
ec_comt *ecp;
|
ec_comt *ecp;
|
||||||
ec_stackT *stack;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* 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;
|
osal_timert timer2;
|
||||||
int wkc = EC_NOFRAME;
|
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
|
* @return Workcounter if a frame is found with corresponding index, otherwise
|
||||||
* EC_NOFRAME.
|
* EC_NOFRAME.
|
||||||
*/
|
*/
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
|
||||||
{
|
{
|
||||||
int wkc;
|
int wkc;
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
@ -571,7 +571,7 @@ int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout)
|
||||||
* @param[in] timeout = timeout in us
|
* @param[in] timeout = timeout in us
|
||||||
* @return Workcounter or EC_NOFRAME
|
* @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;
|
int wkc = EC_NOFRAME;
|
||||||
osal_timert timer1, timer2;
|
osal_timert timer1, timer2;
|
||||||
|
|
@ -611,37 +611,37 @@ int ec_closenic(void)
|
||||||
return ecx_closenic(&ecx_port);
|
return ecx_closenic(&ecx_port);
|
||||||
}
|
}
|
||||||
|
|
||||||
uint8 ec_getindex(void)
|
int ec_getindex(void)
|
||||||
{
|
{
|
||||||
return ecx_getindex(&ecx_port);
|
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);
|
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);
|
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);
|
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);
|
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);
|
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);
|
return ecx_srconfirm(&ecx_port, idx, timeout);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -79,7 +79,7 @@ typedef struct
|
||||||
/** temporary tx buffer length */
|
/** temporary tx buffer length */
|
||||||
int txbuflength2;
|
int txbuflength2;
|
||||||
/** last used frame index */
|
/** last used frame index */
|
||||||
uint8 lastidx;
|
int lastidx;
|
||||||
/** current redundancy state */
|
/** current redundancy state */
|
||||||
int redstate;
|
int redstate;
|
||||||
/** pointer to redundancy port and buffers */
|
/** 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_setupnic(const char * ifname, int secondary);
|
||||||
int ec_closenic(void);
|
int ec_closenic(void);
|
||||||
void ec_setbufstat(uint8 idx, int bufstat);
|
void ec_setbufstat(int idx, int bufstat);
|
||||||
uint8 ec_getindex(void);
|
int ec_getindex(void);
|
||||||
int ec_outframe(uint8 idx, int sock);
|
int ec_outframe(int idx, int sock);
|
||||||
int ec_outframe_red(uint8 idx);
|
int ec_outframe_red(int idx);
|
||||||
int ec_waitinframe(uint8 idx, int timeout);
|
int ec_waitinframe(int idx, int timeout);
|
||||||
int ec_srconfirm(uint8 idx,int timeout);
|
int ec_srconfirm(int idx,int timeout);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void ec_setupheader(void *p);
|
void ec_setupheader(void *p);
|
||||||
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
int ecx_setupnic(ecx_portt *port, const char * ifname, int secondary);
|
||||||
int ecx_closenic(ecx_portt *port);
|
int ecx_closenic(ecx_portt *port);
|
||||||
void ecx_setbufstat(ecx_portt *port, uint8 idx, int bufstat);
|
void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
|
||||||
uint8 ecx_getindex(ecx_portt *port);
|
int ecx_getindex(ecx_portt *port);
|
||||||
int ecx_outframe(ecx_portt *port, uint8 idx, int sock);
|
int ecx_outframe(ecx_portt *port, int idx, int sock);
|
||||||
int ecx_outframe_red(ecx_portt *port, uint8 idx);
|
int ecx_outframe_red(ecx_portt *port, int idx);
|
||||||
int ecx_waitinframe(ecx_portt *port, uint8 idx, int timeout);
|
int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
|
||||||
int ecx_srconfirm(ecx_portt *port, uint8 idx,int timeout);
|
int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
|
||||||
|
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -42,6 +42,7 @@ ec_adaptert * oshw_find_adapters (void)
|
||||||
ec_adaptert * prev_adapter;
|
ec_adaptert * prev_adapter;
|
||||||
ec_adaptert * ret_adapter = NULL;
|
ec_adaptert * ret_adapter = NULL;
|
||||||
char errbuf[PCAP_ERRBUF_SIZE];
|
char errbuf[PCAP_ERRBUF_SIZE];
|
||||||
|
size_t string_len;
|
||||||
|
|
||||||
/* find all devices */
|
/* find all devices */
|
||||||
if (pcap_findalldevs(&alldevs, errbuf) == -1)
|
if (pcap_findalldevs(&alldevs, errbuf) == -1)
|
||||||
|
|
@ -72,8 +73,13 @@ ec_adaptert * oshw_find_adapters (void)
|
||||||
adapter->next = NULL;
|
adapter->next = NULL;
|
||||||
if (d->name)
|
if (d->name)
|
||||||
{
|
{
|
||||||
strncpy(adapter->name, d->name, EC_MAXLEN_ADAPTERNAME);
|
string_len = strlen(d->name);
|
||||||
adapter->name[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
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
|
else
|
||||||
{
|
{
|
||||||
|
|
@ -81,8 +87,13 @@ ec_adaptert * oshw_find_adapters (void)
|
||||||
}
|
}
|
||||||
if (d->description)
|
if (d->description)
|
||||||
{
|
{
|
||||||
strncpy(adapter->desc, d->description, EC_MAXLEN_ADAPTERNAME);
|
string_len = strlen(d->description);
|
||||||
adapter->desc[EC_MAXLEN_ADAPTERNAME-1] = '\0';
|
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
|
else
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -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
|
* @param[in] data = databuffer to be copied in datagram
|
||||||
* @return Offset to data in rx frame, usefull to retrieve data after RX.
|
* @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;
|
ec_comt *datagramP;
|
||||||
uint8 *frameP;
|
uint8 *frameP;
|
||||||
|
|
@ -111,7 +111,7 @@ uint16 ecx_adddatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, boole
|
||||||
|
|
||||||
frameP = frame;
|
frameP = frame;
|
||||||
/* copy previous frame size */
|
/* copy previous frame size */
|
||||||
prevlength = (uint16)port->txbuflength[idx];
|
prevlength = port->txbuflength[idx];
|
||||||
datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
|
datagramP = (ec_comt*)&frameP[ETH_HEADERSIZE];
|
||||||
/* add new datagram to ethernet frame size */
|
/* add new datagram to ethernet frame size */
|
||||||
datagramP->elength = htoes( etohs(datagramP->elength) + EC_HEADERSIZE + length );
|
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);
|
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);
|
return ecx_adddatagram (&ecx_port, frame, com, idx, more, ADP, ADO, length, data);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -17,7 +17,7 @@ extern "C"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
int ecx_setupdatagram(ecx_portt *port, void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
|
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_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_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);
|
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
|
#ifdef EC_VER1
|
||||||
int ec_setupdatagram(void *frame, uint8 com, uint8 idx, uint16 ADP, uint16 ADO, uint16 length, void *data);
|
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_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_BRD(uint16 ADP,uint16 ADO,uint16 length,void *data,int timeout);
|
||||||
int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
|
int ec_APRD(uint16 ADP, uint16 ADO, uint16 length, void *data, int timeout);
|
||||||
|
|
|
||||||
|
|
@ -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 */
|
/* get new mailbox count value, used as session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
|
||||||
if (CA)
|
if (CA)
|
||||||
{
|
{
|
||||||
|
|
@ -218,7 +218,7 @@ int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subinde
|
||||||
SDOp->MbxHeader.priority = 0x00;
|
SDOp->MbxHeader.priority = 0x00;
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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->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->Command = ECT_SDO_SEG_UP_REQ + toggle; /* segment upload request */
|
||||||
SDOp->Index = htoes(index);
|
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)
|
boolean CA, int psize, void *p, int Timeout)
|
||||||
{
|
{
|
||||||
ec_SDOt *SDOp, *aSDOp;
|
ec_SDOt *SDOp, *aSDOp;
|
||||||
int wkc, maxdata, framedatasize;
|
int wkc, maxdata;
|
||||||
ec_mbxbuft MbxIn, MbxOut;
|
ec_mbxbuft MbxIn, MbxOut;
|
||||||
uint8 cnt, toggle;
|
uint8 cnt, toggle;
|
||||||
|
uint16 framedatasize;
|
||||||
boolean NotLast;
|
boolean NotLast;
|
||||||
uint8 *hp;
|
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 */
|
/* get new mailbox counter, used for session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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->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->Command = ECT_SDO_DOWN_EXP | (((4 - psize) << 2) & 0x0c); /* expedited SDO download transfer */
|
||||||
SDOp->Index = htoes(Index);
|
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 */
|
framedatasize = maxdata; /* segmented transfer needed */
|
||||||
NotLast = TRUE;
|
NotLast = TRUE;
|
||||||
}
|
}
|
||||||
SDOp->MbxHeader.length = htoes((uint16)(0x0a + framedatasize));
|
SDOp->MbxHeader.length = htoes(0x0a + framedatasize);
|
||||||
SDOp->MbxHeader.address = htoes(0x0000);
|
SDOp->MbxHeader.address = htoes(0x0000);
|
||||||
SDOp->MbxHeader.priority = 0x00;
|
SDOp->MbxHeader.priority = 0x00;
|
||||||
/* get new mailbox counter, used for session handle */
|
/* get new mailbox counter, used for session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits */
|
||||||
if (CA)
|
if (CA)
|
||||||
{
|
{
|
||||||
|
|
@ -465,18 +466,18 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
|
||||||
if (!NotLast && (framedatasize < 7))
|
if (!NotLast && (framedatasize < 7))
|
||||||
{
|
{
|
||||||
SDOp->MbxHeader.length = htoes(0x0a); /* minimum size */
|
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
|
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.address = htoes(0x0000);
|
||||||
SDOp->MbxHeader.priority = 0x00;
|
SDOp->MbxHeader.priority = 0x00;
|
||||||
/* get new mailbox counter value */
|
/* get new mailbox counter value */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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->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 */
|
SDOp->Command = SDOp->Command + toggle; /* add toggle bit to command byte */
|
||||||
/* copy parameter data to mailbox */
|
/* 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)
|
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize, void *p)
|
||||||
{
|
{
|
||||||
ec_SDOt *SDOp;
|
ec_SDOt *SDOp;
|
||||||
int wkc, maxdata, framedatasize;
|
int wkc, maxdata;
|
||||||
ec_mbxbuft MbxIn, MbxOut;
|
ec_mbxbuft MbxIn, MbxOut;
|
||||||
uint8 cnt;
|
uint8 cnt;
|
||||||
|
uint16 framedatasize;
|
||||||
|
|
||||||
ec_clearmbx(&MbxIn);
|
ec_clearmbx(&MbxIn);
|
||||||
/* Empty slave out mailbox if something is in. Timeout set to 0 */
|
/* 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 */
|
framedatasize = maxdata; /* limit transfer */
|
||||||
}
|
}
|
||||||
SDOp->MbxHeader.length = htoes((uint16)(0x02 + framedatasize));
|
SDOp->MbxHeader.length = htoes(0x02 + framedatasize);
|
||||||
SDOp->MbxHeader.address = htoes(0x0000);
|
SDOp->MbxHeader.address = htoes(0x0000);
|
||||||
SDOp->MbxHeader.priority = 0x00;
|
SDOp->MbxHeader.priority = 0x00;
|
||||||
/* get new mailbox counter, used for session handle */
|
/* get new mailbox counter, used for session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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 */
|
SDOp->CANOpen = htoes((RxPDOnumber & 0x01ff) + (ECT_COES_RXPDO << 12)); /* number 9bits service upper 4 bits */
|
||||||
/* copy PDO data to mailbox */
|
/* copy PDO data to mailbox */
|
||||||
memcpy(&SDOp->Command, p, framedatasize);
|
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 */
|
/* get new mailbox counter, used for session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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 */
|
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);
|
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
|
||||||
if (wkc > 0)
|
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
|
* @param[in] PDOassign = PDO assign object
|
||||||
* @return total bitlength of PDO assign
|
* @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;
|
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
|
||||||
uint8 subcnt;
|
uint8 subcnt;
|
||||||
int wkc, rdl;
|
int wkc, bsize = 0, rdl;
|
||||||
int32 rdat2;
|
int32 rdat2;
|
||||||
uint32 bsize = 0;
|
|
||||||
|
|
||||||
rdl = sizeof(rdat); rdat = 0;
|
rdl = sizeof(rdat); rdat = 0;
|
||||||
/* read PDO assign subindex 0 ( = number of PDO's) */
|
/* 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
|
* @param[in] PDOassign = PDO assign object
|
||||||
* @return total bitlength of PDO assign
|
* @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 PDOassign)
|
||||||
{
|
{
|
||||||
uint16 idxloop, nidx, subidxloop, idx, subidx;
|
uint16 idxloop, nidx, subidxloop, idx, subidx;
|
||||||
int wkc, rdl;
|
int wkc, bsize = 0, rdl;
|
||||||
uint32 bsize = 0;
|
|
||||||
|
|
||||||
/* find maximum size of PDOassign buffer */
|
/* find maximum size of PDOassign buffer */
|
||||||
rdl = sizeof(ec_PDOassignt);
|
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
|
* @param[out] Isize = Size in bits of input mapping (txPDO) found
|
||||||
* @return >0 if mapping successful.
|
* @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 wkc, rdl;
|
||||||
int retVal = 0;
|
int retVal = 0;
|
||||||
uint8 nSM, iSM, tSM;
|
uint8 nSM, iSM, tSM;
|
||||||
uint32 Tsize;
|
int Tsize;
|
||||||
uint8 SMt_bug_add;
|
uint8 SMt_bug_add;
|
||||||
|
|
||||||
*Isize = 0;
|
*Isize = 0;
|
||||||
|
|
@ -868,7 +868,7 @@ int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, uint32 *Osize, uint32 *I
|
||||||
/* if a mapping is found */
|
/* if a mapping is found */
|
||||||
if (Tsize)
|
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)
|
if (tSM == 3)
|
||||||
{
|
{
|
||||||
/* we are doing outputs */
|
/* 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
|
* @param[out] Isize = Size in bits of input mapping (txPDO) found
|
||||||
* @return >0 if mapping successful.
|
* @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 wkc, rdl;
|
||||||
int retVal = 0;
|
int retVal = 0;
|
||||||
uint8 nSM, iSM, tSM;
|
uint8 nSM, iSM, tSM;
|
||||||
uint32 Tsize;
|
int Tsize;
|
||||||
uint8 SMt_bug_add;
|
uint8 SMt_bug_add;
|
||||||
|
|
||||||
*Isize = 0;
|
*Isize = 0;
|
||||||
|
|
@ -964,7 +964,7 @@ int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, uint32 *
|
||||||
/* if a mapping is found */
|
/* if a mapping is found */
|
||||||
if (Tsize)
|
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)
|
if (tSM == 3)
|
||||||
{
|
{
|
||||||
/* we are doing outputs */
|
/* we are doing outputs */
|
||||||
|
|
@ -1019,7 +1019,7 @@ int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
|
||||||
/* Get new mailbox counter value */
|
/* Get new mailbox counter value */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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->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->Opcode = ECT_GET_ODLIST_REQ; /* get object description list request */
|
||||||
SDOp->Reserved = 0;
|
SDOp->Reserved = 0;
|
||||||
|
|
@ -1139,7 +1139,7 @@ int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlis
|
||||||
/* Get new mailbox counter value */
|
/* Get new mailbox counter value */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
|
||||||
SDOp->Opcode = ECT_GET_OD_REQ; /* get object description request */
|
SDOp->Opcode = ECT_GET_OD_REQ; /* get object description request */
|
||||||
SDOp->Reserved = 0;
|
SDOp->Reserved = 0;
|
||||||
|
|
@ -1224,7 +1224,7 @@ int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt
|
||||||
/* Get new mailbox counter value */
|
/* Get new mailbox counter value */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
|
||||||
context->slavelist[Slave].mbx_cnt = 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->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->Opcode = ECT_GET_OE_REQ; /* get object entry description request */
|
||||||
SDOp->Reserved = 0;
|
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
|
* @param[in] PDOassign = PDO assign object
|
||||||
* @return total bitlength of PDO assign
|
* @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);
|
return ecx_readPDOassign(&ecx_context, Slave, PDOassign);
|
||||||
}
|
}
|
||||||
|
|
@ -1420,7 +1420,7 @@ uint32 ec_readPDOassign(uint16 Slave, uint16 PDOassign)
|
||||||
* @return total bitlength of PDO assign
|
* @return total bitlength of PDO assign
|
||||||
* @see ecx_readPDOmap
|
* @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);
|
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
|
* @param[out] Isize = Size in bits of input mapping (txPDO) found
|
||||||
* @return >0 if mapping succesful.
|
* @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);
|
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.
|
* @return >0 if mapping succesful.
|
||||||
* @see ecx_readPDOmap ec_readPDOmapCA
|
* @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);
|
return ecx_readPDOmapCA(&ecx_context, Slave, Thread_n, Osize, Isize);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -66,8 +66,8 @@ int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
|
||||||
boolean CA, int psize, void *p, int Timeout);
|
boolean CA, int psize, void *p, int Timeout);
|
||||||
int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
|
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_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout);
|
||||||
int ec_readPDOmap(uint16 Slave, uint32 *Osize, uint32 *Isize);
|
int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize);
|
||||||
int ec_readPDOmapCA(uint16 Slave, int Thread_n, uint32 *Osize, uint32 *Isize);
|
int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize);
|
||||||
int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
|
int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist);
|
||||||
int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
|
int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist);
|
||||||
int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
|
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);
|
boolean CA, int psize, void *p, int Timeout);
|
||||||
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber , int psize, void *p);
|
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_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_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize);
|
||||||
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 ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
|
int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist);
|
||||||
int ecx_readODdescription(ecx_contextt *context, uint16 Item, 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);
|
int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist);
|
||||||
|
|
|
||||||
|
|
@ -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].SMlength = htoes(context->slavelist[slave].mbx_rl);
|
||||||
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
|
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
|
||||||
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
|
eedat = ecx_readeeprom2(context, slave, EC_TIMEOUTEEP);
|
||||||
context->slavelist[slave].mbx_proto = (uint16)etohl(eedat);
|
context->slavelist[slave].mbx_proto = etohl(eedat);
|
||||||
}
|
}
|
||||||
cindex = 0;
|
cindex = 0;
|
||||||
/* use configuration table ? */
|
/* 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.
|
/* 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.
|
* 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;
|
int i, nSM;
|
||||||
if ((slave > 1) && (*(context->slavecount) > 0))
|
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;
|
*Osize = context->slavelist[i].Obits;
|
||||||
*Isize = context->slavelist[i].Ibits;
|
*Isize = context->slavelist[i].Ibits;
|
||||||
context->slavelist[slave].Obits = (uint16)*Osize;
|
context->slavelist[slave].Obits = *Osize;
|
||||||
context->slavelist[slave].Ibits = (uint16)*Isize;
|
context->slavelist[slave].Ibits = *Isize;
|
||||||
EC_PRINT("Copy mapping slave %d from %d.\n", slave, i);
|
EC_PRINT("Copy mapping slave %d from %d.\n", slave, i);
|
||||||
return 1;
|
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)
|
static int ecx_map_coe_soe(ecx_contextt *context, uint16 slave, int thread_n)
|
||||||
{
|
{
|
||||||
uint32 Isize, Osize;
|
int Isize, Osize;
|
||||||
int rval;
|
int rval;
|
||||||
|
|
||||||
ecx_statecheck(context, slave, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); /* check state change pre-op */
|
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 */
|
/* read PDO mapping via CoE */
|
||||||
rval = ecx_readPDOmap(context, slave, &Osize, &Isize);
|
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 */
|
if ((!Isize && !Osize) && (context->slavelist[slave].mbx_proto & ECT_MBXPROT_SOE)) /* has SoE */
|
||||||
{
|
{
|
||||||
/* read AT / MDT mapping via SoE */
|
/* read AT / MDT mapping via SoE */
|
||||||
rval = ecx_readIDNmap(context, slave, &Osize, &Isize);
|
rval = ecx_readIDNmap(context, slave, &Osize, &Isize);
|
||||||
context->slavelist[slave].SM[2].SMlength = htoes((uint16)((Osize + 7) / 8));
|
context->slavelist[slave].SM[2].SMlength = htoes((Osize + 7) / 8);
|
||||||
context->slavelist[slave].SM[3].SMlength = htoes((uint16)((Isize + 7) / 8));
|
context->slavelist[slave].SM[3].SMlength = htoes((Isize + 7) / 8);
|
||||||
EC_PRINT(" SoE Osize:%u Isize:%u\n", Osize, Isize);
|
EC_PRINT(" SoE Osize:%d Isize:%d\n", Osize, Isize);
|
||||||
}
|
}
|
||||||
context->slavelist[slave].Obits = (uint16)Osize;
|
context->slavelist[slave].Obits = Osize;
|
||||||
context->slavelist[slave].Ibits = (uint16)Isize;
|
context->slavelist[slave].Ibits = Isize;
|
||||||
}
|
}
|
||||||
|
|
||||||
return 1;
|
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)
|
static int ecx_map_sii(ecx_contextt *context, uint16 slave)
|
||||||
{
|
{
|
||||||
uint32 Isize, Osize;
|
int Isize, Osize;
|
||||||
int nSM;
|
int nSM;
|
||||||
ec_eepromPDOt eepPDO;
|
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 */
|
if (!Isize && !Osize) /* find PDO mapping by SII */
|
||||||
{
|
{
|
||||||
memset(&eepPDO, 0, sizeof(eepPDO));
|
memset(&eepPDO, 0, sizeof(eepPDO));
|
||||||
Isize = ecx_siiPDO(context, slave, &eepPDO, 0);
|
Isize = (int)ecx_siiPDO(context, slave, &eepPDO, 0);
|
||||||
EC_PRINT(" SII Isize:%u\n", Isize);
|
EC_PRINT(" SII Isize:%d\n", Isize);
|
||||||
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
|
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
|
||||||
{
|
{
|
||||||
if (eepPDO.SMbitsize[nSM] > 0)
|
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]);
|
EC_PRINT(" SM%d length %d\n", nSM, eepPDO.SMbitsize[nSM]);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
Osize = ecx_siiPDO(context, slave, &eepPDO, 1);
|
Osize = (int)ecx_siiPDO(context, slave, &eepPDO, 1);
|
||||||
EC_PRINT(" SII Osize:%u\n", Osize);
|
EC_PRINT(" SII Osize:%d\n", Osize);
|
||||||
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
|
for( nSM=0 ; nSM < EC_MAXSM ; nSM++ )
|
||||||
{
|
{
|
||||||
if (eepPDO.SMbitsize[nSM] > 0)
|
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].Obits = Osize;
|
||||||
context->slavelist[slave].Ibits = (uint16)Isize;
|
context->slavelist[slave].Ibits = Isize;
|
||||||
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
|
EC_PRINT(" ISIZE:%d %d OSIZE:%d\n",
|
||||||
context->slavelist[slave].Ibits, Isize,context->slavelist[slave].Obits);
|
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)
|
uint8 group, int16 slave, uint32 * LogAddr, uint8 * BitPos)
|
||||||
{
|
{
|
||||||
int BitCount = 0;
|
int BitCount = 0;
|
||||||
|
int ByteCount = 0;
|
||||||
|
int FMMUsize = 0;
|
||||||
int FMMUdone = 0;
|
int FMMUdone = 0;
|
||||||
int AddToInputsWKC = 0;
|
|
||||||
uint16 ByteCount = 0;
|
|
||||||
uint16 FMMUsize = 0;
|
|
||||||
uint8 SMc = 0;
|
uint8 SMc = 0;
|
||||||
uint16 EndAddr;
|
uint16 EndAddr;
|
||||||
uint16 SMlength;
|
uint16 SMlength;
|
||||||
|
|
@ -963,7 +962,7 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
|
||||||
*LogAddr += 1;
|
*LogAddr += 1;
|
||||||
*BitPos -= 8;
|
*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].LogLength = htoes(FMMUsize);
|
||||||
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
|
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
|
||||||
*BitPos += 1;
|
*BitPos += 1;
|
||||||
|
|
@ -987,7 +986,7 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
|
||||||
FMMUsize = ByteCount;
|
FMMUsize = ByteCount;
|
||||||
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Ibytes)
|
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Ibytes)
|
||||||
{
|
{
|
||||||
FMMUsize = (uint16)(context->slavelist[slave].Ibytes - FMMUdone);
|
FMMUsize = context->slavelist[slave].Ibytes - FMMUdone;
|
||||||
}
|
}
|
||||||
*LogAddr += FMMUsize;
|
*LogAddr += FMMUsize;
|
||||||
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(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 */
|
/* program FMMU for input */
|
||||||
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
|
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
|
||||||
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
|
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
|
||||||
/* Set flag to add one for an input FMMU,
|
/* add one for an input FMMU */
|
||||||
a single ESC can only contribute once */
|
context->grouplist[group].inputsWKC++;
|
||||||
AddToInputsWKC = 1;
|
|
||||||
}
|
}
|
||||||
if (!context->slavelist[slave].inputs)
|
if (!context->slavelist[slave].inputs)
|
||||||
{
|
{
|
||||||
|
|
@ -1031,20 +1029,15 @@ static void ecx_config_create_input_mappings(ecx_contextt *context, void *pIOmap
|
||||||
FMMUc++;
|
FMMUc++;
|
||||||
}
|
}
|
||||||
context->slavelist[slave].FMMUunused = 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,
|
static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOmap,
|
||||||
uint8 group, int16 slave, uint32 * LogAddr, uint8 * BitPos)
|
uint8 group, int16 slave, uint32 * LogAddr, uint8 * BitPos)
|
||||||
{
|
{
|
||||||
int BitCount = 0;
|
int BitCount = 0;
|
||||||
|
int ByteCount = 0;
|
||||||
|
int FMMUsize = 0;
|
||||||
int FMMUdone = 0;
|
int FMMUdone = 0;
|
||||||
int AddToOutputsWKC = 0;
|
|
||||||
uint16 ByteCount = 0;
|
|
||||||
uint16 FMMUsize = 0;
|
|
||||||
uint8 SMc = 0;
|
uint8 SMc = 0;
|
||||||
uint16 EndAddr;
|
uint16 EndAddr;
|
||||||
uint16 SMlength;
|
uint16 SMlength;
|
||||||
|
|
@ -1101,7 +1094,7 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
|
||||||
*LogAddr += 1;
|
*LogAddr += 1;
|
||||||
*BitPos -= 8;
|
*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].LogLength = htoes(FMMUsize);
|
||||||
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
|
context->slavelist[slave].FMMU[FMMUc].LogEndbit = *BitPos;
|
||||||
*BitPos += 1;
|
*BitPos += 1;
|
||||||
|
|
@ -1125,7 +1118,7 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
|
||||||
FMMUsize = ByteCount;
|
FMMUsize = ByteCount;
|
||||||
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Obytes)
|
if ((FMMUsize + FMMUdone)> (int)context->slavelist[slave].Obytes)
|
||||||
{
|
{
|
||||||
FMMUsize = (uint16)(context->slavelist[slave].Obytes - FMMUdone);
|
FMMUsize = context->slavelist[slave].Obytes - FMMUdone;
|
||||||
}
|
}
|
||||||
*LogAddr += FMMUsize;
|
*LogAddr += FMMUsize;
|
||||||
context->slavelist[slave].FMMU[FMMUc].LogLength = htoes(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;
|
*BitPos = 0;
|
||||||
}
|
}
|
||||||
FMMUdone += FMMUsize;
|
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].PhysStartBit = 0;
|
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
|
||||||
context->slavelist[slave].FMMU[FMMUc].FMMUtype = 2;
|
/* program FMMU for output */
|
||||||
context->slavelist[slave].FMMU[FMMUc].FMMUactive = 1;
|
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
|
||||||
/* program FMMU for output */
|
sizeof(ec_fmmut), &(context->slavelist[slave].FMMU[FMMUc]), EC_TIMEOUTRET3);
|
||||||
ecx_FPWR(context->port, configadr, ECT_REG_FMMU0 + (sizeof(ec_fmmut) * FMMUc),
|
context->grouplist[group].outputsWKC++;
|
||||||
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;
|
|
||||||
}
|
|
||||||
if (!context->slavelist[slave].outputs)
|
if (!context->slavelist[slave].outputs)
|
||||||
{
|
{
|
||||||
if (group)
|
if (group)
|
||||||
|
|
@ -1170,9 +1158,6 @@ static void ecx_config_create_output_mappings(ecx_contextt *context, void *pIOma
|
||||||
FMMUc++;
|
FMMUc++;
|
||||||
}
|
}
|
||||||
context->slavelist[slave].FMMUunused = 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
|
/** 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].Obytes = LogAddr - context->grouplist[group].logstartaddr;
|
||||||
context->grouplist[group].nsegments = currentsegment + 1;
|
context->grouplist[group].nsegments = currentsegment + 1;
|
||||||
context->grouplist[group].Isegment = currentsegment;
|
context->grouplist[group].Isegment = currentsegment;
|
||||||
context->grouplist[group].Ioffset = (uint16)segmentsize;
|
context->grouplist[group].Ioffset = segmentsize;
|
||||||
if (!group)
|
if (!group)
|
||||||
{
|
{
|
||||||
context->slavelist[0].outputs = pIOmap;
|
context->slavelist[0].outputs = pIOmap;
|
||||||
|
|
|
||||||
|
|
@ -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);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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_FRAME_PORT_SET(port) |
|
||||||
EOE_HDR_LAST_FRAGMENT);
|
EOE_HDR_LAST_FRAGMENT);
|
||||||
EOEp->frameinfo2 = 0;
|
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)
|
if (ipparam->mac_set)
|
||||||
{
|
{
|
||||||
flags |= EOE_PARAM_MAC_INCLUDE;
|
flags |= EOE_PARAM_MAC_INCLUDE;
|
||||||
memcpy(&EOEp->data[data_offset], ipparam->mac.addr, EOE_ETHADDR_LENGTH);
|
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)
|
if (ipparam->ip_set)
|
||||||
{
|
{
|
||||||
flags |= EOE_PARAM_IP_INCLUDE;
|
flags |= EOE_PARAM_IP_INCLUDE;
|
||||||
EOE_ip_uint32_to_byte(&ipparam->ip, &EOEp->data[data_offset]);
|
EOE_ip_uint32_to_byte(&ipparam->ip, &EOEp->data[data_offset]);
|
||||||
data_offset += EOE_IP4_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += 4;
|
||||||
if (ipparam->subnet_set)
|
if (ipparam->subnet_set)
|
||||||
{
|
{
|
||||||
flags |= EOE_PARAM_SUBNET_IP_INCLUDE;
|
flags |= EOE_PARAM_SUBNET_IP_INCLUDE;
|
||||||
EOE_ip_uint32_to_byte(&ipparam->subnet, &EOEp->data[data_offset]);
|
EOE_ip_uint32_to_byte(&ipparam->subnet, &EOEp->data[data_offset]);
|
||||||
data_offset += EOE_IP4_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += 4;
|
||||||
if (ipparam->default_gateway_set)
|
if (ipparam->default_gateway_set)
|
||||||
{
|
{
|
||||||
flags |= EOE_PARAM_DEFAULT_GATEWAY_INCLUDE;
|
flags |= EOE_PARAM_DEFAULT_GATEWAY_INCLUDE;
|
||||||
EOE_ip_uint32_to_byte(&ipparam->default_gateway, &EOEp->data[data_offset]);
|
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)
|
if (ipparam->dns_ip_set)
|
||||||
{
|
{
|
||||||
flags |= EOE_PARAM_DNS_IP_INCLUDE;
|
flags |= EOE_PARAM_DNS_IP_INCLUDE;
|
||||||
EOE_ip_uint32_to_byte(&ipparam->dns_ip, &EOEp->data[data_offset]);
|
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)
|
if (ipparam->dns_name_set)
|
||||||
{
|
{
|
||||||
/* TwinCAT include EOE_DNS_NAME_LENGTH chars even if name is shorter */
|
|
||||||
flags |= EOE_PARAM_DNS_NAME_INCLUDE;
|
flags |= EOE_PARAM_DNS_NAME_INCLUDE;
|
||||||
memcpy(&EOEp->data[data_offset], (void *)ipparam->dns_name, EOE_DNS_NAME_LENGTH);
|
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->mbxheader.length = htoes(EOE_PARAM_OFFSET + data_offset);
|
||||||
EOEp->data[0] = flags;
|
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);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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_FRAME_PORT_SET(port) |
|
||||||
EOE_HDR_LAST_FRAGMENT);
|
EOE_HDR_LAST_FRAGMENT);
|
||||||
EOEp->frameinfo2 = 0;
|
EOEp->frameinfo2 = 0;
|
||||||
|
|
@ -229,6 +231,10 @@ int ecx_EOEgetIp(ecx_contextt *context, uint16 slave, uint8 port, eoe_param_t *
|
||||||
}
|
}
|
||||||
else
|
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];
|
flags = aEOEp->data[0];
|
||||||
if (flags & EOE_PARAM_MAC_INCLUDE)
|
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],
|
&aEOEp->data[data_offset],
|
||||||
EOE_ETHADDR_LENGTH);
|
EOE_ETHADDR_LENGTH);
|
||||||
ipparam->mac_set = 1;
|
ipparam->mac_set = 1;
|
||||||
data_offset += EOE_ETHADDR_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += EOE_ETHADDR_LENGTH;
|
||||||
if (flags & EOE_PARAM_IP_INCLUDE)
|
if (flags & EOE_PARAM_IP_INCLUDE)
|
||||||
{
|
{
|
||||||
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
||||||
&ipparam->ip);
|
&ipparam->ip);
|
||||||
ipparam->ip_set = 1;
|
ipparam->ip_set = 1;
|
||||||
data_offset += EOE_IP4_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += 4;
|
||||||
if (flags & EOE_PARAM_SUBNET_IP_INCLUDE)
|
if (flags & EOE_PARAM_SUBNET_IP_INCLUDE)
|
||||||
{
|
{
|
||||||
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
||||||
&ipparam->subnet);
|
&ipparam->subnet);
|
||||||
ipparam->subnet_set = 1;
|
ipparam->subnet_set = 1;
|
||||||
data_offset += EOE_IP4_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += 4;
|
||||||
if (flags & EOE_PARAM_DEFAULT_GATEWAY_INCLUDE)
|
if (flags & EOE_PARAM_DEFAULT_GATEWAY_INCLUDE)
|
||||||
{
|
{
|
||||||
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
||||||
&ipparam->default_gateway);
|
&ipparam->default_gateway);
|
||||||
ipparam->default_gateway_set = 1;
|
ipparam->default_gateway_set = 1;
|
||||||
data_offset += EOE_IP4_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += 4;
|
||||||
if (flags & EOE_PARAM_DNS_IP_INCLUDE)
|
if (flags & EOE_PARAM_DNS_IP_INCLUDE)
|
||||||
{
|
{
|
||||||
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
EOE_ip_byte_to_uint32(&aEOEp->data[data_offset],
|
||||||
&ipparam->dns_ip);
|
&ipparam->dns_ip);
|
||||||
ipparam->dns_ip_set = 1;
|
ipparam->dns_ip_set = 1;
|
||||||
data_offset += EOE_IP4_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += 4;
|
||||||
if (flags & EOE_PARAM_DNS_NAME_INCLUDE)
|
if (flags & EOE_PARAM_DNS_NAME_INCLUDE)
|
||||||
{
|
{
|
||||||
uint16_t dns_len;
|
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 */
|
/* Assume ZERO terminated string */
|
||||||
memcpy(ipparam->dns_name, &aEOEp->data[data_offset], dns_len);
|
memcpy(ipparam->dns_name, &aEOEp->data[data_offset], dns_len);
|
||||||
ipparam->dns_name_set = 1;
|
ipparam->dns_name_set = 1;
|
||||||
data_offset += EOE_DNS_NAME_LENGTH;
|
|
||||||
}
|
}
|
||||||
|
data_offset += EOE_DNS_NAME_LENGTH;
|
||||||
/* Something os not correct, flag the error */
|
/* Something os not correct, flag the error */
|
||||||
if(data_offset > eoedatasize)
|
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_EOEt *EOEp;
|
||||||
ec_mbxbuft MbxOut;
|
ec_mbxbuft MbxOut;
|
||||||
uint16 frameinfo1, frameinfo2;
|
uint16 frameinfo1, frameinfo2;
|
||||||
|
uint16 txframesize, txframeoffset;
|
||||||
uint8 cnt, txfragmentno;
|
uint8 cnt, txfragmentno;
|
||||||
boolean NotLast;
|
boolean NotLast;
|
||||||
int wkc, maxdata, txframesize, txframeoffset;
|
int wkc, maxdata;
|
||||||
const uint8 * buf = p;
|
const uint8 * buf = p;
|
||||||
static uint8_t txframeno = 0;
|
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);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = cnt;
|
context->slavelist[slave].mbx_cnt = cnt;
|
||||||
|
|
||||||
EOEp->mbxheader.length = htoes((uint16)(4 + txframesize)); /* no timestamp */
|
EOEp->mbxheader.length = htoes(4 + txframesize); /* no timestamp */
|
||||||
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + MBX_HDR_SET_CNT(cnt); /* EoE */
|
EOEp->mbxheader.mbxtype = ECT_MBXT_EOE + (cnt << 4); /* EoE */
|
||||||
|
|
||||||
EOEp->frameinfo1 = htoes(frameinfo1);
|
EOEp->frameinfo1 = htoes(frameinfo1);
|
||||||
EOEp->frameinfo2 = htoes(frameinfo2);
|
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_EOEt *aEOEp;
|
||||||
ec_mbxbuft MbxIn;
|
ec_mbxbuft MbxIn;
|
||||||
uint16 frameinfo1, frameinfo2;
|
uint16 frameinfo1, frameinfo2, rxframesize, rxframeoffset, eoedatasize;
|
||||||
uint8 rxfragmentno, rxframeno;
|
uint8 rxfragmentno, rxframeno;
|
||||||
boolean NotLast;
|
boolean NotLast;
|
||||||
int wkc, buffersize, rxframesize, rxframeoffset, eoedatasize;
|
int wkc, buffersize;
|
||||||
uint8 * buf = p;
|
uint8 * buf = p;
|
||||||
|
|
||||||
ec_clearmbx(&MbxIn);
|
ec_clearmbx(&MbxIn);
|
||||||
|
|
@ -572,7 +579,7 @@ int ecx_EOEreadfragment(
|
||||||
/* Is it a new frame?*/
|
/* Is it a new frame?*/
|
||||||
if (*rxfragmentno == 0)
|
if (*rxfragmentno == 0)
|
||||||
{
|
{
|
||||||
*rxframesize = (uint16)(EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
|
*rxframesize = (EOE_HDR_FRAME_OFFSET_GET(frameinfo2) << 5);
|
||||||
*rxframeoffset = 0;
|
*rxframeoffset = 0;
|
||||||
*rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2);
|
*rxframeno = EOE_HDR_FRAME_NO_GET(frameinfo2);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -18,15 +18,10 @@ extern "C"
|
||||||
|
|
||||||
#include <ethercattype.h>
|
#include <ethercattype.h>
|
||||||
|
|
||||||
/* use maximum size for EOE mailbox data */
|
|
||||||
#define EC_MAXEOEDATA EC_MAXMBX
|
|
||||||
|
|
||||||
/** DNS length according to ETG 1000.6 */
|
/** DNS length according to ETG 1000.6 */
|
||||||
#define EOE_DNS_NAME_LENGTH 32
|
#define EOE_DNS_NAME_LENGTH 32
|
||||||
/** Ethernet address length not including VLAN */
|
/** Ethernet address length not including VLAN */
|
||||||
#define EOE_ETHADDR_LENGTH 6
|
#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) | \
|
#define EOE_MAKEU32(a,b,c,d) (((uint32_t)((a) & 0xff) << 24) | \
|
||||||
((uint32_t)((b) & 0xff) << 16) | \
|
((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_TYPE_GET(x) (((x) >> 0) & 0xF)
|
||||||
#define EOE_HDR_FRAME_PORT_OFFSET 4
|
#define EOE_HDR_FRAME_PORT_OFFSET 4
|
||||||
#define EOE_HDR_FRAME_PORT (0xF << 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_FRAME_PORT_GET(x) (((x) >> 4) & 0xF)
|
||||||
#define EOE_HDR_LAST_FRAGMENT_OFFSET 8
|
#define EOE_HDR_LAST_FRAGMENT_OFFSET 8
|
||||||
#define EOE_HDR_LAST_FRAGMENT (0x1 << 8)
|
#define EOE_HDR_LAST_FRAGMENT (0x1 << 8)
|
||||||
|
|
@ -84,15 +79,15 @@ extern "C"
|
||||||
/** Header frame info 2 */
|
/** Header frame info 2 */
|
||||||
#define EOE_HDR_FRAG_NO_OFFSET 0
|
#define EOE_HDR_FRAG_NO_OFFSET 0
|
||||||
#define EOE_HDR_FRAG_NO (0x3F << 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_FRAG_NO_GET(x) (((x) >> 0) & 0x3F)
|
||||||
#define EOE_HDR_FRAME_OFFSET_OFFSET 6
|
#define EOE_HDR_FRAME_OFFSET_OFFSET 6
|
||||||
#define EOE_HDR_FRAME_OFFSET (0x3F << 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_OFFSET_GET(x) (((x) >> 6) & 0x3F)
|
||||||
#define EOE_HDR_FRAME_NO_OFFSET 12
|
#define EOE_HDR_FRAME_NO_OFFSET 12
|
||||||
#define EOE_HDR_FRAME_NO (0xF << 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)
|
#define EOE_HDR_FRAME_NO_GET(x) (((x) >> 12) & 0xF)
|
||||||
|
|
||||||
/** EOE param */
|
/** EOE param */
|
||||||
|
|
@ -168,7 +163,7 @@ typedef struct PACKED
|
||||||
uint16_t frameinfo2;
|
uint16_t frameinfo2;
|
||||||
uint16_t result;
|
uint16_t result;
|
||||||
};
|
};
|
||||||
uint8 data[EC_MAXEOEDATA];
|
uint8 data[0];
|
||||||
} ec_EOEt;
|
} ec_EOEt;
|
||||||
PACKED_END
|
PACKED_END
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -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 */
|
/* get new mailbox count value, used as session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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->OpCode = ECT_FOE_READ;
|
||||||
FOEp->Password = htoel(password);
|
FOEp->Password = htoel(password);
|
||||||
/* copy filename in mailbox */
|
/* 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 */
|
/* get new mailbox count value */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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->OpCode = ECT_FOE_ACK;
|
||||||
FOEp->PacketNumber = htoel(packetnumber);
|
FOEp->PacketNumber = htoel(packetnumber);
|
||||||
/* send FoE ack to slave */
|
/* 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 */
|
/* get new mailbox count value, used as session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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->OpCode = ECT_FOE_WRITE;
|
||||||
FOEp->Password = htoel(password);
|
FOEp->Password = htoel(password);
|
||||||
/* copy filename in mailbox */
|
/* copy filename in mailbox */
|
||||||
|
|
@ -276,13 +276,13 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
|
||||||
{
|
{
|
||||||
dofinalzero = TRUE;
|
dofinalzero = TRUE;
|
||||||
}
|
}
|
||||||
FOEp->MbxHeader.length = htoes((uint16)(0x0006 + segmentdata));
|
FOEp->MbxHeader.length = htoes(0x0006 + segmentdata);
|
||||||
FOEp->MbxHeader.address = htoes(0x0000);
|
FOEp->MbxHeader.address = htoes(0x0000);
|
||||||
FOEp->MbxHeader.priority = 0x00;
|
FOEp->MbxHeader.priority = 0x00;
|
||||||
/* get new mailbox count value */
|
/* get new mailbox count value */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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;
|
FOEp->OpCode = ECT_FOE_DATA;
|
||||||
sendpacket++;
|
sendpacket++;
|
||||||
FOEp->PacketNumber = htoel(sendpacket);
|
FOEp->PacketNumber = htoel(sendpacket);
|
||||||
|
|
|
||||||
|
|
@ -110,6 +110,8 @@ ecx_contextt ecx_context = {
|
||||||
&ec_elist, // .elist =
|
&ec_elist, // .elist =
|
||||||
&ec_idxstack, // .idxstack =
|
&ec_idxstack, // .idxstack =
|
||||||
&EcatError, // .ecaterror =
|
&EcatError, // .ecaterror =
|
||||||
|
0, // .DCtO =
|
||||||
|
0, // .DCl =
|
||||||
&ec_DCtime, // .DCtime =
|
&ec_DCtime, // .DCtime =
|
||||||
&ec_SMcommtype[0], // .SMcommtype =
|
&ec_SMcommtype[0], // .SMcommtype =
|
||||||
&ec_PDOassign[0], // .PDOassign =
|
&ec_PDOassign[0], // .PDOassign =
|
||||||
|
|
@ -347,7 +349,7 @@ uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
|
||||||
if (address < EC_MAXEEPBUF)
|
if (address < EC_MAXEEPBUF)
|
||||||
{
|
{
|
||||||
mapw = address >> 5;
|
mapw = address >> 5;
|
||||||
mapb = (uint16)(address - (mapw << 5));
|
mapb = address - (mapw << 5);
|
||||||
if (context->esimap[mapw] & (uint32)(1 << mapb))
|
if (context->esimap[mapw] & (uint32)(1 << mapb))
|
||||||
{
|
{
|
||||||
/* byte is already in buffer */
|
/* byte is already in buffer */
|
||||||
|
|
@ -375,7 +377,7 @@ uint8 ecx_siigetbyte(ecx_contextt *context, uint16 slave, uint16 address)
|
||||||
}
|
}
|
||||||
/* find bitmap location */
|
/* find bitmap location */
|
||||||
mapw = eadr >> 4;
|
mapw = eadr >> 4;
|
||||||
mapb = (uint16)((eadr << 1) - (mapw << 5));
|
mapb = (eadr << 1) - (mapw << 5);
|
||||||
for(lp = 0 ; lp < cnt ; lp++)
|
for(lp = 0 ; lp < cnt ; lp++)
|
||||||
{
|
{
|
||||||
/* set bitmap for each byte that is read */
|
/* 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;
|
a = SM->Startpos;
|
||||||
w = ecx_siigetbyte(context, slave, a++);
|
w = ecx_siigetbyte(context, slave, a++);
|
||||||
w += (ecx_siigetbyte(context, slave, a++) << 8);
|
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++);
|
||||||
SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8);
|
SM->PhStart += (ecx_siigetbyte(context, slave, a++) << 8);
|
||||||
SM->Plength = ecx_siigetbyte(context, slave, a++);
|
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
|
* @param[in] t = 0=RXPDO 1=TXPDO
|
||||||
* @return mapping size in bits of PDO
|
* @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;
|
uint16 a , w, c, e, er, Size;
|
||||||
uint8 eectl = context->slavelist[slave].eep_pdi;
|
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;
|
int wkc;
|
||||||
uint8 idx;
|
uint8 idx;
|
||||||
ecx_portt *port;
|
ecx_portt *port;
|
||||||
uint16 sldatapos[MAX_FPRD_MULTI];
|
int sldatapos[MAX_FPRD_MULTI];
|
||||||
int slcnt;
|
int slcnt;
|
||||||
|
|
||||||
port = context->port;
|
port = context->port;
|
||||||
|
|
@ -787,7 +789,7 @@ int ecx_readstate(ecx_contextt *context)
|
||||||
fslave = 1;
|
fslave = 1;
|
||||||
do
|
do
|
||||||
{
|
{
|
||||||
lslave = (uint16)*(context->slavecount);
|
lslave = *(context->slavecount);
|
||||||
if ((lslave - fslave) >= MAX_FPRD_MULTI)
|
if ((lslave - fslave) >= MAX_FPRD_MULTI)
|
||||||
{
|
{
|
||||||
lslave = fslave + MAX_FPRD_MULTI - 1;
|
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)
|
void ecx_esidump(ecx_contextt *context, uint16 slave, uint8 *esibuf)
|
||||||
{
|
{
|
||||||
uint16 configadr, address, incr;
|
int address, incr;
|
||||||
|
uint16 configadr;
|
||||||
uint64 *p64;
|
uint64 *p64;
|
||||||
uint16 *p16;
|
uint16 *p16;
|
||||||
uint64 edat;
|
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)
|
uint16 ecx_eeprom_waitnotbusyAP(ecx_contextt *context, uint16 aiadr,uint16 *estat, int timeout)
|
||||||
{
|
{
|
||||||
int wkc, cnt = 0;
|
int wkc, cnt = 0, retval = 0;
|
||||||
uint16 retval = 0;
|
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
||||||
osal_timer_start(&timer, timeout);
|
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)
|
uint16 ecx_eeprom_waitnotbusyFP(ecx_contextt *context, uint16 configadr,uint16 *estat, int timeout)
|
||||||
{
|
{
|
||||||
int wkc, cnt = 0;
|
int wkc, cnt = 0, retval = 0;
|
||||||
uint16 retval = 0;
|
|
||||||
osal_timert timer;
|
osal_timert timer;
|
||||||
|
|
||||||
osal_timer_start(&timer, timeout);
|
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] idx = Used datagram index.
|
||||||
* @param[in] data = Pointer to process data segment.
|
* @param[in] data = Pointer to process data segment.
|
||||||
* @param[in] length = Length of data segment in bytes.
|
* @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)
|
if(context->idxstack->pushed < EC_MAXBUF)
|
||||||
{
|
{
|
||||||
context->idxstack->idx[context->idxstack->pushed] = idx;
|
context->idxstack->idx[context->idxstack->pushed] = idx;
|
||||||
context->idxstack->data[context->idxstack->pushed] = data;
|
context->idxstack->data[context->idxstack->pushed] = data;
|
||||||
context->idxstack->length[context->idxstack->pushed] = length;
|
context->idxstack->length[context->idxstack->pushed] = length;
|
||||||
context->idxstack->dcoffset[context->idxstack->pushed] = DCO;
|
|
||||||
context->idxstack->pushed++;
|
context->idxstack->pushed++;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -1699,15 +1698,13 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
|
||||||
{
|
{
|
||||||
uint32 LogAdr;
|
uint32 LogAdr;
|
||||||
uint16 w1, w2;
|
uint16 w1, w2;
|
||||||
int length;
|
int length, sublength;
|
||||||
uint16 sublength;
|
|
||||||
uint8 idx;
|
uint8 idx;
|
||||||
int wkc;
|
int wkc;
|
||||||
uint8* data;
|
uint8* data;
|
||||||
boolean first=FALSE;
|
boolean first=FALSE;
|
||||||
uint16 currentsegment = 0;
|
uint16 currentsegment = 0;
|
||||||
uint32 iomapinputoffset;
|
uint32 iomapinputoffset;
|
||||||
uint16 DCO;
|
|
||||||
|
|
||||||
wkc = 0;
|
wkc = 0;
|
||||||
if(context->grouplist[group].hasdc)
|
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)
|
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
|
else
|
||||||
{
|
{
|
||||||
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
|
sublength = context->grouplist[group].IOsegment[currentsegment++];
|
||||||
}
|
}
|
||||||
/* get new index */
|
/* get new index */
|
||||||
idx = ecx_getindex(context->port);
|
idx = ecx_getindex(context->port);
|
||||||
w1 = LO_WORD(LogAdr);
|
w1 = LO_WORD(LogAdr);
|
||||||
w2 = HI_WORD(LogAdr);
|
w2 = HI_WORD(LogAdr);
|
||||||
DCO = 0;
|
|
||||||
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRD, idx, w1, w2, sublength, data);
|
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRD, idx, w1, w2, sublength, data);
|
||||||
if(first)
|
if(first)
|
||||||
{
|
{
|
||||||
|
context->DCl = sublength;
|
||||||
/* FPRMW in second datagram */
|
/* 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,
|
context->slavelist[context->grouplist[group].DCnext].configadr,
|
||||||
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
||||||
first = FALSE;
|
first = FALSE;
|
||||||
|
|
@ -1773,7 +1770,7 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
|
||||||
/* send frame */
|
/* send frame */
|
||||||
ecx_outframe_red(context->port, idx);
|
ecx_outframe_red(context->port, idx);
|
||||||
/* push index and data pointer on stack */
|
/* push index and data pointer on stack */
|
||||||
ecx_pushindex(context, idx, data, sublength, DCO);
|
ecx_pushindex(context, idx, data, sublength);
|
||||||
length -= sublength;
|
length -= sublength;
|
||||||
LogAdr += sublength;
|
LogAdr += sublength;
|
||||||
data += sublength;
|
data += sublength;
|
||||||
|
|
@ -1789,21 +1786,21 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
|
||||||
/* segment transfer if needed */
|
/* segment transfer if needed */
|
||||||
do
|
do
|
||||||
{
|
{
|
||||||
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
|
sublength = context->grouplist[group].IOsegment[currentsegment++];
|
||||||
if((length - sublength) < 0)
|
if((length - sublength) < 0)
|
||||||
{
|
{
|
||||||
sublength = (uint16)length;
|
sublength = length;
|
||||||
}
|
}
|
||||||
/* get new index */
|
/* get new index */
|
||||||
idx = ecx_getindex(context->port);
|
idx = ecx_getindex(context->port);
|
||||||
w1 = LO_WORD(LogAdr);
|
w1 = LO_WORD(LogAdr);
|
||||||
w2 = HI_WORD(LogAdr);
|
w2 = HI_WORD(LogAdr);
|
||||||
DCO = 0;
|
|
||||||
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LWR, idx, w1, w2, sublength, data);
|
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LWR, idx, w1, w2, sublength, data);
|
||||||
if(first)
|
if(first)
|
||||||
{
|
{
|
||||||
|
context->DCl = sublength;
|
||||||
/* FPRMW in second datagram */
|
/* 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,
|
context->slavelist[context->grouplist[group].DCnext].configadr,
|
||||||
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
||||||
first = FALSE;
|
first = FALSE;
|
||||||
|
|
@ -1811,7 +1808,7 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
|
||||||
/* send frame */
|
/* send frame */
|
||||||
ecx_outframe_red(context->port, idx);
|
ecx_outframe_red(context->port, idx);
|
||||||
/* push index and data pointer on stack */
|
/* push index and data pointer on stack */
|
||||||
ecx_pushindex(context, idx, data, sublength, DCO);
|
ecx_pushindex(context, idx, data, sublength);
|
||||||
length -= sublength;
|
length -= sublength;
|
||||||
LogAdr += sublength;
|
LogAdr += sublength;
|
||||||
data += sublength;
|
data += sublength;
|
||||||
|
|
@ -1834,17 +1831,17 @@ static int ecx_main_send_processdata(ecx_contextt *context, uint8 group, boolean
|
||||||
/* segment transfer if needed */
|
/* segment transfer if needed */
|
||||||
do
|
do
|
||||||
{
|
{
|
||||||
sublength = (uint16)context->grouplist[group].IOsegment[currentsegment++];
|
sublength = context->grouplist[group].IOsegment[currentsegment++];
|
||||||
/* get new index */
|
/* get new index */
|
||||||
idx = ecx_getindex(context->port);
|
idx = ecx_getindex(context->port);
|
||||||
w1 = LO_WORD(LogAdr);
|
w1 = LO_WORD(LogAdr);
|
||||||
w2 = HI_WORD(LogAdr);
|
w2 = HI_WORD(LogAdr);
|
||||||
DCO = 0;
|
|
||||||
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRW, idx, w1, w2, sublength, data);
|
ecx_setupdatagram(context->port, &(context->port->txbuf[idx]), EC_CMD_LRW, idx, w1, w2, sublength, data);
|
||||||
if(first)
|
if(first)
|
||||||
{
|
{
|
||||||
|
context->DCl = sublength;
|
||||||
/* FPRMW in second datagram */
|
/* 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,
|
context->slavelist[context->grouplist[group].DCnext].configadr,
|
||||||
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
ECT_REG_DCSYSTIME, sizeof(int64), context->DCtime);
|
||||||
first = FALSE;
|
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
|
* in the IOmap if we use an overlapping IOmap. If a regular IOmap
|
||||||
* is used it should always be 0.
|
* is used it should always be 0.
|
||||||
*/
|
*/
|
||||||
ecx_pushindex(context, idx, (data + iomapinputoffset), sublength, DCO);
|
ecx_pushindex(context, idx, (data + iomapinputoffset), sublength);
|
||||||
length -= sublength;
|
length -= sublength;
|
||||||
LogAdr += sublength;
|
LogAdr += sublength;
|
||||||
data += 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)
|
int ecx_receive_processdata_group(ecx_contextt *context, uint8 group, int timeout)
|
||||||
{
|
{
|
||||||
uint8 idx;
|
int pos, idx;
|
||||||
int pos;
|
|
||||||
int wkc = 0, wkc2;
|
int wkc = 0, wkc2;
|
||||||
uint16 le_wkc = 0;
|
uint16 le_wkc = 0;
|
||||||
int valid_wkc = 0;
|
int valid_wkc = 0;
|
||||||
int64 le_DCtime;
|
int64 le_DCtime;
|
||||||
ec_idxstackT *idxstack;
|
boolean first = FALSE;
|
||||||
ec_bufT *rxbuf;
|
|
||||||
|
|
||||||
/* just to prevent compiler warning for unused group */
|
if(context->grouplist[group].hasdc)
|
||||||
wkc2 = group;
|
{
|
||||||
|
first = TRUE;
|
||||||
idxstack = context->idxstack;
|
}
|
||||||
rxbuf = context->port->rxbuf;
|
|
||||||
/* get first index */
|
/* get first index */
|
||||||
pos = ecx_pullindex(context);
|
pos = ecx_pullindex(context);
|
||||||
/* read the same number of frames as send */
|
/* read the same number of frames as send */
|
||||||
while (pos >= 0)
|
while (pos >= 0)
|
||||||
{
|
{
|
||||||
idx = idxstack->idx[pos];
|
idx = context->idxstack->idx[pos];
|
||||||
wkc2 = ecx_waitinframe(context->port, idx, timeout);
|
wkc2 = ecx_waitinframe(context->port, context->idxstack->idx[pos], timeout);
|
||||||
/* check if there is input data in frame */
|
/* check if there is input data in frame */
|
||||||
if (wkc2 > EC_NOFRAME)
|
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(context->idxstack->data[pos], &(context->port->rxbuf[idx][EC_HEADERSIZE]), context->DCl);
|
||||||
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);
|
||||||
wkc = etohs(le_wkc);
|
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);
|
*(context->DCtime) = etohll(le_DCtime);
|
||||||
|
first = FALSE;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
/* copy input data back to process data buffer */
|
/* 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;
|
wkc += wkc2;
|
||||||
}
|
}
|
||||||
valid_wkc = 1;
|
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 */
|
/* output WKC counts 2 times when using LRW, emulate the same for LWR */
|
||||||
wkc = etohs(le_wkc) * 2;
|
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);
|
*(context->DCtime) = etohll(le_DCtime);
|
||||||
|
first = FALSE;
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
|
|
@ -2130,7 +2126,7 @@ uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n)
|
||||||
* @return mapping size in bits of PDO
|
* @return mapping size in bits of PDO
|
||||||
* @see ecx_siiPDO
|
* @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);
|
return ecx_siiPDO (&ecx_context, slave, PDO, t);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -340,7 +340,6 @@ typedef struct ec_idxstack
|
||||||
uint8 idx[EC_MAXBUF];
|
uint8 idx[EC_MAXBUF];
|
||||||
void *data[EC_MAXBUF];
|
void *data[EC_MAXBUF];
|
||||||
uint16 length[EC_MAXBUF];
|
uint16 length[EC_MAXBUF];
|
||||||
uint16 dcoffset[EC_MAXBUF];
|
|
||||||
} ec_idxstackT;
|
} ec_idxstackT;
|
||||||
|
|
||||||
/** ringbuf for error storage */
|
/** ringbuf for error storage */
|
||||||
|
|
@ -408,6 +407,10 @@ struct ecx_context
|
||||||
ec_idxstackT *idxstack;
|
ec_idxstackT *idxstack;
|
||||||
/** reference to ecaterror state */
|
/** reference to ecaterror state */
|
||||||
boolean *ecaterror;
|
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 */
|
/** reference to last DC time from slaves */
|
||||||
int64 *DCtime;
|
int64 *DCtime;
|
||||||
/** internal, SM buffer */
|
/** 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_siiFMMU(uint16 slave, ec_eepromFMMUt* FMMU);
|
||||||
uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
|
uint16 ec_siiSM(uint16 slave, ec_eepromSMt* SM);
|
||||||
uint16 ec_siiSMnext(uint16 slave, ec_eepromSMt* SM, uint16 n);
|
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_readstate(void);
|
||||||
int ec_writestate(uint16 slave);
|
int ec_writestate(uint16 slave);
|
||||||
uint16 ec_statecheck(uint16 slave, uint16 reqstate, int timeout);
|
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_siiFMMU(ecx_contextt *context, uint16 slave, ec_eepromFMMUt* FMMU);
|
||||||
uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM);
|
uint16 ecx_siiSM(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM);
|
||||||
uint16 ecx_siiSMnext(ecx_contextt *context, uint16 slave, ec_eepromSMt* SM, uint16 n);
|
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_readstate(ecx_contextt *context);
|
||||||
int ecx_writestate(ecx_contextt *context, uint16 slave);
|
int ecx_writestate(ecx_contextt *context, uint16 slave);
|
||||||
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout);
|
uint16 ecx_statecheck(ecx_contextt *context, uint16 slave, uint16 reqstate, int timeout);
|
||||||
|
|
|
||||||
|
|
@ -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)
|
int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)
|
||||||
{
|
{
|
||||||
ec_SoEt *SoEp, *aSoEp;
|
ec_SoEt *SoEp, *aSoEp;
|
||||||
int totalsize, framedatasize;
|
uint16 totalsize, framedatasize;
|
||||||
int wkc;
|
int wkc;
|
||||||
uint8 *bp;
|
uint8 *bp;
|
||||||
uint8 *mp;
|
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 */
|
/* get new mailbox count value, used as session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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->opCode = ECT_SOE_READREQ;
|
||||||
SoEp->incomplete = 0;
|
SoEp->incomplete = 0;
|
||||||
SoEp->error = 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)
|
int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)
|
||||||
{
|
{
|
||||||
ec_SoEt *SoEp, *aSoEp;
|
ec_SoEt *SoEp, *aSoEp;
|
||||||
int framedatasize, maxdata;
|
uint16 framedatasize, maxdata;
|
||||||
int wkc;
|
int wkc;
|
||||||
uint8 *mp;
|
uint8 *mp;
|
||||||
uint8 *hp;
|
uint8 *hp;
|
||||||
|
|
@ -236,13 +236,13 @@ int ecx_SoEwrite(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 eleme
|
||||||
framedatasize = maxdata; /* segmented transfer needed */
|
framedatasize = maxdata; /* segmented transfer needed */
|
||||||
NotLast = TRUE;
|
NotLast = TRUE;
|
||||||
SoEp->incomplete = 1;
|
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 */
|
/* get new mailbox counter, used for session handle */
|
||||||
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
|
||||||
context->slavelist[slave].mbx_cnt = 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 */
|
/* copy parameter data to mailbox */
|
||||||
memcpy(mp, hp, framedatasize);
|
memcpy(mp, hp, framedatasize);
|
||||||
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
|
* @param[out] Isize = Size in bits of input mapping (AT) found
|
||||||
* @return >0 if mapping successful.
|
* @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 retVal = 0;
|
||||||
int wkc;
|
int wkc;
|
||||||
int psize;
|
int psize;
|
||||||
uint8 driveNr;
|
int driveNr;
|
||||||
uint16 entries, itemcount;
|
uint16 entries, itemcount;
|
||||||
ec_SoEmappingt SoEmapping;
|
ec_SoEmappingt SoEmapping;
|
||||||
ec_SoEattributet SoEattribute;
|
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))
|
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 */
|
/* command word (uint16) is always mapped but not in list */
|
||||||
*Osize += 16;
|
*Osize = 16;
|
||||||
for (itemcount = 0 ; itemcount < entries ; itemcount++)
|
for (itemcount = 0 ; itemcount < entries ; itemcount++)
|
||||||
{
|
{
|
||||||
psize = sizeof(SoEattribute);
|
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))
|
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 */
|
/* status word (uint16) is always mapped but not in list */
|
||||||
*Isize += 16;
|
*Isize = 16;
|
||||||
for (itemcount = 0 ; itemcount < entries ; itemcount++)
|
for (itemcount = 0 ; itemcount < entries ; itemcount++)
|
||||||
{
|
{
|
||||||
psize = sizeof(SoEattribute);
|
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);
|
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);
|
return ecx_readIDNmap(&ecx_context, slave, Osize, Isize);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -116,12 +116,12 @@ PACKED_END
|
||||||
#ifdef EC_VER1
|
#ifdef EC_VER1
|
||||||
int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
|
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_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
|
#endif
|
||||||
|
|
||||||
int ecx_SoEread(ecx_contextt *context, uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout);
|
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_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
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -506,10 +506,6 @@ typedef struct
|
||||||
} ec_errort;
|
} ec_errort;
|
||||||
|
|
||||||
/** Helper macros */
|
/** 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 */
|
/** Macro to make a word from 2 bytes */
|
||||||
#define MK_WORD(msb, lsb) ((((uint16)(msb))<<8) | (lsb))
|
#define MK_WORD(msb, lsb) ((((uint16)(msb))<<8) | (lsb))
|
||||||
/** Macro to get hi byte of a word */
|
/** Macro to get hi byte of a word */
|
||||||
|
|
|
||||||
|
|
@ -164,7 +164,7 @@ void add_timespec(struct timespec *ts, int64 addtime)
|
||||||
sec = (addtime - nsec) / NSEC_PER_SEC;
|
sec = (addtime - nsec) / NSEC_PER_SEC;
|
||||||
ts->tv_sec += sec;
|
ts->tv_sec += sec;
|
||||||
ts->tv_nsec += nsec;
|
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;
|
nsec = ts->tv_nsec % NSEC_PER_SEC;
|
||||||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
||||||
|
|
|
||||||
|
|
@ -139,7 +139,7 @@ void simpletest(char *ifname)
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
printf("No socket connection on %s\nExecute as root\n",ifname);
|
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -142,7 +142,7 @@ void add_timespec(struct timespec *ts, int64 addtime)
|
||||||
sec = (addtime - nsec) / NSEC_PER_SEC;
|
sec = (addtime - nsec) / NSEC_PER_SEC;
|
||||||
ts->tv_sec += sec;
|
ts->tv_sec += sec;
|
||||||
ts->tv_nsec += nsec;
|
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;
|
nsec = ts->tv_nsec % NSEC_PER_SEC;
|
||||||
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
ts->tv_sec += (ts->tv_nsec - nsec) / NSEC_PER_SEC;
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue