mirror of
https://github.com/OpenEtherCATsociety/SOEM.git
synced 2026-09-28 16:13:23 +08:00
Add ERIKA Enterprise RTOS support
This patch adds support to SOEM for the ERIKA Enterprise RTOS (erika-enterprise.com). Current requirements for running SOEM on ERIKA RTOS: - x86-64 platform with 2+ cores - Xen hypervisor - Intel i210 PCIe Ethernet controller Signed-off-by: Claudio Scordino <claudio@evidence.eu.com> Signed-off-by: Luca Cuomo <l.cuomo@evidence.eu.com>
This commit is contained in:
Claudio Scordino
committed by
nakarlsson
nakarlsson
parent
ab89d557d5
commit
29df9ba013
@@ -29,6 +29,11 @@ Linux
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* `cmake ..`
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* `make`
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ERIKA Enterprise RTOS
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---------------------
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* Refer to http://www.erika-enterprise.com/wiki/index.php?title=EtherCAT_Master
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Documentation
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-------------
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@@ -0,0 +1,103 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <time.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <osal.h>
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#include "ee_x86_64_tsc.h"
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#define USECS_PER_SEC 1000000
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#define NSECS_PER_SEC 1000000000
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uint64_t osEE_x86_64_tsc_read(void);
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void ee_usleep(uint32 usec);
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inline int osal_usleep (uint32 usec)
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{
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ee_usleep(usec);
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return 0;
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}
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz)
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{
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uint64_t time = osEE_x86_64_tsc_read();
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tv->tv_sec = time/NSECS_PER_SEC;
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tv->tv_sec += 946684800UL; /* EtherCAT uses 2000-01-01 as epoch start */
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tv->tv_usec = (time%NSECS_PER_SEC)/1000;
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return 0;
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}
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ec_timet osal_current_time(void)
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{
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struct timeval current_time;
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ec_timet ret;
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osal_gettimeofday(¤t_time, 0);
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ret.sec = current_time.tv_sec;
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ret.usec = current_time.tv_usec;
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return ret;
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}
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void osal_time_diff(ec_timet *start, ec_timet *end, ec_timet *diff)
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{
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if (end->usec < start->usec) {
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diff->sec = end->sec - start->sec - 1;
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diff->usec = end->usec + USECS_PER_SEC - start->usec;
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} else {
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diff->sec = end->sec - start->sec;
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diff->usec = end->usec - start->usec;
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}
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}
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void osal_timer_start(osal_timert *self, uint32 timeout_usec)
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{
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struct timeval start_time;
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struct timeval timeout;
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struct timeval stop_time;
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osal_gettimeofday(&start_time, 0);
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timeout.tv_sec = timeout_usec / USECS_PER_SEC;
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timeout.tv_usec = timeout_usec % USECS_PER_SEC;
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timeradd(&start_time, &timeout, &stop_time);
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self->stop_time.sec = stop_time.tv_sec;
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self->stop_time.usec = stop_time.tv_usec;
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}
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boolean osal_timer_is_expired (osal_timert *self)
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{
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struct timeval current_time;
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struct timeval stop_time;
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int is_not_yet_expired;
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osal_gettimeofday (¤t_time, 0);
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stop_time.tv_sec = self->stop_time.sec;
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stop_time.tv_usec = self->stop_time.usec;
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is_not_yet_expired = timercmp (¤t_time, &stop_time, <);
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/* OSEE_PRINT("current: %d:%d -- expire: %d:%d -- result: %d\n", */
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/* current_time.tv_sec, */
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/* current_time.tv_usec, */
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/* stop_time.tv_sec, */
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/* stop_time.tv_usec, */
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/* is_not_yet_expired); */
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return is_not_yet_expired == FALSE;
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}
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void *osal_malloc(size_t size)
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{
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return malloc(size);
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}
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void osal_free(void *ptr)
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{
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free(ptr);
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}
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@@ -0,0 +1,41 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#ifndef _osal_defs_
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#define _osal_defs_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include <sys/time.h>
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#include <stdlib.h>
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#include <ee.h>
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// define if debug print is needed
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#define EC_DEBUG
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#ifdef EC_DEBUG
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#define EC_PRINT OSEE_PRINT
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#else
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#define EC_PRINT(...) do {} while (0)
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#endif
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#ifndef PACKED
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#define PACKED_BEGIN
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#define PACKED __attribute__((__packed__))
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#define PACKED_END
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#endif
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int osal_gettimeofday(struct timeval *tv, struct timezone *tz);
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void *osal_malloc(size_t size);
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void osal_free(void *ptr);
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#ifdef __cplusplus
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}
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#endif
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#endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,122 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for nicdrv.c
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*/
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#ifndef _nicdrvh_
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#define _nicdrvh_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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typedef struct
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{
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/** socket connection used */
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int *sock;
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/** tx buffer */
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ec_bufT (*txbuf)[EC_MAXBUF];
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/** tx buffer lengths */
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int (*txbuflength)[EC_MAXBUF];
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/** temporary receive buffer */
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ec_bufT *tempbuf;
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/** rx buffers */
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ec_bufT (*rxbuf)[EC_MAXBUF];
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/** rx buffer status fields */
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int (*rxbufstat)[EC_MAXBUF];
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/** received MAC source address (middle word) */
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int (*rxsa)[EC_MAXBUF];
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} ec_stackT;
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/** pointer structure to buffers for redundant port */
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typedef struct
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{
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ec_stackT stack;
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int sockhandle;
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/** rx buffers */
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ec_bufT rxbuf[EC_MAXBUF];
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/** rx buffer status */
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int rxbufstat[EC_MAXBUF];
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/** rx MAC source address */
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int rxsa[EC_MAXBUF];
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/** temporary rx buffer */
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ec_bufT tempinbuf;
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} ecx_redportt;
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/** pointer structure to buffers, vars and mutexes for port instantiation */
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typedef struct
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{
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ec_stackT stack;
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int sockhandle;
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/** rx buffers */
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ec_bufT rxbuf[EC_MAXBUF];
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/** rx buffer status */
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int rxbufstat[EC_MAXBUF];
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/** rx MAC source address */
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int rxsa[EC_MAXBUF];
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/** temporary rx buffer */
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ec_bufT tempinbuf;
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/** temporary rx buffer status */
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int tempinbufs;
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/** transmit buffers */
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ec_bufT txbuf[EC_MAXBUF];
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/** transmit buffer lengths */
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int txbuflength[EC_MAXBUF];
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/** temporary tx buffer */
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ec_bufT txbuf2;
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/** temporary tx buffer length */
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int txbuflength2;
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/** last used frame index */
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int lastidx;
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/** current redundancy state */
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int redstate;
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/** pointer to redundancy port and buffers */
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ecx_redportt *redport;
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/** Device id in the device pool */
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int dev_id;
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// TODO: add mutex support
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} ecx_portt;
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extern const uint16 priMAC[3];
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extern const uint16 secMAC[3];
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#ifdef EC_VER1
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extern ecx_portt ecx_port;
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extern ecx_redportt ecx_redport;
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int ec_setupnic(const char * ifname, int secondary);
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int ec_closenic(void);
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void ec_setbufstat(int idx, int bufstat);
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int ec_getindex(void);
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int ec_outframe(int idx, int sock);
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int ec_outframe_red(int idx);
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int ec_waitinframe(int idx, int timeout);
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int ec_srconfirm(int idx,int timeout);
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int ec_inframe(int idx, int stacknumber);
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#endif
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void ec_setupheader(void *p);
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int ecx_setupnic(ecx_portt *port, const char *ifname, int secondary);
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int ecx_closenic(ecx_portt *port);
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void ecx_setbufstat(ecx_portt *port, int idx, int bufstat);
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int ecx_getindex(ecx_portt *port);
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int ecx_outframe(ecx_portt *port, int idx, int sock);
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int ecx_outframe_red(ecx_portt *port, int idx);
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int ecx_waitinframe(ecx_portt *port, int idx, int timeout);
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int ecx_srconfirm(ecx_portt *port, int idx,int timeout);
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int ecx_inframe(ecx_portt *port, int idx, int stacknumber);
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#ifdef __cplusplus
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}
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#endif
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#endif
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@@ -0,0 +1,79 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <inttypes.h>
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#include "oshw.h"
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#include "intel_i210.h"
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#include "ethercat.h"
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#if !defined(__gnu_linux__)
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#include <machine/endian.h>
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#else
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#include <endian.h>
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#define __htons(x) htobe16(x)
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#define __ntohs(x) be16toh(x)
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#endif
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ec_adaptert adapters [DEVS_MAX_NB];
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/**
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* Host to Network byte order (i.e. to big endian).
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*
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* Note that Ethercat uses little endian byte order, except for the Ethernet
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* header which is big endian as usual.
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*/
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inline uint16 oshw_htons(uint16 host)
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{
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// __htons() is provided by the bare-metal x86 compiler
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return __htons(host);
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}
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/**
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* Network (i.e. big endian) to Host byte order.
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*
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* Note that Ethercat uses little endian byte order, except for the Ethernet
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* header which is big endian as usual.
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*/
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inline uint16 oshw_ntohs(uint16 network)
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{
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// __ntohs() is provided by the bare-metal x86 compiler
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return __ntohs(network);
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}
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/** Create list over available network adapters.
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* @return First element in linked list of adapters
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*/
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ec_adaptert* oshw_find_adapters(void)
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{
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ec_adaptert *ret = NULL;
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if (eth_discover_devices() >= 0) {
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for (int i = 0;; ++i) {
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struct eth_device *dev = eth_get_device(i);
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if (dev == NULL) {
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adapters[i-1].next = NULL;
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break;
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}
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strncpy(adapters[i].name, dev->name, MAX_DEVICE_NAME);
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adapters[i].next = &adapters[i+1];
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}
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ret = &(adapters[0]);
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}
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return ret;
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}
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/** Free memory allocated memory used by adapter collection.
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* @param[in] adapter = First element in linked list of adapters
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* EC_NOFRAME.
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*/
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void oshw_free_adapters(ec_adaptert *adapter)
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{
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}
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extern int ec_slavecount;
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@@ -0,0 +1,31 @@
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/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Headerfile for ethercatbase.c
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*/
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#ifndef _oshw_
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#define _oshw_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "ethercattype.h"
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#include "nicdrv.h"
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#include "ethercatmain.h"
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uint16 oshw_htons(uint16 hostshort);
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uint16 oshw_ntohs(uint16 networkshort);
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ec_adaptert* oshw_find_adapters(void);
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void oshw_free_adapters(ec_adaptert * adapter);
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#ifdef __cplusplus
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}
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#endif
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#endif
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