EtherCAT RAW socket driver. More...
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Macros | |
| #define | RX_PRIM priMAC[1] |
| #define | RX_SEC secMAC[1] |
Enumerations | |
| enum | { ECT_RED_NONE, ECT_RED_DOUBLE } |
Functions | |
| void | ec_setupheader (void *p) |
| int | ecx_closenic (ecx_portt *port) |
| int | ecx_getindex (ecx_portt *port) |
| int | ecx_inframe (ecx_portt *port, int idx, int stacknumber) |
| int | ecx_outframe (ecx_portt *port, int idx, int stacknumber) |
| int | ecx_outframe_red (ecx_portt *port, int idx) |
| static int | ecx_recvpkt (ecx_portt *port, int stacknumber) |
| void | ecx_setbufstat (ecx_portt *port, int idx, int bufstat) |
| int | ecx_setupnic (ecx_portt *port, const char *ifname, int secondary) |
| int | ecx_srconfirm (ecx_portt *port, int idx, int timeout) |
| int | ecx_waitinframe (ecx_portt *port, int idx, int timeout) |
| static int | ecx_waitinframe_red (ecx_portt *port, int idx, osal_timert *timer) |
Variables | |
| static char | errbuf [PCAP_ERRBUF_SIZE] |
| const uint16 | priMAC [3] = { 0x0101, 0x0101, 0x0101 } |
| const uint16 | secMAC [3] = { 0x0404, 0x0404, 0x0404 } |
EtherCAT RAW socket driver.
Low level interface functions to send and receive EtherCAT packets. EtherCAT has the property that packets are only send by the master, and the send packets allways return in the receive buffer. There can be multiple packets "on the wire" before they return. To combine the received packets with the original send packets a buffer system is installed. The identifier is put in the index item of the EtherCAT header. The index is stored and compared when a frame is recieved. If there is a match the packet can be combined with the transmit packet and returned to the higher level function.
The socket layer can exhibit a reversal in the packet order (rare). If the Tx order is A-B-C the return order could be A-C-B. The indexed buffer will reorder the packets automatically.
The "redundant" option will configure two sockets and two NIC interfaces. Slaves are connected to both interfaces, one on the IN port and one on the OUT port. Packets are send via both interfaces. Any one of the connections (also an interconnect) can be removed and the slaves are still serviced with packets. The software layer will detect the possible failure modes and compensate. If needed the packets from interface A are resend through interface B. This layer is fully transparent for the higher layers.
Definition in file win32/nicdrv.c.
| #define RX_PRIM priMAC[1] |
second MAC word is used for identification
Definition at line 104 of file win32/nicdrv.c.
| #define RX_SEC secMAC[1] |
second MAC word is used for identification
Definition at line 106 of file win32/nicdrv.c.
| anonymous enum |
Redundancy modes
| Enumerator | |
|---|---|
| ECT_RED_NONE |
No redundancy, single NIC mode |
| ECT_RED_DOUBLE |
Double redundant NIC connecetion |
Definition at line 85 of file win32/nicdrv.c.
| void ec_setupheader | ( | void * | p | ) |
Fill buffer with ethernet header structure. Destination MAC is allways broadcast. Ethertype is allways ETH_P_ECAT.
| [out] | p | = buffer |
Definition at line 212 of file win32/nicdrv.c.
| int ecx_closenic | ( | ecx_portt * | port | ) |
Close sockets used
| [in] | port | = port context struct |
Definition at line 186 of file win32/nicdrv.c.
| int ecx_getindex | ( | ecx_portt * | port | ) |
Get new frame identifier index and allocate corresponding rx buffer.
| [in] | port | = port context struct |
Definition at line 229 of file win32/nicdrv.c.
| int ecx_inframe | ( | ecx_portt * | port, |
| int | idx, | ||
| int | stacknumber | ||
| ) |
Non blocking receive frame function. Uses RX buffer and index to combine read frame with transmitted frame. To compensate for received frames that are out-of-order all frames are stored in their respective indexed buffer. If a frame was placed in the buffer previously, the function retreives it from that buffer index without calling ec_recvpkt. If the requested index is not already in the buffer it calls ec_recvpkt to fetch it. There are three options now, 1 no frame read, so exit. 2 frame read but other than requested index, store in buffer and exit. 3 frame read with matching index, store in buffer, set completed flag in buffer status and exit.
| [in] | port | = port context struct |
| [in] | idx | = requested index of frame |
| [in] | stacknumber | = 0=primary 1=secondary stack |
Definition at line 391 of file win32/nicdrv.c.
| int ecx_outframe | ( | ecx_portt * | port, |
| int | idx, | ||
| int | stacknumber | ||
| ) |
Transmit buffer over socket (non blocking).
| [in] | port | = port context struct |
| [in] | idx | = index in tx buffer array |
| [in] | stacknumber | = 0=Primary 1=Secondary stack |
Definition at line 281 of file win32/nicdrv.c.
| int ecx_outframe_red | ( | ecx_portt * | port, |
| int | idx | ||
| ) |
Transmit buffer over socket (non blocking).
| [in] | port | = port context struct |
| [in] | idx | = index in tx buffer array |
Definition at line 306 of file win32/nicdrv.c.
|
static |
Non blocking read of socket. Put frame in temporary buffer.
| [in] | port | = port context struct |
| [in] | stacknumber | = 0=primary 1=secondary stack |
Definition at line 341 of file win32/nicdrv.c.
| void ecx_setbufstat | ( | ecx_portt * | port, |
| int | idx, | ||
| int | bufstat | ||
| ) |
Set rx buffer status.
| [in] | port | = port context struct |
| [in] | idx | = index in buffer array |
| [in] | bufstat | = status to set |
Definition at line 268 of file win32/nicdrv.c.
| int ecx_setupnic | ( | ecx_portt * | port, |
| const char * | ifname, | ||
| int | secondary | ||
| ) |
Basic setup to connect NIC to socket.
| [in] | port | = port context struct |
| [in] | ifname | = Name of NIC device, f.e. "eth0" |
| [in] | secondary | = if >0 then use secondary stack instead of primary |
Definition at line 116 of file win32/nicdrv.c.
| int ecx_srconfirm | ( | ecx_portt * | port, |
| int | idx, | ||
| int | timeout | ||
| ) |
Blocking send and recieve frame function. Used for non processdata frames. A datagram is build into a frame and transmitted via this function. It waits for an answer and returns the workcounter. The function retries if time is left and the result is WKC=0 or no frame received.
The function calls ec_outframe_red() and ec_waitinframe_red().
| [in] | port | = port context struct |
| [in] | idx | = index of frame |
| [in] | timeout | = timeout in us |
Definition at line 596 of file win32/nicdrv.c.
| int ecx_waitinframe | ( | ecx_portt * | port, |
| int | idx, | ||
| int | timeout | ||
| ) |
Blocking receive frame function. Calls ec_waitinframe_red().
| [in] | port | = port context struct |
| [in] | idx | = requested index of frame |
| [in] | timeout | = timeout in us |
Definition at line 568 of file win32/nicdrv.c.
|
static |
Blocking redundant receive frame function. If redundant mode is not active then it skips the secondary stack and redundancy functions. In redundant mode it waits for both (primary and secondary) frames to come in. The result goes in an decision tree that decides, depending on the route of the packet and its possible missing arrival, how to reroute the original packet to get the data in an other try.
| [in] | port | = port context struct |
| [in] | idx | = requested index of frame |
| [in] | tvs | = timeout |
Definition at line 485 of file win32/nicdrv.c.
|
static |
Definition at line 108 of file win32/nicdrv.c.
| const uint16 priMAC[3] = { 0x0101, 0x0101, 0x0101 } |
Primary source MAC address used for EtherCAT. This address is not the MAC address used from the NIC. EtherCAT does not care about MAC addressing, but it is used here to differentiate the route the packet traverses through the EtherCAT segment. This is needed to fund out the packet flow in redundant confihurations.
Definition at line 99 of file win32/nicdrv.c.
| const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 } |
Secondary source MAC address used for EtherCAT.
Definition at line 101 of file win32/nicdrv.c.