linux/firm_update/firm_update.c

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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>

#include "ethercat.h"

#define FWBUFSIZE (8 * 1024 * 1024)

uint8 ob;
uint16 ow;
uint32 data;
char filename[256];
char filebuffer[FWBUFSIZE]; // 8MB buffer
int filesize;
int j;
uint16 argslave;

int input_bin(char *fname, int *length)
{
    FILE *fp;

        int cc = 0, c;

    fp = fopen(fname, "rb");
    if(fp == NULL)
        return 0;
        while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
                filebuffer[cc++] = (uint8)c;
        *length = cc;
        fclose(fp);
        return 1;
}


void boottest(char *ifname, uint16 slave, char *filename)
{
        printf("Starting firmware update example\n");

        /* initialise SOEM, bind socket to ifname */
        if (ec_init(ifname))
        {
                printf("ec_init on %s succeeded.\n",ifname);
                /* find and auto-config slaves */


            if ( ec_config_init(FALSE) > 0 )
                {
                        printf("%d slaves found and configured.\n",ec_slavecount);

                        printf("Request init state for slave %d\n", slave);
                        ec_slave[slave].state = EC_STATE_INIT;
                        ec_writestate(slave);

                        /* wait for slave to reach INIT state */
                        ec_statecheck(slave, EC_STATE_INIT,  EC_TIMEOUTSTATE * 4);
                        printf("Slave %d state to INIT.\n", slave);

                        /* read BOOT mailbox data, master -> slave */
                        data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
                        ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data);
                        ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data);
                        /* store boot write mailbox address */
                        ec_slave[slave].mbx_wo = (uint16)LO_WORD(data);
                        /* store boot write mailbox size */
                        ec_slave[slave].mbx_l = (uint16)HI_WORD(data);

                        /* read BOOT mailbox data, slave -> master */
                        data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP);
                        ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data);
                        ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data);
                        /* store boot read mailbox address */
                        ec_slave[slave].mbx_ro = (uint16)LO_WORD(data);
                        /* store boot read mailbox size */
                        ec_slave[slave].mbx_rl = (uint16)HI_WORD(data);

                        printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength,
                            (int)ec_slave[slave].SM[0].SMflags);
                        printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength,
                            (int)ec_slave[slave].SM[1].SMflags);
                        /* program SM0 mailbox in for slave */
                        ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET);
                        /* program SM1 mailbox out for slave */
                        ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);

                        printf("Request BOOT state for slave %d\n", slave);
                        ec_slave[slave].state = EC_STATE_BOOT;
                        ec_writestate(slave);

                        /* wait for slave to reach BOOT state */
                        if (ec_statecheck(slave, EC_STATE_BOOT,  EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
                        {
                                printf("Slave %d state to BOOT.\n", slave);

                                if (input_bin(filename, &filesize))
                                {
                                        printf("File read OK, %d bytes.\n",filesize);
                                        printf("FoE write....");
                                        j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
                                        printf("result %d.\n",j);
                                        printf("Request init state for slave %d\n", slave);
                                        ec_slave[slave].state = EC_STATE_INIT;
                                        ec_writestate(slave);
                                }
                                else
                                    printf("File not read OK.\n");
                        }

                }
                else
                {
                        printf("No slaves found!\n");
                }
                printf("End firmware update example, close socket\n");
                /* stop SOEM, close socket */
                ec_close();
        }
        else
        {
                printf("No socket connection on %s\nExcecute as root\n",ifname);
        }
}

int main(int argc, char *argv[])
{
        printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");

        if (argc > 3)
        {
                argslave = atoi(argv[2]);
                boottest(argv[1], argslave, argv[3]);
        }
        else
        {
                printf("Usage: firm_update ifname1 slave fname\n");
                printf("ifname = eth0 for example\n");
                printf("slave = slave number in EtherCAT order 1..n\n");
                printf("fname = binary file to store in slave\n");
                printf("CAUTION! Using the wrong file can result in a bricked slave!\n");
        }

        printf("End program\n");
        return (0);
}