EtherCAT VxWorks SNARF Mux driver. More...

#include <vxWorks.h>
#include <ctype.h>
#include <string.h>
#include <stdio.h>
#include <muxLib.h>
#include <ipProto.h>
#include <wvLib.h>
#include <sysLib.h>
#include "oshw.h"
#include "osal.h"
#include "nicdrv.h"

Include dependency graph for vxworks/nicdrv.c:

Go to the source code of this file.

Macros
#define	ECAT_RECV_FAILED 0x664

#define	ECAT_RECV_OK 0x665

#define	ECAT_RECV_RETRY_OK 0x666

#define	ECAT_SEND_COMPLETE 0x676

#define	ECAT_SEND_FAILED 0x677

#define	ECAT_SEND_START 0x675

#define	ECAT_STACK_RECV 0x667

#define	IF_NAME_SIZE 8

#define	NIC_DEBUG /* Print debugging info? */

#define	NIC_LOGMSG(x, a, b, c, d, e, f)

#define	NIC_WVEVENT(a, b, c)

#define	RX_PRIM priMAC[1]

#define	RX_SEC secMAC[1]

#define	USECS_PER_SEC 1000000

Enumerations
enum	{ ECT_RED_NONE, ECT_RED_DOUBLE }

Functions
static int	ec_outfram_send (ETHERCAT_PKT_DEV pPktDev, int idx, void buf, int len)

void	ec_setupheader (void *p)

static void	ecx_clear_rxbufstat (int *rxbufstat)

int	ecx_closenic (ecx_portt *port)

int	ecx_getindex (ecx_portt *port)

int	ecx_inframe (ecx_portt *port, int idx, int stacknumber, int timeout)

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 idx, int stacknumber, M_BLK_ID pMblk, int timeout)

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, int timeout)

static int	mux_rx_callback (void pCookie, long type, M_BLK_ID pMblk, LL_HDR_INFO llHdrInfo, void *muxUserArg)

void	print_nicversion (void)

Variables
const uint16	priMAC [3] = { 0x0101, 0x0101, 0x0101 }

const uint16	secMAC [3] = { 0x0404, 0x0404, 0x0404 }

static unsigned int	usec_per_tick = 1000

Detailed Description

EtherCAT VxWorks SNARF Mux 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 always 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 received. If there is a match the packet can be combined with the transmit packet and returned to the higher level function.

If EtherCAT is run in parallel with normal IP traffic and EtherCAT have a dedicated NIC, instantiate an extra tNetX task and redirect the NIC workQ to be handle by the extra tNetX task, if needed raise the tNetX task prio. This prevents from having tNet0 becoming a bottleneck.

The "redundant" option will configure two Mux drivers 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 if fully transparent for the higher layers.

Definition in file vxworks/nicdrv.c.

Macro Definition Documentation

#define ECAT_RECV_FAILED 0x664

Definition at line 50 of file vxworks/nicdrv.c.

#define ECAT_RECV_OK 0x665

Definition at line 51 of file vxworks/nicdrv.c.

#define ECAT_RECV_RETRY_OK 0x666

Definition at line 52 of file vxworks/nicdrv.c.

#define ECAT_SEND_COMPLETE 0x676

Definition at line 55 of file vxworks/nicdrv.c.

#define ECAT_SEND_FAILED 0x677

Definition at line 56 of file vxworks/nicdrv.c.

#define ECAT_SEND_START 0x675

Definition at line 54 of file vxworks/nicdrv.c.

#define ECAT_STACK_RECV 0x667

Definition at line 53 of file vxworks/nicdrv.c.

#define IF_NAME_SIZE 8

Definition at line 75 of file vxworks/nicdrv.c.

#define NIC_DEBUG /* Print debugging info? */

Definition at line 47 of file vxworks/nicdrv.c.

#define NIC_LOGMSG	(	x,
		a,
		b,
		c,
		d,
		e,
		f
	)

Value:

do  {                           \
        logMsg (x,a,b,c,d,e,f);     \
    } while (0)

Definition at line 60 of file vxworks/nicdrv.c.

#define NIC_WVEVENT	(	a,
		b,
		c
	)

Value:

do  {                           \
        wvEvent(a, b, c);          \
        } while (0)

Definition at line 64 of file vxworks/nicdrv.c.

#define RX_PRIM priMAC[1]

second MAC word is used for identification

Definition at line 98 of file vxworks/nicdrv.c.

#define RX_SEC secMAC[1]

second MAC word is used for identification

Definition at line 100 of file vxworks/nicdrv.c.

#define USECS_PER_SEC 1000000

Definition at line 103 of file vxworks/nicdrv.c.

Enumeration Type Documentation

anonymous enum

Redundancy modes

Enumerator
ECT_RED_NONE	No redundancy, single NIC mode
ECT_RED_DOUBLE	Double redundant NIC connection

Definition at line 78 of file vxworks/nicdrv.c.

Function Documentation

static int ec_outfram_send	(	ETHERCAT_PKT_DEV *	pPktDev,
		int	idx,
		void *	buf,
		int	len
	)

static

Low level transmit buffer over mux layer 2 driver

Parameters

[in]	pPktDev	= packet device to send buffer over
[in]	idx	= index in tx buffer array
[in]	buf	= buff to send
[in]	len	= bytes to send

Returns: driver send result

Definition at line 426 of file vxworks/nicdrv.c.

void ec_setupheader ( void * p )

Fill buffer with ethernet header structure. Destination MAC is always broadcast. Ethertype is always ETH_P_ECAT.

Parameters

[out] p = buffer

Definition at line 357 of file vxworks/nicdrv.c.

static void ecx_clear_rxbufstat ( int * rxbufstat )

static

Definition at line 109 of file vxworks/nicdrv.c.

int ecx_closenic ( ecx_portt * port )

inline

Close sockets used

Parameters

[in] port = port context struct

Returns: 0

Definition at line 291 of file vxworks/nicdrv.c.

int ecx_getindex ( ecx_portt * port )

Get new frame identifier index and allocate corresponding rx buffer.

Parameters

[in] port = port context struct

Returns: new index.

Definition at line 374 of file vxworks/nicdrv.c.

int ecx_inframe	(	ecx_portt *	port,
		int	idx,
		int	stacknumber,
		int	timeout
	)

Non blocking receive frame function. Uses RX buffer and index to combine read frame with transmitted frame. Frames are received by separate receiver task tNet0 (default), tNet0 fetch what frame index and store a reference to the received frame in matching MsgQ. The stack user tasks fetch the frame reference and copies the frame the the RX buffer, when done it free the frame buffer allocated by the Mux.

Parameters

[in]	port	= port context struct
[in]	idx	= requested index of frame
[in]	stacknumber	= 0=primary 1=secondary stack
[in]	timeout	= timeout in us

Returns: Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME or EC_OTHERFRAME.

Definition at line 731 of file vxworks/nicdrv.c.

int ecx_outframe	(	ecx_portt *	port,
		int	idx,
		int	stacknumber
	)

High level transmit buffer over mux layer 2 driver, passing buffer and packet device to send on as arguments

Parameters

[in]	port	= port context holding reference to packet device
[in]	idx	= index in tx buffer array
[in]	stacknumber	= 0=Primary 1=Secondary stack

Returns: socket send result

Definition at line 503 of file vxworks/nicdrv.c.

int ecx_outframe_red	(	ecx_portt *	port,
		int	idx
	)

High level transmit frame to send as index.

Parameters

[in]	port	= port context
[in]	idx	= index in tx buffer array

Returns: socket send result

Definition at line 540 of file vxworks/nicdrv.c.

static int ecx_recvpkt	(	ecx_portt *	port,
		int	idx,
		int	stacknumber,
		M_BLK_ID *	pMblk,
		int	timeout
	)

static

Non blocking or blocking read, if we use timeout we pass minimum 1 tick.

Parameters

[in]	port	= port context struct
[in]	pMblk	= mBlk for received frame
[in]	timeout	= timeout in us

Returns: >0 if frame is available and read

Definition at line 681 of file vxworks/nicdrv.c.

void ecx_setbufstat	(	ecx_portt *	port,
		int	idx,
		int	bufstat
	)

Set rx buffer status.

Parameters

[in]	port	= port context struct
[in]	idx	= index in buffer array
[in]	bufstat	= status to set

Definition at line 411 of file vxworks/nicdrv.c.

int ecx_setupnic	(	ecx_portt *	port,
		const char *	ifname,
		int	secondary
	)

Basic setup to connect NIC to socket.

Parameters

[in]	port	= port context struct
[in]	ifname	= Name of NIC device, f.e. "gei0"
[in]	secondary	= if >0 then use secondary stack instead of primary

Returns: >0 if succeeded

Definition at line 129 of file vxworks/nicdrv.c.

int ecx_srconfirm	(	ecx_portt *	port,
		int	idx,
		int	timeout
	)

Blocking send and receive 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().

Parameters

[in]	port	= port context struct
[in]	idx	= index of frame
[in]	timeout	= timeout in us

Returns: Workcounter or EC_NOFRAME

Definition at line 907 of file vxworks/nicdrv.c.

int ecx_waitinframe	(	ecx_portt *	port,
		int	idx,
		int	timeout
	)

Blocking receive frame function. Calls ec_waitinframe_red().

Parameters

[in]	port	= port context struct
[in]	idx	= requested index of frame
[in]	timeout	= timeout in us

Returns: Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME.

Definition at line 884 of file vxworks/nicdrv.c.

static int ecx_waitinframe_red	(	ecx_portt *	port,
		int	idx,
		osal_timert *	timer,
		int	timeout
	)

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.

Parameters

[in]	port	= port context struct
[in]	idx	= requested index of frame
[in]	timer	= absolute timeout time
[in]	timeout	= timeout in us

Returns: Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME.

Definition at line 795 of file vxworks/nicdrv.c.

static int mux_rx_callback	(	void *	pCookie,
		long	type,
		M_BLK_ID	pMblk,
		LL_HDR_INFO *	llHdrInfo,
		void *	muxUserArg
	)

static

Receive hook called by Mux driver.

Call back routine registered as hook with mux layer 2 driver

Parameters

[in]	pCookie	= Mux cookie
[in]	type	= received type
[in]	pMblk	= the received packet reference
[in]	llHdrInfo	= header info
[in]	muxUserArg	= assigned reference to packet device when init called

Returns: TRUE if frame was successfully read and passed to MsgQ

Definition at line 581 of file vxworks/nicdrv.c.

void print_nicversion ( void )

Definition at line 118 of file vxworks/nicdrv.c.

Variable Documentation

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 find out the packet flow in redundant configurations.

Definition at line 93 of file vxworks/nicdrv.c.

const uint16 secMAC[3] = { 0x0404, 0x0404, 0x0404 }

Secondary source MAC address used for EtherCAT.

Definition at line 95 of file vxworks/nicdrv.c.

unsigned int usec_per_tick = 1000

static

Definition at line 104 of file vxworks/nicdrv.c.

Macros

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation