Macros | Enumerations | Functions | Variables
linux/nicdrv.c File Reference

EtherCAT RAW socket driver. More...

#include <sys/types.h>
#include <sys/ioctl.h>
#include <net/if.h>
#include <sys/socket.h>
#include <unistd.h>
#include <sys/time.h>
#include <time.h>
#include <arpa/inet.h>
#include <stdio.h>
#include <fcntl.h>
#include <string.h>
#include <netpacket/packet.h>
#include <pthread.h>
#include "oshw.h"
#include "osal.h"
Include dependency graph for linux/nicdrv.c:

Go to the source code of this file.

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

const uint16 priMAC [3] = { 0x0101, 0x0101, 0x0101 }
 
const uint16 secMAC [3] = { 0x0404, 0x0404, 0x0404 }
 

Detailed Description

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 if fully transparent for the higher layers.

Definition in file linux/nicdrv.c.

Macro Definition Documentation

#define RX_PRIM   priMAC[1]

second MAC word is used for identification

Definition at line 106 of file linux/nicdrv.c.

#define RX_SEC   secMAC[1]

second MAC word is used for identification

Definition at line 108 of file linux/nicdrv.c.

Enumeration Type Documentation

anonymous enum

Redundancy modes

Enumerator
ECT_RED_NONE 

No redundancy, single NIC mode

ECT_RED_DOUBLE 

Double redundant NIC connecetion

Definition at line 86 of file linux/nicdrv.c.

Function Documentation

void ec_setupheader ( void *  p)

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

Parameters
[out]p= buffer

Definition at line 222 of file linux/nicdrv.c.

int ecx_closenic ( ecx_portt port)

Close sockets used

Parameters
[in]port= port context struct
Returns
0

Definition at line 207 of file linux/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 239 of file linux/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.

Parameters
[in]port= port context struct
[in]idx= requested index of frame
[in]stacknumber= 0=primary 1=secondary stack
Returns
Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME or EC_OTHERFRAME.

Definition at line 387 of file linux/nicdrv.c.

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

Transmit buffer over socket (non blocking).

Parameters
[in]port= port context struct
[in]idx= index in tx buffer array
[in]stacknumber= 0=Primary 1=Secondary stack
Returns
socket send result

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

int ecx_outframe_red ( ecx_portt port,
int  idx 
)

Transmit buffer over socket (non blocking).

Parameters
[in]port= port context struct
[in]idx= index in tx buffer array
Returns
socket send result

Definition at line 316 of file linux/nicdrv.c.

static int ecx_recvpkt ( ecx_portt port,
int  stacknumber 
)
static

Non blocking read of socket. Put frame in temporary buffer.

Parameters
[in]port= port context struct
[in]stacknumber= 0=primary 1=secondary stack
Returns
>0 if frame is available and read

Definition at line 351 of file linux/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 278 of file linux/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. "eth0"
[in]secondary= if >0 then use secondary stack instead of primary
Returns
>0 if succeeded

Definition at line 116 of file linux/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().

Parameters
[in]port= port context struct
[in]idx= index of frame
[in]timeout= timeout in us
Returns
Workcounter or EC_NOFRAME

Definition at line 592 of file linux/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 564 of file linux/nicdrv.c.

static int ecx_waitinframe_red ( ecx_portt port,
int  idx,
osal_timert timer 
)
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
Returns
Workcounter if a frame is found with corresponding index, otherwise EC_NOFRAME.

Definition at line 481 of file linux/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 101 of file linux/nicdrv.c.

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

Secondary source MAC address used for EtherCAT.

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



youbot_driver
Author(s): Jan Paulus
autogenerated on Mon Jun 10 2019 15:46:26